Nothing to see

This reverts commit 43332bf3b3.

cereal/custom.capnp

@@ -105,7 +105,7 @@ struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
   isHDA2 @3 :Bool;
   openpilotLongitudinalControlDisabled @4 :Bool;
   safetyConfigs @5 :List(SafetyConfig);
-
+  canUseSASCM @6 :Bool;
 
   struct SafetyConfig {
     safetyParam @0 :UInt16;

common/params.cc

@@ -224,6 +224,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AdvancedLateralTune", PERSISTENT},
     {"AdvancedLongitudinalTune", PERSISTENT},
     {"AggressiveFollow", PERSISTENT},
+    {"AggressiveFollowHigh", PERSISTENT},
     {"AggressiveJerkAcceleration", PERSISTENT},
     {"AggressiveJerkDanger", PERSISTENT},
     {"AggressiveJerkDeceleration", PERSISTENT},
@@ -246,6 +247,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"BlacklistedModels", PERSISTENT},
     {"BlindSpotMetrics", PERSISTENT},
     {"BlindSpotPath", PERSISTENT},
+    {"BootLogo", PERSISTENT},
     {"BorderMetrics", PERSISTENT},
     {"CalibratedLateralAcceleration", PERSISTENT},
     {"CalibrationProgress", PERSISTENT},
@@ -271,6 +273,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
     {"CEStoppedLead", PERSISTENT},
     {"ClusterOffset", PERSISTENT},
+    {"BootLogoToDownload", CLEAR_ON_MANAGER_START},
     {"ColorToDownload", CLEAR_ON_MANAGER_START},
     {"Compass", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
@@ -309,6 +312,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisengageVolume", PERSISTENT},
     {"DoToggleReset", PERSISTENT},
     {"DoToggleResetStock", PERSISTENT},
+    {"DownloadableBootLogos", PERSISTENT},
     {"DownloadableColors", PERSISTENT},
     {"DownloadableDistanceIcons", PERSISTENT},
     {"DownloadableIcons", PERSISTENT},
@@ -321,6 +325,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DynamicPedalsOnUI", PERSISTENT},
     {"EngageVolume", PERSISTENT},
     {"ExperimentalGMTune", PERSISTENT},
+    {"EVTuning", PERSISTENT},
+    {"TruckTuning", PERSISTENT},
     {"Fahrenheit", PERSISTENT},
     {"FavoriteDestinations", PERSISTENT | DONT_LOG},
     {"FlashPanda", CLEAR_ON_MANAGER_START},
@@ -456,6 +462,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RandomThemes", PERSISTENT},
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
+    {"RelaxedFollowHigh", PERSISTENT},
     {"RelaxedJerkAcceleration", PERSISTENT},
     {"RelaxedJerkDanger", PERSISTENT},
     {"RelaxedJerkDeceleration", PERSISTENT},
@@ -466,6 +473,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", CLEAR_ON_MANAGER_START},
     {"RoadNameUI", PERSISTENT},
+    {"RedPanda", PERSISTENT},
+    {"RemoteStartBootsComma", PERSISTENT},
     {"RotatingWheel", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},
     {"ScreenBrightnessOnroad", PERSISTENT},
@@ -515,6 +524,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SpeedLimitsFiltered", PERSISTENT | DONT_LOG},
     {"SpeedLimitSources", PERSISTENT},
     {"StandardFollow", PERSISTENT},
+    {"StandardFollowHigh", PERSISTENT},
     {"StandardJerkAcceleration", PERSISTENT},
     {"StandardJerkDanger", PERSISTENT},
     {"StandardJerkDeceleration", PERSISTENT},
@@ -531,6 +541,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SteerDelayStock", PERSISTENT},
     {"SteerFriction", PERSISTENT},
     {"SteerFrictionStock", PERSISTENT},
+    {"SteerOffset", PERSISTENT},
+    {"SteerOffsetStock", PERSISTENT},
     {"SteerLatAccel", PERSISTENT},
     {"SteerLatAccelStock", PERSISTENT},
     {"SteerKP", PERSISTENT},
@@ -545,6 +557,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"StoppedTimer", PERSISTENT},
     {"TacoTune", PERSISTENT},
     {"TacoTuneHacks", PERSISTENT},
+    {"TrailerLoad", PERSISTENT},
     {"TestAlert", CLEAR_ON_MANAGER_START},
     {"TetheringEnabled", PERSISTENT},
     {"ThemeDownloadProgress", CLEAR_ON_MANAGER_START},
@@ -584,6 +597,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WheelIcon", PERSISTENT},
     {"WheelSpeed", PERSISTENT},
     {"StopDistance", PERSISTENT},
+    {"RecoveryPower", PERSISTENT},
     {"WheelToDownload", CLEAR_ON_MANAGER_START},
 };
 

frogpilot/assets/download_functions.py

@@ -29,13 +29,15 @@ def check_github_rate_limit():
     print(f"Error checking GitHub rate limit: {error}")
     return False
 
-def download_file(cancel_param, destination, progress_param, url, download_param, params_memory):
+def download_file(cancel_param, destination, progress_param, url, download_param, params_memory, allow_unknown_size=False, suppress_errors=False):
   try:
     destination.parent.mkdir(parents=True, exist_ok=True)
 
-    total_size = get_remote_file_size(url)
-    if total_size == 0:
+    total_size = get_remote_file_size(url, suppress_errors=suppress_errors or allow_unknown_size)
+    if total_size == 0 and not allow_unknown_size:
       if not url.endswith(".gif"):
+        if suppress_errors:
+          return
         handle_error(None, "Download invalid...", "Download invalid...", download_param, progress_param, params_memory)
       return
 
@@ -56,24 +58,30 @@ def download_file(cancel_param, destination, progress_param, url, download_param
             temp_file.write(chunk)
             downloaded_size += len(chunk)
 
-            progress = (downloaded_size / total_size) * 100
-            if progress != 100:
-              params_memory.put(progress_param, f"{progress:.0f}%")
-            else:
+            if total_size > 0:
+              progress = (downloaded_size / total_size) * 100
+              if progress != 100:
+                params_memory.put(progress_param, f"{progress:.0f}%")
+              else:
+                params_memory.put(progress_param, "Verifying authenticity...")
+            elif downloaded_size > 0:
               params_memory.put(progress_param, "Verifying authenticity...")
 
         temp_file_path.rename(destination)
 
   except Exception as error:
+    if suppress_errors:
+      return
     handle_request_error(error, destination, download_param, progress_param, params_memory)
 
-def get_remote_file_size(url):
+def get_remote_file_size(url, suppress_errors=False):
   try:
     response = requests.head(url, headers={"Accept-Encoding": "identity"}, timeout=10)
     response.raise_for_status()
     return int(response.headers.get("Content-Length", 0))
   except Exception as error:
-    handle_request_error(error, None, None, None, None)
+    if not suppress_errors:
+      handle_request_error(error, None, None, None, None)
     return 0
 
 def get_repository_url():
@@ -104,8 +112,17 @@ def handle_request_error(error, destination, download_param, progress_param, par
   error_message = error_map.get(type(error), "Unexpected error")
   handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory)
 
-def verify_download(file_path, url):
-  remote_file_size = get_remote_file_size(url)
+def verify_download(file_path, url, allow_unknown_size=False):
+  remote_file_size = get_remote_file_size(url, suppress_errors=allow_unknown_size)
+
+  if remote_file_size == 0 and allow_unknown_size:
+    if not file_path.is_file():
+      print(f"File not found: {file_path}")
+      return False
+    if file_path.stat().st_size == 0:
+      print(f"File is empty: {file_path}")
+      return False
+    return True
 
   if remote_file_size == 0:
     print(f"Error fetching remote size for {file_path}")

frogpilot/assets/model_manager.py

@@ -107,7 +107,7 @@ class ModelManager:
       self.downloading_model = False
       return
 
-    if model_version in ("v8", "v9", "v10", "v11"):
+    if model_version in ("v8", "v9", "v10", "v11", "v12"):
       # Download all PKL and metadata files for multi-file tinygrad models (v8 and v9)
       filenames = [
           f"{model_to_download}_driving_policy_tinygrad.pkl",
@@ -115,6 +115,11 @@ class ModelManager:
           f"{model_to_download}_driving_policy_metadata.pkl",
           f"{model_to_download}_driving_vision_metadata.pkl",
       ]
+      if model_version == "v12":
+        filenames += [
+          f"{model_to_download}_driving_off_policy_tinygrad.pkl",
+          f"{model_to_download}_driving_off_policy_metadata.pkl",
+        ]
       for filename in filenames:
         model_path = MODELS_PATH / filename
         model_url = f"{repo_url}/Models/{filename}"
@@ -208,13 +213,18 @@ class ModelManager:
       except Exception:
         model_version = None
 
-      if model_version in ("v8", "v9", "v10", "v11"):
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
         v8_v9_files = [
           f"{model}_driving_policy_tinygrad.pkl",
           f"{model}_driving_vision_tinygrad.pkl",
           f"{model}_driving_policy_metadata.pkl",
           f"{model}_driving_vision_metadata.pkl",
         ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
         if all((MODELS_PATH / f).is_file() for f in v8_v9_files):
           downloaded_models.add(model)
       elif model_version == "v7":
@@ -259,13 +269,18 @@ class ModelManager:
       except Exception:
         model_version = None
 
-      if model_version in ("v8", "v9", "v10", "v11"):
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
         v8_v9_files = [
           f"{model}_driving_policy_tinygrad.pkl",
           f"{model}_driving_vision_tinygrad.pkl",
           f"{model}_driving_policy_metadata.pkl",
           f"{model}_driving_vision_metadata.pkl",
         ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
         for filename in v8_v9_files:
           path = MODELS_PATH / filename
           expected_size = model_sizes.get(filename.rsplit(".", 1)[0])
@@ -378,13 +393,18 @@ class ModelManager:
           handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
           return
 
-        if model_version in ("v8", "v9", "v10", "v11"):
+        if model_version in ("v8", "v9", "v10", "v11", "v12"):
           required_files = [
               f"{model}_driving_policy_tinygrad.pkl",
               f"{model}_driving_vision_tinygrad.pkl",
               f"{model}_driving_policy_metadata.pkl",
               f"{model}_driving_vision_metadata.pkl",
           ]
+          if model_version == "v12":
+            required_files += [
+              f"{model}_driving_off_policy_tinygrad.pkl",
+              f"{model}_driving_off_policy_metadata.pkl",
+            ]
           missing = [f for f in required_files if not (MODELS_PATH / f).is_file()]
           if missing:
             print(f"Tinygrad model {model} is missing files. Preparing to download...")

frogpilot/assets/nnff_models/CHEVROLET_MALIBU_CC.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_MALIBU_HYBRID_CC.json

@@ -0,0 +1 @@
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frogpilot/assets/nnff_models/CHEVROLET_VOLT_2019.json

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frogpilot/assets/nnff_models/CHEVROLET_VOLT_ASCM.json

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frogpilot/assets/nnff_models/CHEVROLET_VOLT_CAMERA.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_VOLT_CC.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/theme_manager.py

@@ -37,6 +37,7 @@ HOLIDAY_SLUGS = {
 }
 
 THEME_COMPONENT_PARAMS = {
+  "boot_logos": "BootLogoToDownload",
   "colors": "ColorToDownload",
   "distance_icons": "DistanceIconToDownload",
   "icons": "IconToDownload",
@@ -93,8 +94,16 @@ class ThemeManager:
     steering_wheel_save_path.parent.mkdir(parents=True, exist_ok=True)
     shutil.copy2(steering_wheel_image_path, steering_wheel_save_path)
 
+    default_boot_logo_path = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    boot_logo_save_path = THEME_SAVE_PATH / "bootlogos/starpilot.png"
+    boot_logo_save_path.parent.mkdir(parents=True, exist_ok=True)
+    if not boot_logo_save_path.exists():
+      shutil.copy2(default_boot_logo_path, boot_logo_save_path)
+
   def download_theme(self, theme_component, theme_name, asset_param, frogpilot_toggles):
     self.downloading_theme = True
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    name_candidates = [theme_name]
 
     repo_url = get_repository_url()
     if not repo_url:
@@ -102,7 +111,12 @@ class ThemeManager:
       self.downloading_theme = False
       return
 
-    if theme_component == "distance_icons":
+    if theme_component == "boot_logos":
+      download_link = f"{repo_url}/Themes/bootlogo"
+      download_path = THEME_SAVE_PATH / "bootlogos" / theme_name
+      extensions = [".png", ".jpg", ".jpeg"]
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
       download_link = f"{repo_url}/Distance-Icons/{theme_name}"
       download_path = THEME_SAVE_PATH / "theme_packs" / theme_name / theme_component
       extensions = [".zip"]
@@ -117,37 +131,40 @@ class ThemeManager:
 
     for extension in extensions:
       theme_path = download_path.with_suffix(extension)
-      theme_url = download_link + extension
+      theme_urls = [f"{download_link}/{candidate}{extension}" for candidate in name_candidates]
+      if theme_component != "boot_logos":
+        theme_urls = [download_link + extension]
 
-      delete_file(theme_path)
-
-      print(f"Downloading theme from GitHub: {theme_name}")
-      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+      for theme_url in theme_urls:
         delete_file(theme_path)
-        handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
 
-        self.downloading_theme = False
-        return
+        print(f"Downloading theme from GitHub: {theme_name}")
+        download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
 
-      if verify_download(theme_path, theme_url):
-        print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
-        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+          delete_file(theme_path)
+          handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
 
-        if extension == ".zip":
-          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
-          extract_zip(theme_path, download_path)
+          self.downloading_theme = False
+          return
 
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        params_memory.remove(asset_param)
+        if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
+          print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
+          self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
-        self.downloading_theme = False
+          if extension == ".zip":
+            params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+            extract_zip(theme_path, download_path)
 
-        self.update_themes(frogpilot_toggles)
-        return
-      elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
-        return
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+          params_memory.remove(asset_param)
+
+          self.downloading_theme = False
+
+          self.update_themes(frogpilot_toggles)
+          return
+        elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
+          return
 
     handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
     self.downloading_theme = False
@@ -158,7 +175,7 @@ class ThemeManager:
 
     repo_encoded = quote_plus(RESOURCES_REPO)
 
-    assets = {"themes": {}, "wheels": []}
+    assets = {"boot_logos": [], "themes": {}, "wheels": []}
     try:
       def list_files(branch):
         if is_github:
@@ -234,6 +251,20 @@ class ThemeManager:
         theme_name, sub_path = item["path"].split("/", 1)
         theme_path = sub_path.lower()
 
+        if theme_name.lower() == "bootlogo":
+          if Path(sub_path).suffix.lower() not in (".png", ".jpg", ".jpeg"):
+            continue
+
+          assets["boot_logos"].append(sub_path)
+          logo_name = Path(sub_path).stem
+          local_files = list((THEME_SAVE_PATH / "bootlogos").glob(f"{logo_name}.*"))
+          if local_files and expected_size > 0:
+            local_size = self.theme_sizes.get("boot_logos", {}).get(logo_name)
+            if local_size != expected_size:
+              print(f"boot logo {logo_name} is outdated, redownloading...")
+              self.download_theme("boot_logos", logo_name, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+          continue
+
         for key in ("colors", "icons", "signals", "sounds"):
           if key in theme_path:
             assets["themes"].setdefault(theme_name, set()).add(key)
@@ -246,6 +277,7 @@ class ThemeManager:
                 self.download_theme(key, theme_name, THEME_COMPONENT_PARAMS[key], frogpilot_toggles)
             break
 
+      assets["boot_logos"].sort()
       assets["themes"] = {key: sorted(list(value)) for key, value in assets["themes"].items()}
       assets["wheels"].sort()
       return assets
@@ -265,7 +297,7 @@ class ThemeManager:
     parts = base.replace("_", "-").split("-")
     capitalized_parts = [part.capitalize() for part in parts if part]
 
-    if len(capitalized_parts) > 1 and component != "steering_wheels":
+    if len(capitalized_parts) > 1 and component not in {"boot_logos", "steering_wheels"}:
       display = f"{capitalized_parts[0]} ({' '.join(capitalized_parts[1:])})"
     else:
       display = " ".join(capitalized_parts)
@@ -321,37 +353,44 @@ class ThemeManager:
     }
 
   def handle_verification_failure(self, extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
-    if theme_component == "distance_icons":
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    if theme_component == "boot_logos":
+      download_link = f"{GITLAB_URL}/Themes/bootlogo"
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
       download_link = f"{GITLAB_URL}/Distance-Icons/{theme_name}"
+      name_candidates = [theme_name]
     elif theme_component == "steering_wheels":
       download_link = f"{GITLAB_URL}/Steering-Wheels/{theme_name}"
+      name_candidates = [theme_name]
     else:
       download_link = f"{GITLAB_URL}/Themes/{theme_name}/{theme_component}"
+      name_candidates = [theme_name]
 
-    delete_file(theme_path)
+    for candidate in name_candidates:
+      delete_file(theme_path)
 
-    theme_url = download_link + extension
-    print(f"Downloading theme from GitLab: {theme_name}")
-    download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
+      theme_url = f"{download_link}/{candidate}{extension}" if theme_component == "boot_logos" else download_link + extension
+      print(f"Downloading theme from GitLab: {theme_name}")
+      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
 
-    if verify_download(theme_path, theme_url):
-      print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
-      self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+      if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
+        print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
+        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
-      if extension == ".zip":
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
-        extract_zip(theme_path, download_path)
+        if extension == ".zip":
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+          extract_zip(theme_path, download_path)
 
-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-      params_memory.remove(asset_param)
+        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        params_memory.remove(asset_param)
 
-      self.downloading_theme = False
+        self.downloading_theme = False
 
-      self.update_themes(frogpilot_toggles)
-      return True
+        self.update_themes(frogpilot_toggles)
+        return True
 
-    handle_error(None, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
-    self.downloading_theme = False
+    # Let the caller continue trying alternate extensions before surfacing failure.
     return False
 
   @staticmethod
@@ -415,6 +454,8 @@ class ThemeManager:
     return random.choice(candidates) if candidates else "stock"
 
   def update_active_theme(self, time_validated, frogpilot_toggles, boot_run=False, randomize_theme=False):
+    boot_logo = getattr(frogpilot_toggles, "boot_logo", "stock")
+
     if time_validated and frogpilot_toggles.holiday_themes:
       self.holiday_theme = self.update_holiday()
     else:
@@ -422,6 +463,7 @@ class ThemeManager:
 
     if self.holiday_theme != "stock":
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", self.holiday_theme),
         "distance_icons": ("distance_icons", self.holiday_theme),
         "icon_pack": ("icons", self.holiday_theme),
@@ -434,6 +476,7 @@ class ThemeManager:
       selected_theme = self.randomize_theme_asset(available_themes)
 
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", selected_theme.replace("-animated", "")),
         "distance_icons": ("distance_icons", self.randomize_distance_icons(available_themes, selected_theme.replace("-animated", ""))),
         "icon_pack": ("icons", selected_theme),
@@ -444,6 +487,7 @@ class ThemeManager:
 
     elif not frogpilot_toggles.random_themes:
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", frogpilot_toggles.color_scheme),
         "distance_icons": ("distance_icons", frogpilot_toggles.distance_icons),
         "icon_pack": ("icons", frogpilot_toggles.icon_pack),
@@ -458,7 +502,9 @@ class ThemeManager:
       for asset, (asset_type, current_value) in asset_mappings.items():
         print(f"Updating {asset}: {asset_type} with value {current_value}")
 
-        if asset_type == "wheel_image":
+        if asset_type == "boot_logo":
+          self.update_boot_logo(current_value)
+        elif asset_type == "wheel_image":
           self.update_wheel_image(current_value, boot_run=boot_run)
         else:
           self.update_theme_asset(asset_type, current_value, boot_run=boot_run)
@@ -499,9 +545,16 @@ class ThemeManager:
     save_location.symlink_to(asset_location, target_is_directory=True)
     print(f"Linked {save_location} to {asset_location}")
 
-  def update_theme_params(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
+  def update_theme_params(self, downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
     def update_param(key, assets, subfolder):
-      if subfolder == "steering_wheels":
+      if subfolder == "boot_logos":
+        themes_path = THEME_SAVE_PATH / "bootlogos"
+        existing_assets = {item.stem.lower() for item in themes_path.glob("*") if item.is_file()}
+        pending_assets = [asset for asset in assets if asset.lower() not in existing_assets]
+        params.put(key, ",".join(sorted(set(pending_assets))))
+        print(f"{key} updated successfully")
+        return
+      elif subfolder == "steering_wheels":
         themes_path = THEME_SAVE_PATH / subfolder
         existing_assets = {self.format_name(item.name, "steering_wheels") for item in themes_path.glob("*") if item.is_file()}
       else:
@@ -511,6 +564,7 @@ class ThemeManager:
       params.put(key, ",".join(sorted(set(assets) - existing_assets)))
       print(f"{key} updated successfully")
 
+    update_param("DownloadableBootLogos", downloadable_boot_logos, "boot_logos")
     update_param("DownloadableColors", downloadable_colors, "colors")
     update_param("DownloadableDistanceIcons", downloadable_distance_icons, "distance_icons")
     update_param("DownloadableIcons", downloadable_icons, "icons")
@@ -529,12 +583,20 @@ class ThemeManager:
         theme_name = self.format_name(theme_dir.name, "theme_packs")
         downloaded_themes[theme_name] = sorted(components)
 
+    (THEME_SAVE_PATH / "bootlogos").mkdir(parents=True, exist_ok=True)
+
+    downloaded_boot_logos = []
+    for boot_logo_file in (THEME_SAVE_PATH / "bootlogos").iterdir():
+      if boot_logo_file.is_file():
+        downloaded_boot_logos.append(self.format_name(boot_logo_file.name, "boot_logos"))
+
     downloaded_wheels = []
     for wheel_file in (THEME_SAVE_PATH / "steering_wheels").iterdir():
       if wheel_file.is_file():
         downloaded_wheels.append(self.format_name(wheel_file.name, "steering_wheels"))
 
     params.put("ThemesDownloaded", json.dumps({
+      "boot_logos": sorted(downloaded_boot_logos),
       "themes": {key: downloaded_themes[key] for key in sorted(downloaded_themes)},
       "steering_wheels": sorted(downloaded_wheels)
     }))
@@ -542,7 +604,9 @@ class ThemeManager:
     print("ThemesDownloaded updated successfully")
 
   def update_theme_size(self, theme_component, theme_name, file_size):
-    if theme_component == "steering_wheels":
+    if theme_component == "boot_logos":
+      key = "boot_logos"
+    elif theme_component == "steering_wheels":
       key = "wheels"
     else:
       key = "themes"
@@ -550,7 +614,7 @@ class ThemeManager:
     if key not in self.theme_sizes:
       self.theme_sizes[key] = {}
 
-    if key == "wheels":
+    if key in {"boot_logos", "wheels"}:
       self.theme_sizes[key][theme_name] = file_size
     else:
       if theme_name not in self.theme_sizes[key]:
@@ -572,6 +636,7 @@ class ThemeManager:
     if not assets:
       return
 
+    downloadable_boot_logos = []
     downloadable_colors = []
     downloadable_distance_icons = []
     downloadable_icons = []
@@ -593,8 +658,10 @@ class ThemeManager:
       if "sounds" in available_assets:
         downloadable_sounds.append(theme_name)
 
+    downloadable_boot_logos = [Path(boot_logo).stem for boot_logo in assets["boot_logos"]]
     downloadable_wheels = [self.format_name(wheel, "steering_wheels") for wheel in assets["wheels"]]
 
+    print(f"Downloadable Boot Logos: {downloadable_boot_logos}")
     print(f"Downloadable Colors: {downloadable_colors}")
     print(f"Downloadable Icons: {downloadable_icons}")
     print(f"Downloadable Signals: {downloadable_signals}")
@@ -605,7 +672,21 @@ class ThemeManager:
     if boot_run:
       self.validate_themes(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles)
 
-    self.update_theme_params(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+    self.update_theme_params(downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+
+  @staticmethod
+  def update_boot_logo(image):
+    boot_logo_location = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    image_name = image.replace(" ", "_").lower()
+    source_file = next((file for file in (THEME_SAVE_PATH / "bootlogos").glob("*") if file.is_file() and file.stem.lower() == image_name), boot_logo_location)
+
+    # Avoid SameFileError when the selected/fallback source is already the active boot logo.
+    if source_file.resolve() == boot_logo_location.resolve():
+      print(f"Boot logo unchanged: {boot_logo_location}")
+      return
+
+    shutil.copy2(source_file, boot_logo_location)
+    print(f"Copied {source_file} to {boot_logo_location}")
 
   def update_wheel_image(self, image, boot_run=False, random_event=False):
     wheel_save_location = ACTIVE_THEME_PATH / "steering_wheel"
@@ -641,6 +722,15 @@ class ThemeManager:
   def validate_themes(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles):
     downloaded_data = json.loads(params.get("ThemesDownloaded") or "{}")
 
+    boot_logos_path = THEME_SAVE_PATH / "bootlogos"
+    for display_name in downloaded_data.get("boot_logos", []):
+      file_stem = display_name.replace(" ", "_").lower()
+      matching_files = list(boot_logos_path.glob(f"{file_stem}.*"))
+      if not matching_files:
+        print(f"Missing boot logo '{display_name}'. Downloading...")
+        self.download_theme("boot_logos", file_stem, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+        self.update_active_theme(True, frogpilot_toggles)
+
     for display_name, components in downloaded_data.get("themes", {}).items():
       raw_name = display_name.lower().replace(" ", "_").replace("(", "").replace(")", "")
       theme_folder_name = raw_name.replace("_animated", "-animated")

frogpilot/common/frogpilot_utilities.py

@@ -2,6 +2,7 @@
 import json
 import math
 import numpy as np
+import os
 import requests
 import shutil
 import subprocess
@@ -22,7 +23,7 @@ from opendbc.can.parser import CANParser
 from openpilot.common.realtime import DT_DMON, DT_HW
 from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD
 from openpilot.system.hardware import HARDWARE
-from panda import Panda
+from panda import Panda, FW_PATH
 
 from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, KONIK_PATH, MAPD_PATH, MAPS_PATH, params, params_cache, params_memory
 
@@ -151,11 +152,21 @@ def extract_zip(zip_file, extract_path):
   print(f"Extraction completed: {zip_file} has been removed")
 
 def flash_panda():
+  remote_start = params.get_bool("RemoteStartBootsComma")
   for serial in Panda.list():
     try:
       panda = Panda(serial)
+      flash_fn = None
+      if remote_start:
+        app_fn = panda.get_mcu_type().config.app_fn
+        remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
+        candidate = os.path.join(FW_PATH, remote_fn)
+        if os.path.isfile(candidate):
+          flash_fn = candidate
+        else:
+          print(f"Remote-start panda firmware missing: {candidate}. Falling back to default firmware.")
       panda.reset(enter_bootstub=True)
-      panda.flash()
+      panda.flash(fn=flash_fn)
       panda.close()
     except Exception as exception:
       print(f"Error flashing Panda {serial}: {exception}")

frogpilot/common/frogpilot_variables.py

@@ -13,7 +13,8 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.gm.values import GMFlags
+from openpilot.selfdrive.car.gm.values import EV_CAR as GM_EV_CAR, GMFlags
+from openpilot.selfdrive.car.hyundai.values import EV_CAR as HYUNDAI_EV_CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.mock.interface import CarInterface
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
@@ -32,6 +33,7 @@ params_memory = Params("/dev/shm/params")
 
 GearShifter = car.CarState.GearShifter
 SafetyModel = car.CarParams.SafetyModel
+TransmissionType = car.CarParams.TransmissionType
 
 CITY_SPEED_LIMIT = 25                     # 55mph is typically the minimum speed for highways
 CRUISING_SPEED = 5                        # Roughly the speed cars go when not touching the gas while in drive
@@ -94,6 +96,8 @@ EXCLUDED_KEYS = {
 }
 
 TINYGRAD_FILES = [
+  ("driving_off_policy_metadata.pkl", "off-policy metadata"),
+  ("driving_off_policy_tinygrad.pkl", "off-policy model"),
   ("driving_policy_metadata.pkl", "policy metadata"),
   ("driving_policy_tinygrad.pkl", "policy model"),
   ("driving_vision_metadata.pkl", "vision metadata"),
@@ -126,9 +130,12 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("AdjacentPath", "0", 3, "0"),
   ("AdjacentPathMetrics", "0", 3, "0"),
   ("AdvancedCustomUI", "0", 2, "0"),
-  ("AdvancedLateralTune", "0", 2, "0"),
+  ("AdvancedLateralTune", "1", 2, "0"),
   ("AdvancedLongitudinalTune", "0", 3, "0"),
+  ("EVTuning", "", 3, "0"),
+  ("TruckTuning", "0", 3, "0"),
   ("AggressiveFollow", "1.25", 2, "1.25"),
+  ("AggressiveFollowHigh", "1.25", 2, "1.25"),
   ("AggressiveJerkAcceleration", "50", 3, "50"),
   ("AggressiveJerkDanger", "100", 3, "100"),
   ("AggressiveJerkDeceleration", "50", 3, "50"),
@@ -153,7 +160,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("BlacklistedModels", "", 2, ""),
   ("BlindSpotMetrics", "1", 3, "0"),
   ("BlindSpotPath", "1", 1, "0"),
-  ("BorderMetrics", "0", 3, "0"),
+  ("BootLogo", "starpilot", 0, "stock"),
+  ("BorderMetrics", "1", 3, "0"),
   ("CalibratedLateralAcceleration", str(DEFAULT_LATERAL_ACCELERATION), 2, str(DEFAULT_LATERAL_ACCELERATION)),
   ("CalibrationProgress", "0", 3, "0"),
   ("CameraView", "3", 2, "0"),
@@ -192,7 +200,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("CustomUI", "1", 1, "0"),
   ("DecelerationProfile", "1", 2, "0"),
   ("DeveloperMetrics", "1", 3, "0"),
-  ("DeveloperSidebar", "1", 3, "0"),
+  ("DeveloperSidebar", "0", 3, "0"),
   ("DeveloperSidebarMetric1", "1", 3, "0"),
   ("DeveloperSidebarMetric2", "2", 3, "0"),
   ("DeveloperSidebarMetric3", "3", 3, "0"),
@@ -201,7 +209,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("DeveloperSidebarMetric6", "6", 3, "0"),
   ("DeveloperSidebarMetric7", "7", 3, "0"),
   ("DeveloperWidgets", "1", 3, "0"),
-  ("DeveloperUI", "0", 3, "0"),
+  ("DeveloperUI", "1", 3, "0"),
   ("DeviceManagement", "1", 1, "0"),
   ("DeviceShutdown", "9", 1, "33"),
   ("DisableOnroadUploads", "0", 2, "0"),
@@ -219,7 +227,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("Fahrenheit", "0", 3, "0"),
   ("FavoriteDestinations", "", 0, ""),
   ("ForceAutoTune", "0", 2, "0"),
-  ("ForceAutoTuneOff", "0", 2, "0"),
+  ("ForceAutoTuneOff", "1", 2, "0"),
   ("ForceFingerprint", "0", 2, "0"),
   ("ForceMPHDashboard", "0", 2, "0"),
   ("ForceStops", "0", 2, "0"),
@@ -231,6 +239,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("FullMap", "0", 2, "0"),
   ("GasRegenCmd", "1", 2, "0"),
   ("GMPedalLongitudinal", "1", 2, "1"),
+  ("RedPanda", "0", 3, "0"),
+  ("RemoteStartBootsComma", "0", 3, "0"),
   ("GithubSshKeys", "", 0, ""),
   ("GithubUsername", "", 0, ""),
   ("GoatScream", "0", 1, "0"),
@@ -270,6 +280,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("LongitudinalActuatorDelay", "", 3, ""),
   ("LongitudinalActuatorDelayStock", "", 3, ""),
   ("LongitudinalTune", "1", 0, "0"),
+  ("TrailerLoad", "0", 2, "0"),
   ("LongPitch", "1", 2, "0"),
   ("LoudBlindspotAlert", "0", 0, "0"),
   ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 2, str(VBATT_PAUSE_CHARGING)),
@@ -329,13 +340,14 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("RecordFront", "0", 0, "0"),
   ("RefuseVolume", "101", 2, "101"),
   ("RelaxedFollow", "1.75", 2, "1.75"),
+  ("RelaxedFollowHigh", "1.75", 2, "1.75"),
   ("RelaxedJerkAcceleration", "50", 3, "50"),
   ("RelaxedJerkDanger", "100", 3, "100"),
   ("RelaxedJerkDeceleration", "50", 3, "50"),
   ("RelaxedJerkSpeed", "50", 3, "50"),
   ("RelaxedJerkSpeedDecrease", "50", 3, "50"),
   ("RelaxedPersonalityProfile", "1", 2, "0"),
-  ("ReverseCruise", "0", 1, "0"),
+  ("ReverseCruise", "1", 1, "0"),
   ("RoadEdgesWidth", "2", 2, "2"),
   ("RoadNameUI", "1", 2, "0"),
   ("RotatingWheel", "1", 1, "0"),
@@ -359,7 +371,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("ShownToggleDescriptions", "", 0, ""),
   ("ShowSLCOffset", "1", 0, "0"),
   ("ShowSpeedLimits", "1", 1, "0"),
-  ("ShowSteering", "0", 3, "0"),
+  ("ShowSteering", "1", 3, "0"),
   ("ShowStoppingPoint", "0", 2, "0"),
   ("ShowStoppingPointMetrics", "0", 2, "0"),
   ("ShowStorageLeft", "0", 3, "0"),
@@ -386,6 +398,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("StartupMessageBottom", "Human-tested, frog-approved 🐸", 0, "Always keep hands on wheel and eyes on road"),
   ("StartupMessageTop", "Hop in and buckle up!", 0, "Be ready to take over at any time"),
   ("StandardFollow", "1.45", 2, "1.45"),
+  ("StandardFollowHigh", "1.45", 2, "1.45"),
   ("StandardJerkAcceleration", "50", 3, "50"),
   ("StandardJerkDanger", "100", 3, "100"),
   ("StandardJerkDeceleration", "50", 3, "50"),
@@ -400,6 +413,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("SteerDelayStock", "", 3, ""),
   ("SteerFriction", "", 3, ""),
   ("SteerFrictionStock", "", 3, ""),
+  ("SteerOffset", "", 3, ""),
+  ("SteerOffsetStock", "", 3, ""),
   ("SteerKP", "", 3, ""),
   ("SteerKPStock", "", 3, ""),
   ("SteerLatAccel", "", 3, ""),
@@ -422,8 +437,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("TrafficJerkSpeed", "50", 3, "50"),
   ("TrafficJerkSpeedDecrease", "50", 3, "50"),
   ("TrafficPersonalityProfile", "1", 2, "0"),
-  ("TuningLevel", "0", 0, "0"),
-  ("TuningLevelConfirmed", "0", 0, "0"),
+  ("TuningLevel", "3", 0, "0"),
+  ("TuningLevelConfirmed", "1", 0, "0"),
   ("TurnDesires", "0", 2, "0"),
   ("UnlimitedLength", "1", 2, "0"),
   ("UnlockDoors", "1", 0, "0"),
@@ -441,7 +456,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("WarningSoftVolume", "101", 2, "101"),
   ("WheelIcon", "frog", 0, "stock"),
   ("WheelSpeed", "0", 2, "0"),
-  ("StopDistance", "6", 3, "6")
+  ("StopDistance", "6", 3, "6"),
+  ("RecoveryPower", "1.0", 2, "1.0")
 ]
 
 misc_tuning_levels: list[tuple[str, str | bytes, int, str]] = [
@@ -561,6 +577,7 @@ class FrogPilotVariables:
     toggle.has_pedal = CP.enableGasInterceptor
     has_radar = not CP.radarUnavailable
     toggle.has_sdsu = toggle.car_make == "toyota" and bool(CP.flags & ToyotaFlags.SMART_DSU.value)
+    toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)
     has_sng = CP.autoResumeSng
     toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.fpFlags & ToyotaFrogPilotFlags.ZSS.value)
     is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
@@ -604,14 +621,37 @@ class FrogPilotVariables:
     toggle.steerActuatorDelay = np.clip(params.get_float("SteerDelay"), 0.01, 1.0) if advanced_lateral_tuning and tuning_level >= level["SteerDelay"] else steerActuatorDelay
     toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
     toggle.friction = np.clip(params.get_float("SteerFriction"), 0, 0.5) if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else friction
+    toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
     toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
     toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
-    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
+    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
     toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
-    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
+    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
     toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
 
     advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
+    gm_ev_vehicle = toggle.car_make == "gm" and CP.carFingerprint in GM_EV_CAR
+    gm_ev_vehicle &= not (toggle.car_model.startswith("CHEVROLET_VOLT") and not toggle.car_model.endswith("_CC"))
+    gm_ev_vehicle &= toggle.car_model != "CHEVROLET_MALIBU_HYBRID_CC"
+    ev_vehicle = gm_ev_vehicle or (toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR)
+    ev_vehicle |= CP.transmissionType == TransmissionType.direct
+
+    if params.get("EVTuning") == b"":
+      params.put_bool("EVTuning", ev_vehicle)
+
+    if params.get("TruckTuning") == b"":
+      params.put_bool("TruckTuning", False)
+
+    ev_tuning_param = params.get_bool("EVTuning")
+    truck_tuning_param = params.get_bool("TruckTuning")
+
+    # Enforce exclusivity between EV and Truck tuning.
+    if truck_tuning_param and ev_tuning_param:
+      ev_tuning_param = False
+      params.put_bool("EVTuning", False)
+
+    toggle.ev_tuning = ev_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
+    toggle.truck_tuning = truck_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["TruckTuning"] else False
     toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
     toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
     toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
@@ -621,6 +661,8 @@ class FrogPilotVariables:
 
     toggle.stop_distance = params.get_float("StopDistance") if advanced_longitudinal_tuning and tuning_level >= level["StopDistance"] else 6.0
 
+    toggle.recovery_power = np.clip(params.get_float("RecoveryPower"), 0.5, 2.0) if advanced_longitudinal_tuning and tuning_level >= level["RecoveryPower"] else 1.0
+
     toggle.alert_volume_controller = params.get_bool("AlertVolumeControl") if tuning_level >= level["AlertVolumeControl"] else default.get_bool("AlertVolumeControl")
     toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_controller and tuning_level >= level["DisengageVolume"] else default.get_int("DisengageVolume")
     toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_controller and tuning_level >= level["EngageVolume"] else default.get_int("EngageVolume")
@@ -676,28 +718,31 @@ class FrogPilotVariables:
     toggle.aggressive_jerk_danger = np.clip(params.get_int("AggressiveJerkDanger") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkDanger"] else default.get_int("AggressiveJerkDanger") / 100
     toggle.aggressive_jerk_speed = np.clip(params.get_int("AggressiveJerkSpeed") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeed"] else default.get_int("AggressiveJerkSpeed") / 100
     toggle.aggressive_jerk_speed_decrease = np.clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeedDecrease"] else default.get_int("AggressiveJerkSpeedDecrease") / 100
-    toggle.aggressive_follow = np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow")
+    toggle.aggressive_follow = [np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow"),
+                                np.clip(params.get_float("AggressiveFollowHigh"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollowHigh"] else default.get_float("AggressiveFollowHigh")]
     standard_profile = toggle.custom_personalities and (params.get_bool("StandardPersonalityProfile") if tuning_level >= level["StandardPersonalityProfile"] else default.get_bool("StandardPersonalityProfile"))
     toggle.standard_jerk_acceleration = np.clip(params.get_int("StandardJerkAcceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkAcceleration"] else default.get_int("StandardJerkAcceleration") / 100
     toggle.standard_jerk_deceleration = np.clip(params.get_int("StandardJerkDeceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDeceleration"] else default.get_int("StandardJerkDeceleration") / 100
     toggle.standard_jerk_danger = np.clip(params.get_int("StandardJerkDanger") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDanger"] else default.get_int("StandardJerkDanger") / 100
     toggle.standard_jerk_speed = np.clip(params.get_int("StandardJerkSpeed") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeed"] else default.get_int("StandardJerkSpeed") / 100
     toggle.standard_jerk_speed_decrease = np.clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeedDecrease"] else default.get_int("StandardJerkSpeedDecrease") / 100
-    toggle.standard_follow = np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow")
+    toggle.standard_follow = [np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow"),
+                              np.clip(params.get_float("StandardFollowHigh"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollowHigh"] else default.get_float("StandardFollowHigh")]
     relaxed_profile = toggle.custom_personalities and (params.get_bool("RelaxedPersonalityProfile") if tuning_level >= level["RelaxedPersonalityProfile"] else default.get_bool("RelaxedPersonalityProfile"))
     toggle.relaxed_jerk_acceleration = np.clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkAcceleration"] else default.get_int("RelaxedJerkAcceleration") / 100
     toggle.relaxed_jerk_deceleration = np.clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDeceleration"] else default.get_int("RelaxedJerkDeceleration") / 100
     toggle.relaxed_jerk_danger = np.clip(params.get_int("RelaxedJerkDanger") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDanger"] else default.get_int("RelaxedJerkDanger") / 100
     toggle.relaxed_jerk_speed = np.clip(params.get_int("RelaxedJerkSpeed") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeed"] else default.get_int("RelaxedJerkSpeed") / 100
     toggle.relaxed_jerk_speed_decrease = np.clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeedDecrease"] else default.get_int("RelaxedJerkSpeedDecrease") / 100
-    toggle.relaxed_follow = np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow")
+    toggle.relaxed_follow = [np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow"),
+                             np.clip(params.get_float("RelaxedFollowHigh"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollowHigh"] else default.get_float("RelaxedFollowHigh")]
     traffic_profile = toggle.custom_personalities and (params.get_bool("TrafficPersonalityProfile") if tuning_level >= level["TrafficPersonalityProfile"] else default.get_bool("TrafficPersonalityProfile"))
     toggle.traffic_mode_jerk_acceleration = [np.clip(params.get_int("TrafficJerkAcceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkAcceleration"] else default.get_int("TrafficJerkAcceleration") / 100, toggle.aggressive_jerk_acceleration]
     toggle.traffic_mode_jerk_deceleration = [np.clip(params.get_int("TrafficJerkDeceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDeceleration"] else default.get_int("TrafficJerkDeceleration") / 100, toggle.aggressive_jerk_deceleration]
     toggle.traffic_mode_jerk_danger = [np.clip(params.get_int("TrafficJerkDanger") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDanger"] else default.get_int("TrafficJerkDanger") / 100, toggle.aggressive_jerk_danger]
     toggle.traffic_mode_jerk_speed = [np.clip(params.get_int("TrafficJerkSpeed") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeed"] else default.get_int("TrafficJerkSpeed") / 100, toggle.aggressive_jerk_speed]
     toggle.traffic_mode_jerk_speed_decrease = [np.clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeedDecrease"] else default.get_int("TrafficJerkSpeedDecrease") / 100, toggle.aggressive_jerk_speed_decrease]
-    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow]
+    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow[0]]
 
     custom_ui = params.get_bool("CustomUI") if tuning_level >= level["CustomUI"] else default.get_bool("CustomUI")
     toggle.acceleration_path = toggle.openpilot_longitudinal and (custom_ui and (params.get_bool("AccelerationPath") if tuning_level >= level["AccelerationPath"] else default.get_bool("AccelerationPath")) or toggle.debug_mode)
@@ -782,6 +827,9 @@ class FrogPilotVariables:
     toggle.vEgoStarting = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStarting
     toggle.vEgoStopping = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStopping
 
+    toggle.red_panda = toggle.car_make == "gm" and (params.get_bool("RedPanda") if tuning_level >= level["RedPanda"] else default.get_bool("RedPanda"))
+    toggle.remote_start_boots_comma = toggle.car_make == "gm" and (params.get_bool("RemoteStartBootsComma") if tuning_level >= level["RemoteStartBootsComma"] else default.get_bool("RemoteStartBootsComma"))
+
     toggle.force_fingerprint = (params.get_bool("ForceFingerprint") if tuning_level >= level["ForceFingerprint"] else default.get_bool("ForceFingerprint")) and toggle.car_model is not None
 
     toggle.frogsgomoo_tweak = toggle.openpilot_longitudinal and toggle.car_make == "toyota" and (params.get_bool("FrogsGoMoosTweak") if tuning_level >= level["FrogsGoMoosTweak"] else default.get_bool("FrogsGoMoosTweak"))
@@ -826,6 +874,7 @@ class FrogPilotVariables:
     toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing"))
     toggle.lead_detection_probability = np.clip(params.get_int("LeadDetectionThreshold") / 100, 0.25, 0.50) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else default.get_int("LeadDetectionThreshold") / 100
     toggle.max_desired_acceleration = np.clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
+    toggle.trailer_load_kg = (np.clip(params.get_int("TrailerLoad"), 0, 15000) if longitudinal_tuning and tuning_level >= level["TrailerLoad"] else default.get_int("TrailerLoad")) * CV.LB_TO_KG
     toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune"))
 
     toggle.available_models = params.get("AvailableModels", encoding="utf-8") or ""
@@ -866,7 +915,7 @@ class FrogPilotVariables:
         toggle.model_version = DEFAULT_MODEL_VERSION
     toggle.classic_longitudinal = toggle.model_version in {"v1", "v2", "v3", "v4"}
     toggle.classic_model = toggle.model_version in {"v1", "v2", "v3", "v4"}
-    toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11"}
+    toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11", "v12"}
     toggle.tomb_raider = toggle.model == "space-lab"
 
     toggle.model_ui = params.get_bool("ModelUI") if tuning_level >= level["ModelUI"] else default.get_bool("ModelUI")
@@ -890,6 +939,7 @@ class FrogPilotVariables:
       toggle.old_long_api |= toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and not (params.get_bool("NewLongAPI") if tuning_level >= level["NewLongAPI"] else default.get_bool("NewLongAPI"))
 
     personalize_openpilot = params.get_bool("PersonalizeOpenpilot") if tuning_level >= level["PersonalizeOpenpilot"] else default.get_bool("PersonalizeOpenpilot")
+    toggle.boot_logo = params.get("BootLogo", encoding="utf-8") or "starpilot"
     toggle.color_scheme = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomColors", encoding="utf-8") if personalize_openpilot else "stock"
     toggle.distance_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomDistanceIcons", encoding="utf-8") if personalize_openpilot else "stock"
     toggle.icon_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomIcons", encoding="utf-8") if personalize_openpilot else "stock"
@@ -979,7 +1029,14 @@ class FrogPilotVariables:
     toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors"))
     toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors"))
 
-    toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
+    volt_models = {
+      "CHEVROLET_VOLT",
+      "CHEVROLET_VOLT_2019",
+      "CHEVROLET_VOLT_ASCM",
+      "CHEVROLET_VOLT_CAMERA",
+    }
+
+    toggle.volt_sng = toggle.car_model in volt_models and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
 
     toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")
 

frogpilot/controls/lib/conditional_experimental_mode.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import time
+
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.numpy_fast import interp
@@ -32,6 +34,10 @@ class ConditionalExperimentalMode:
   LIGHT_BOOST_LOW = 1.15
   LIGHT_BOOST_HIGH = 1.2
 
+  # Small latch to avoid frame-to-frame mode chatter.
+  CEM_TRANSITION_GUARD_TIME = 0.50
+  CEM_TRANSITION_BUFFER_TIME = 0.25
+
   @staticmethod
   def get_speed_based_param(speed_mph, param_array):
     """Get parameter value based on current speed using smooth interpolation between breakpoints [0, 35, 55, 70]"""
@@ -49,8 +55,12 @@ class ConditionalExperimentalMode:
     self.experimental_mode = False
     self.stop_light_detected = False
     self.prev_experimental_mode = False  # For hysteresis
+    self.mode_hold_until = 0.0
+    self.mode_false_since = 0.0
 
   def update(self, v_ego, sm, frogpilot_toggles):
+    now = time.monotonic()
+
     if frogpilot_toggles.experimental_mode_via_press:
       self.status_value = params_memory.get_int("CEStatus")
     else:
@@ -58,28 +68,23 @@ class ConditionalExperimentalMode:
 
     if self.status_value not in {1, 2} and not sm["carState"].standstill:
       self.update_conditions(v_ego, sm, frogpilot_toggles)
-      new_experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
 
-      # Add hysteresis to prevent rapid toggling
-      if new_experimental_mode and not self.prev_experimental_mode:
-        # Require weaker conditions to turn on
-        hysteresis_factor = 0.9
-      elif not new_experimental_mode and self.prev_experimental_mode:
-        # Require stronger conditions to turn off
-        hysteresis_factor = 1.2
-      else:
-        hysteresis_factor = 1.0
+      triggered = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      if triggered:
+        self.mode_hold_until = now + self.CEM_TRANSITION_GUARD_TIME
+        self.mode_false_since = 0.0
+      elif self.mode_false_since == 0.0:
+        self.mode_false_since = now
 
-      # Apply hysteresis to key conditions
-      if hasattr(self, 'slow_lead_detected'):
-        self.slow_lead_detected = self.slow_lead_detected if hysteresis_factor == 1.0 else (self.slow_lead_filter.x >= scale_threshold(v_ego) * hysteresis_factor)
-      if hasattr(self, 'curve_detected'):
-        self.curve_detected = self.curve_detected if hysteresis_factor == 1.0 else (self.curvature_filter.x >= THRESHOLD * hysteresis_factor)
+      hold_active = now < self.mode_hold_until
+      transition_buffer_active = self.mode_false_since != 0.0 and (now - self.mode_false_since) < self.CEM_TRANSITION_BUFFER_TIME
 
-      self.experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      self.experimental_mode = triggered or hold_active or transition_buffer_active
       self.prev_experimental_mode = self.experimental_mode
       params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
     else:
+      self.mode_hold_until = 0.0
+      self.mode_false_since = 0.0
       self.experimental_mode = self.status_value == 2 or sm["carState"].standstill and self.experimental_mode and self.frogpilot_planner.model_stopped
       self.stop_light_detected &= self.status_value not in {1, 2}
       self.stop_light_filter.x = 0

frogpilot/controls/lib/frogpilot_acceleration.py

@@ -53,14 +53,41 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
 
                        # MPH = [0.0,  11,  22,  34,  45,  56,  89]
 A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
-A_CRUISE_MAX_VALS_ECO =        [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
-A_CRUISE_MAX_VALS_SPORT =      [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
+A_CRUISE_MAX_VALS_ECO_EV =     [1.0, 1.0, 1.0, 1.0, 1.12, 1.12, 1.45]
+A_CRUISE_MAX_VALS_STANDARD_EV = [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
+A_CRUISE_MAX_VALS_SPORT_EV =   [1.25, 1.25, 1.25, 1.25, 1.45, 1.5, 2.0]
+A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
+A_CRUISE_MAX_VALS_ECO_GAS =    [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
+A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
+A_CRUISE_MAX_VALS_ECO_TRUCK =       [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]
+A_CRUISE_MAX_VALS_STANDARD_TRUCK =  [6.00, 1.10, 0.70, 0.60, 0.55, 0.45, 0.35]
+A_CRUISE_MAX_VALS_SPORT_TRUCK =     [6.00, 1.15, 0.75, 0.70, 0.60, 0.50, 0.40]
+A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [6.00, 1.30, 0.90, 0.80, 0.70, 0.60, 0.45]
 
-def get_max_accel_eco(v_ego):
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO))
+def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
 
-def get_max_accel_sport(v_ego):
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT))
+def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
+
+def get_max_accel_standard(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_TRUCK))
+  return get_max_accel(v_ego)
 
 def get_max_accel_low_speeds(max_accel, v_cruise):
   return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
@@ -68,7 +95,11 @@ def get_max_accel_low_speeds(max_accel, v_cruise):
 def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
   return float(akima_interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]))
 
-def get_max_allowed_accel(v_ego):
+def get_max_allowed_accel(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK))
   return float(akima_interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]))  # ISO 15622:2018
 
 class FrogPilotAcceleration:
@@ -81,26 +112,28 @@ class FrogPilotAcceleration:
   def update(self, v_ego, sm, frogpilot_toggles):
     eco_gear = sm["frogpilotCarState"].ecoGear
     sport_gear = sm["frogpilotCarState"].sportGear
+    ev_tuning = frogpilot_toggles.ev_tuning
+    truck_tuning = frogpilot_toggles.truck_tuning
 
     if sm["frogpilotCarState"].trafficModeEnabled:
-      self.max_accel = get_max_accel(v_ego)
+      self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
     elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
       if eco_gear:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
       else:
         if frogpilot_toggles.acceleration_profile == 2:
-          self.max_accel = get_max_accel_sport(v_ego)
+          self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
         else:
-          self.max_accel = get_max_allowed_accel(v_ego)
+          self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
     else:
       if frogpilot_toggles.acceleration_profile == 1:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
       elif frogpilot_toggles.acceleration_profile == 2:
-        self.max_accel = get_max_accel_sport(v_ego)
+        self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
       elif frogpilot_toggles.acceleration_profile == 3:
-        self.max_accel = get_max_allowed_accel(v_ego)
+        self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
       else:
-        self.max_accel = get_max_accel(v_ego)
+        self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
 
     if frogpilot_toggles.human_acceleration:
       self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)

frogpilot/controls/lib/frogpilot_following.py

@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
 import numpy as np
 
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
 
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
 
 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
+PERSONALITY_BP = [20. * CV.KPH_TO_MS, 90. * CV.KPH_TO_MS]
 
 class FrogPilotFollowing:
   def __init__(self, FrogPilotPlanner):
@@ -48,12 +50,16 @@ class FrogPilotFollowing:
           frogpilot_toggles.custom_personalities, sm["controlsState"].personality
         )
 
-      self.t_follow = get_T_FOLLOW(
+      t_follow_param = get_T_FOLLOW(
         frogpilot_toggles.aggressive_follow,
         frogpilot_toggles.standard_follow,
         frogpilot_toggles.relaxed_follow,
         frogpilot_toggles.custom_personalities, sm["controlsState"].personality
       )
+      if isinstance(t_follow_param, list):
+        self.t_follow = float(np.interp(v_ego, PERSONALITY_BP, t_follow_param))
+      else:
+        self.t_follow = float(t_follow_param)
     else:
       self.base_acceleration_jerk = 0
       self.base_danger_jerk = 0

frogpilot/controls/lib/frogpilot_tracking.py

@@ -51,7 +51,7 @@ class FrogPilotTracking:
     self.sound = FrogPilotAudibleAlert.none
     self.state = State.disabled
 
-    self.model_name = clean_model_name(dict(zip(frogpilot_toggles.available_models.split(","), frogpilot_toggles.available_model_names.split(",")))[frogpilot_toggles.model])
+    self.model_name = clean_model_name(frogpilot_toggles.model_name)
 
   def update(self, now, time_validated, sm, frogpilot_toggles):
     v_cruise = min(sm["controlsState"].vCruiseCluster, V_CRUISE_MAX) * CV.KPH_TO_MS

frogpilot/controls/lib/neural_network_feedforward.py

@@ -128,7 +128,7 @@ def get_nn_model_path(car, eps_firmware) -> str | None:
   def find_valid_model(*queries):
     for query in queries:
       path, score = best_model_path(query)
-      if path and candidate in path and score >= 0.9:
+      if path and score >= 0.9:
         return path
     return None
 

frogpilot/system/frogpilot_stats.py

@@ -20,6 +20,30 @@ from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
 
 BASE_URL = "https://nominatim.openstreetmap.org"
 MINIMUM_POPULATION = 100_000
+SEARCH_RADIUS_DEGREES = 1.45
+
+def get_population_value(population_str):
+  if population_str is None:
+    return None
+  try:
+    return int(str(population_str).replace(",", "").split(";")[0].strip())
+  except Exception:
+    return None
+
+def search_nearby_major_cities(lat, lon, session, state_name, country_name):
+  viewbox = f"{lon - SEARCH_RADIUS_DEGREES},{lat + SEARCH_RADIUS_DEGREES},{lon + SEARCH_RADIUS_DEGREES},{lat - SEARCH_RADIUS_DEGREES}"
+  cities = (session.get(f"{BASE_URL}/search", params={
+    "addressdetails": 1, "bounded": 1, "extratags": 1, "format": "jsonv2", "limit": 20, "q": "city", "viewbox": viewbox
+  }, timeout=10).json() or [])
+
+  qualifying = [c for c in cities if (get_population_value((c.get("extratags") or {}).get("population")) or 0) >= MINIMUM_POPULATION]
+  if not qualifying:
+    return None
+
+  nearest = min(qualifying, key=lambda c: (float(c["lat"]) - lat) ** 2 + (float(c["lon"]) - lon) ** 2)
+  addr = nearest.get("address") or {}
+  return float(nearest["lat"]), float(nearest["lon"]), addr.get("city") or addr.get("town") or nearest.get("display_name", "").split(",")[0], state_name, country_name
+
 
 def get_city_center(latitude, longitude):
   try:
@@ -44,14 +68,7 @@ def get_city_center(latitude, longitude):
 
         if data:
           tags = data[0]
-          population = (tags.get("extratags") or {}).get("population")
-
-          population_value = None
-          if population is not None:
-            try:
-              population_value = int(str(population).replace(",", "").split(";")[0].strip())
-            except Exception:
-              population_value = None
+          population_value = get_population_value((tags.get("extratags") or {}).get("population"))
 
           if population_value is not None and population_value >= MINIMUM_POPULATION:
             latitude_value = float(tags["lat"])
@@ -62,6 +79,10 @@ def get_city_center(latitude, longitude):
 
             return latitude_value, longitude_value, city_label, state_name, country_name
 
+      nearby_result = search_nearby_major_cities(latitude, longitude, session, state_name, country_name)
+      if nearby_result:
+        return nearby_result
+
       query = f"{state_name} state capital" if country_code == "us" else f"capital of {state_name}, {country_name}"
       response = session.get(f"{BASE_URL}/search", params={"addressdetails": 1, "extratags": 1, "format": "jsonv2", "limit": 5, "q": query}, timeout=10)
       response.raise_for_status()
@@ -99,14 +120,14 @@ def get_city_center(latitude, longitude):
 
 def update_branch_commits(now):
   points = []
-  for branch in ["FrogPilot", "FrogPilot-Staging", "FrogPilot-Testing"]:
-    try:
-      response = requests.get(f"https://api.github.com/repos/FrogAi/FrogPilot/commits/{branch}")
-      response.raise_for_status()
-      sha = response.json()["sha"]
-      points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
-    except Exception as e:
-      print(f"Failed to fetch commit for {branch}: {e}")
+  branch = get_build_metadata().channel  # Current running branch
+  try:
+    response = requests.get(f"https://api.github.com/repos/firestar5683/StarPilot/commits/{branch}")
+    response.raise_for_status()
+    sha = response.json()["sha"]
+    points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
+  except Exception as e:
+    print(f"Failed to fetch commit for {branch}: {e}")
 
   return points
 
@@ -129,11 +150,9 @@ def send_stats():
     if frogpilot_toggles.car_make == "mock":
       return
 
-    bucket = os.environ.get("STATS_BUCKET", "")
-    org_ID = os.environ.get("STATS_ORG_ID", "")
-    token = os.environ.get("STATS_TOKEN", "")
-    url = os.environ.get("STATS_URL", "")
-
+    bucket = "StarPilot"
+    org_ID = "StarPilot"
+    url = "https://stats.firestar.link"
     frogpilot_stats = json.loads(params.get("FrogPilotStats") or "{}")
 
     location = json.loads(params.get("LastGPSPosition") or "{}")
@@ -161,14 +180,19 @@ def send_stats():
 
     user_point = (
       Point("user_stats")
+      .tag("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
+      .tag("car_model", frogpilot_toggles.car_model)
+      .tag("city", city)
+      .tag("country", country)
+      .tag("device", HARDWARE.get_device_type())
+      .tag("driving_model", clean_model_name(frogpilot_toggles.model_name))
+      .tag("state", state)
+      .tag("theme", selected_theme.title())
+      .tag("branch", build_metadata.channel)
+      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
+
       .field("blocked_user", frogpilot_toggles.block_user)
-      .field("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
-      .field("car_model", frogpilot_toggles.car_model)
-      .field("city", city)
-      .field("country", country)
       .field("current_months_kilometers", int(frogpilot_stats.get("CurrentMonthsKilometers", 0)))
-      .field("device", HARDWARE.get_device_type())
-      .field("driving_model", clean_model_name(frogpilot_toggles.model_name))
       .field("event", 1)
       .field("frogpilot_drives", int(frogpilot_stats.get("FrogPilotDrives", 0)))
       .field("frogpilot_hours", float(frogpilot_stats.get("FrogPilotSeconds", 0)) / (60 * 60))
@@ -178,13 +202,12 @@ def send_stats():
       .field("has_openpilot_longitudinal", frogpilot_toggles.openpilot_longitudinal)
       .field("has_pedal", frogpilot_toggles.has_pedal)
       .field("has_sdsu", frogpilot_toggles.has_sdsu)
+      .field("has_sascm", frogpilot_toggles.has_sascm)
       .field("has_zss", frogpilot_toggles.has_zss)
       .field("latitude", latitude)
       .field("longitude", longitude)
       .field("rainbow_path", frogpilot_toggles.rainbow_path)
       .field("random_events", frogpilot_toggles.random_events)
-      .field("state", state)
-      .field("theme", selected_theme.title())
       .field("total_aol_seconds", float(frogpilot_stats.get("AOLTime", 0)))
       .field("total_lateral_seconds", float(frogpilot_stats.get("LateralTime", 0)))
       .field("total_longitudinal_seconds", float(frogpilot_stats.get("LongitudinalTime", 0)))
@@ -193,15 +216,12 @@ def send_stats():
       .field("up_to_date", is_up_to_date(build_metadata))
       .field("using_stock_acc", not (frogpilot_toggles.has_cc_long or frogpilot_toggles.openpilot_longitudinal))
 
-      .tag("branch", build_metadata.channel)
-      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
-
       .time(now)
     )
 
     all_points = [user_point] + update_branch_commits(now)
 
-    client = InfluxDBClient(org=org_ID, token=token, url=url)
+    client = InfluxDBClient(org=org_ID, token=org_ID, url=url)
     client.write_api(write_options=SYNCHRONOUS).write(bucket=bucket, org=org_ID, record=all_points)
     print("Successfully sent FrogPilot stats!")
   except Exception as exception:

frogpilot/tinygrad_modeld/SConscript

@@ -32,7 +32,10 @@ lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LI
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
 # Get model metadata
-for model_name in ['driving_vision', 'driving_policy']:
+model_metadata_names = ['driving_vision', 'driving_policy']
+if File("models/driving_off_policy.onnx").exists():
+  model_metadata_names.append('driving_off_policy')
+for model_name in model_metadata_names:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#frogpilot/tinygrad_modeld").File("get_model_metadata.py").abspath)]
   cmd = f'python3 {Dir("#frogpilot/tinygrad_modeld").abspath}/get_model_metadata.py {fn}.onnx'
@@ -48,7 +51,10 @@ def tg_compile(flags, model_name):
   )
 
 # Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+model_compile_names = ['driving_vision', 'driving_policy', 'dmonitoring_model']
+if File("models/driving_off_policy.onnx").exists():
+  model_compile_names.append('driving_off_policy')
+for model_name in model_compile_names:
   flags = {
     'larch64': 'DEV=QCOM',
     'Darwin': 'DEV=CPU IMAGE=0',

frogpilot/tinygrad_modeld/fill_model_msg.py

@@ -11,16 +11,15 @@ ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 # Return curvature for lateral action. If the model outputs desired_curvature and we're not in mlsim mode,
 # use it directly; otherwise derive from the plan using yaw and yaw-rate.
-def get_curvature_from_output(output: dict, v_ego: float, lat_action_t: float, mlsim: bool) -> float:
+def get_curvature_from_output(output: dict, plan: np.ndarray, v_ego: float, lat_action_t: float, mlsim: bool) -> float:
   if not mlsim:
     desired = output.get('desired_curvature')
     if desired is not None:
       return float(desired[0, 0])
 
-  plan_out = output['plan'][0]
   # Use yaw (index 2) and yaw_rate (index 2)
-  theta = plan_out[:, Plan.T_FROM_CURRENT_EULER][:, 2]
-  theta_dot = plan_out[:, Plan.ORIENTATION_RATE][:, 2]
+  theta = plan[:, Plan.T_FROM_CURRENT_EULER][:, 2]
+  theta_dot = plan[:, Plan.ORIENTATION_RATE][:, 2]
   return float(get_curvature_from_plan(theta, theta_dot, ModelConstants.T_IDXS, v_ego, lat_action_t))
 
 

frogpilot/tinygrad_modeld/parse_model_outputs.py

@@ -97,12 +97,12 @@ class Parser:
         self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                        out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
     if 'plan' in outs:
-      if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                       out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-      else:
-        self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                       out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+      plan_mhp = outs['plan'].shape[1] != 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH
+      plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+      if 'planplus' in outs:
+        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
                      out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))

frogpilot/tinygrad_modeld/tinygrad_modeld.py

@@ -35,14 +35,16 @@ PROCESS_NAME = "frogpilot.tinygrad_modeld.tinygrad_modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool) -> log.ModelDataV2.Action:
+                          lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool, frogpilot_toggles) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
+    if 'planplus' in model_output:
+      plan = plan + frogpilot_toggles.recovery_power*model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan_tomb_raider(plan[:,Plan.VELOCITY][:,0],
                                                                  plan[:,Plan.ACCELERATION][:,0],
                                                                  ModelConstants.T_IDXS,
@@ -56,7 +58,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
       else:
         desired_curvature = prev_action.desiredCurvature
     else:
-      desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, mlsim=mlsim)
+      desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, mlsim=mlsim)
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else:
@@ -81,6 +83,34 @@ class ModelState:
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
+  def _build_policy_inputs(self, input_shapes: dict[str, tuple[int, ...]]) -> tuple[dict[str, np.ndarray], str | None]:
+    numpy_inputs: dict[str, np.ndarray] = {}
+
+    # Always-supported inputs (if model expects them)
+    desire_key_init = next((k for k in input_shapes if k.startswith('desire')), None)
+    if desire_key_init:
+      numpy_inputs[desire_key_init] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    if 'traffic_convention' in input_shapes:
+      numpy_inputs['traffic_convention'] = np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32)
+    if 'features_buffer' in input_shapes:
+      numpy_inputs['features_buffer'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+
+    # Optional inputs for non-v11 (and some v10/v9 variants)
+    # Lateral control params
+    if 'lateral_control_params' in input_shapes:
+      numpy_inputs['lateral_control_params'] = np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32)
+
+    # Previous desired curvature: handle both singular and plural key names across model versions
+    prev_desired_curv_key = None
+    if 'prev_desired_curv' in input_shapes:
+      prev_desired_curv_key = 'prev_desired_curv'
+      numpy_inputs['prev_desired_curv'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+    elif 'prev_desired_curvs' in input_shapes:
+      prev_desired_curv_key = 'prev_desired_curvs'
+      numpy_inputs['prev_desired_curvs'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+
+    return numpy_inputs, prev_desired_curv_key
+
   def __init__(self, context: CLContext):
     # Dynamically build paths based on current model ID
     params = Params()
@@ -99,13 +129,17 @@ class ModelState:
         models_dir = Path(__file__).parent / "models"
         VISION_PKL_PATH = models_dir / "driving_vision_tinygrad.pkl"
         POLICY_PKL_PATH = models_dir / "driving_policy_tinygrad.pkl"
+        OFF_POLICY_PKL_PATH = models_dir / "driving_off_policy_tinygrad.pkl"
         VISION_METADATA_PATH = models_dir / "driving_vision_metadata.pkl"
         POLICY_METADATA_PATH = models_dir / "driving_policy_metadata.pkl"
+        OFF_POLICY_METADATA_PATH = models_dir / "driving_off_policy_metadata.pkl"
     else:
         VISION_PKL_PATH = model_dir / f"{model_id}_driving_vision_tinygrad.pkl"
         POLICY_PKL_PATH = model_dir / f"{model_id}_driving_policy_tinygrad.pkl"
+        OFF_POLICY_PKL_PATH = model_dir / f"{model_id}_driving_off_policy_tinygrad.pkl"
         VISION_METADATA_PATH = model_dir / f"{model_id}_driving_vision_metadata.pkl"
         POLICY_METADATA_PATH = model_dir / f"{model_id}_driving_policy_metadata.pkl"
+        OFF_POLICY_METADATA_PATH = model_dir / f"{model_id}_driving_off_policy_metadata.pkl"
 
     # If ModelVersion is not set or not available, try to determine it from available model data
     if not model_version:
@@ -156,8 +190,10 @@ class ModelState:
     # Add policy_generation attribute after loading policy_metadata
     self.policy_generation = model_version or "v8"
     self.is_v11 = (self.policy_generation == "v11")
+    self.is_v10 = (self.policy_generation == "v10")
+    self.is_v12 = (self.policy_generation == "v12")
     self.is_v9 = (self.policy_generation == "v9")
-    self.mlsim = (self.policy_generation in ("v8", "v10", "v11"))
+    self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12"))
 
     self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -168,33 +204,50 @@ class ModelState:
 
 
     # policy inputs (built dynamically to support all generations)
-    self.numpy_inputs = {}
+    self.numpy_inputs, self.prev_desired_curv_key = self._build_policy_inputs(self.policy_input_shapes)
 
-    # Always-supported inputs (if model expects them)
-    desire_key_init = next((k for k in self.policy_input_shapes if k.startswith('desire')), None)
-    if desire_key_init:
-      self.numpy_inputs[desire_key_init] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    if 'traffic_convention' in self.policy_input_shapes:
-      self.numpy_inputs['traffic_convention'] = np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32)
-    if 'features_buffer' in self.policy_input_shapes:
-      self.numpy_inputs['features_buffer'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+    # Off-policy model (optional)
+    self.off_policy_enabled = False
+    self.off_policy_input_shapes: dict[str, tuple[int, ...]] = {}
+    self.off_policy_output_slices: dict[str, slice] = {}
+    self.off_policy_numpy_inputs: dict[str, np.ndarray] = {}
+    self.off_policy_prev_desired_curv_key: str | None = None
+    self.off_policy_desire_key: str | None = None
+    self.off_policy_inputs: dict[str, Tensor] | None = None
+    self.off_policy_output: np.ndarray | None = None
 
-    # Optional inputs for non-v11 (and some v10/v9 variants)
-    # Lateral control params
-    if 'lateral_control_params' in self.policy_input_shapes:
-      self.numpy_inputs['lateral_control_params'] = np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32)
+    off_policy_metadata = None
+    if self.policy_generation == "v12" or OFF_POLICY_METADATA_PATH.is_file() or OFF_POLICY_PKL_PATH.is_file():
+      try:
+        with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+          off_policy_metadata = pickle.load(f)
+      except FileNotFoundError:
+        cloudlog.error(f"Missing metadata {OFF_POLICY_METADATA_PATH}, downloading...")
+        from openpilot.frogpilot.assets.model_manager import ModelManager
+        ModelManager().download_model(model_id)
+        try:
+          with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+            off_policy_metadata = pickle.load(f)
+        except FileNotFoundError:
+          cloudlog.warning(f"Off-policy metadata still missing: {OFF_POLICY_METADATA_PATH}")
 
-    # Previous desired curvature: handle both singular and plural key names across model versions
-    self.prev_desired_curv_key = None
-    if 'prev_desired_curv' in self.policy_input_shapes:
-      self.prev_desired_curv_key = 'prev_desired_curv'
-      self.numpy_inputs['prev_desired_curv'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-    elif 'prev_desired_curvs' in self.policy_input_shapes:
-      self.prev_desired_curv_key = 'prev_desired_curvs'
-      self.numpy_inputs['prev_desired_curvs'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+    if off_policy_metadata is not None:
+      self.off_policy_input_shapes = off_policy_metadata['input_shapes']
+      self.off_policy_output_slices = off_policy_metadata['output_slices']
+      off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
+      self.off_policy_numpy_inputs, self.off_policy_prev_desired_curv_key = self._build_policy_inputs(self.off_policy_input_shapes)
+      self.off_policy_desire_key = next((k for k in self.off_policy_numpy_inputs if k.startswith('desire')), None)
+      self.off_policy_inputs = {k: Tensor(v, device='NPY').realize() for k, v in self.off_policy_numpy_inputs.items()}
+      self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
+      try:
+        with open(OFF_POLICY_PKL_PATH, "rb") as f:
+          self.off_policy_run = pickle.load(f)
+        self.off_policy_enabled = True
+      except FileNotFoundError:
+        cloudlog.warning(f"Missing off-policy model {OFF_POLICY_PKL_PATH}, skipping off-policy")
 
-    # Optional temporal buffer for previous desired curvature (allocate only if the policy expects it)
-    if getattr(self, 'prev_desired_curv_key', None) is not None:
+    # Optional temporal buffer for previous desired curvature (allocate only if any model expects it)
+    if self.prev_desired_curv_key is not None or self.off_policy_prev_desired_curv_key is not None:
       self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
 
@@ -204,6 +257,7 @@ class ModelState:
     self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
     self.parser = Parser()
+    self.off_policy_parser = Parser(ignore_missing=True)
 
     with open(VISION_PKL_PATH, "rb") as f:
       self.vision_run = pickle.load(f)
@@ -229,10 +283,18 @@ class ModelState:
     self.full_desire[0,:-1] = self.full_desire[0,1:]
     self.full_desire[0,-1] = new_desire
     self.numpy_inputs[self.desire_key][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
+    if self.off_policy_enabled and self.off_policy_desire_key is not None:
+      self.off_policy_numpy_inputs[self.off_policy_desire_key][:] = self.numpy_inputs[self.desire_key]
+
+    if 'traffic_convention' in self.numpy_inputs:
+      self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    if self.off_policy_enabled and 'traffic_convention' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     if 'lateral_control_params' in self.numpy_inputs:
       self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+    if self.off_policy_enabled and 'lateral_control_params' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
 
     if prepare_only:
       return None
@@ -254,7 +316,10 @@ class ModelState:
 
     self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
     self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    if 'features_buffer' in self.numpy_inputs:
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    if self.off_policy_enabled and 'features_buffer' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -265,15 +330,30 @@ class ModelState:
       self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
 
       if self.prev_desired_curv_key is not None:
-        # v9 models expect zeros for prev_desired_curv(s); others use history
-        if self.is_v9:
+        # v9/v10/v11/v12 models expect zeros for prev_desired_curv(s); others use history
+        if self.is_v9 or self.is_v10 or self.is_v11 or self.is_v12:
           self.numpy_inputs[self.prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
         else:
           self.numpy_inputs[self.prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
 
+      if self.off_policy_enabled and self.off_policy_prev_desired_curv_key is not None:
+        if self.is_v9 or self.is_v12:
+          self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
+        else:
+          self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+    if self.off_policy_enabled:
+      self.off_policy_output = self.off_policy_run(**self.off_policy_inputs).contiguous().realize().uop.base.buffer.numpy()
+      off_policy_outputs_dict = self.off_policy_parser.parse_policy_outputs(
+        self.slice_outputs(self.off_policy_output, self.off_policy_output_slices)
+      )
+      combined_outputs_dict.update(off_policy_outputs_dict)
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
+      raw_pred = [self.vision_output.copy(), self.policy_output.copy()]
+      if self.off_policy_enabled and self.off_policy_output is not None:
+        raw_pred.append(self.off_policy_output.copy())
+      combined_outputs_dict['raw_pred'] = np.concatenate(raw_pred)
 
     return combined_outputs_dict
 
@@ -442,7 +522,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9, frogpilot_toggles)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -481,4 +561,4 @@ if __name__ == "__main__":
     cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
   except Exception:
     sentry.capture_exception()
-    raise
+    raise

frogpilot/ui/qt/offroad/frogpilot_settings.cc

@@ -269,10 +269,14 @@ void FrogPilotSettingsWindow::updateVariables() {
     hasPedal = CP.getEnableGasInterceptor();
     hasRadar = !CP.getRadarUnavailable();
     hasSDSU = frogpilot_toggles.value("has_sdsu").toBool();
+    hasSASCM = frogpilot_toggles.value("has_sascm").toBool();
     hasSNG = hasOpenpilotLongitudinal && CP.getAutoResumeSng();
     hasZSS = frogpilot_toggles.value("has_zss").toBool();
     isAngleCar = CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE;
-    isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV";
+    isBolt = carFingerprint == "CHEVROLET_BOLT_ACC_2022_2023" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2022_2023" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2019_2021" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2017";
     isGM = carMake == "gm";
     isHKG = carMake == "hyundai";
     isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;
@@ -280,10 +284,12 @@ void FrogPilotSettingsWindow::updateVariables() {
     isTorqueCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE;
     isToyota = carMake == "toyota";
     isTSK = CP.getSecOcRequired();
-    isVolt = carFingerprint == "CHEVROLET_VOLT";
+    isVolt = carFingerprint.find("CHEVROLET_VOLT") == 0;
+    if (isVolt) hasSNG = false;
     longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
     startAccel = CP.getStartAccel();
     steerActuatorDelay = CP.getSteerActuatorDelay();
+    steerOffset = 0.0f;
     steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
     steerRatio = CP.getSteerRatio();
     stopAccel = CP.getStopAccel();
@@ -295,6 +301,7 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     float currentDelayStock = params.getFloat("SteerDelayStock");
     float currentFrictionStock = params.getFloat("SteerFrictionStock");
+    float currentSteerOffsetStock = params.getFloat("SteerOffsetStock");
     float currentKPStock = params.getFloat("SteerKPStock");
     float currentLatAccelStock = params.getFloat("SteerLatAccelStock");
     float currentLongDelayStock = params.getFloat("LongitudinalActuatorDelayStock");
@@ -319,6 +326,13 @@ void FrogPilotSettingsWindow::updateVariables() {
       params.putFloat("SteerFrictionStock", friction);
     }
 
+    if (currentSteerOffsetStock != steerOffset) {
+      if (params.getFloat("SteerOffset") == currentSteerOffsetStock) {
+        params.putFloat("SteerOffset", steerOffset);
+      }
+      params.putFloat("SteerOffsetStock", steerOffset);
+    }
+
     if (currentKPStock != steerKp && steerKp != 0) {
       if (params.getFloat("SteerKP") == currentKPStock || currentKPStock == 0) {
         params.putFloat("SteerKP", steerKp);
@@ -391,6 +405,7 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     canUsePedal = FPCP.getCanUsePedal();
     canUseSDSU = FPCP.getCanUseSDSU();
+    canUseSASCM = FPCP.getCanUseSASCM();
     openpilotLongitudinalControlDisabled = FPCP.getOpenpilotLongitudinalControlDisabled();
   }
 

frogpilot/ui/qt/offroad/frogpilot_settings.h

@@ -13,6 +13,7 @@ public:
 
   bool canUsePedal = false;
   bool canUseSDSU = false;
+  bool canUseSASCM = false;
   bool forceOpenDescriptions = false;
   bool hasAutoTune = true;
   bool hasBSM = true;
@@ -24,6 +25,7 @@ public:
   bool hasPedal = false;
   bool hasRadar = true;
   bool hasSDSU = false;
+  bool hasSASCM = false;
   bool hasSNG = false;
   bool hasZSS = false;
   bool isAngleCar = false;
@@ -45,6 +47,7 @@ public:
   float longitudinalActuatorDelay;
   float startAccel;
   float steerActuatorDelay;
+  float steerOffset;
   float steerKp;
   float steerRatio;
   float stopAccel;

frogpilot/ui/qt/offroad/lateral_settings.cc

@@ -41,6 +41,7 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("<b>Advanced steering control changes to fine-tune how openpilot drives.</b>"), "../../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
     {"SteerDelay", parent->steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
     {"SteerFriction", parent->friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
+    {"SteerOffset", parent->steerOffset != 0 ? QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)) : tr("Steer Offset"), tr("<b>Offsets steering torque to help compensate for alignment or tire issues.</b> More negative pulls the car right; more positive pulls it left. Most users should not need to touch this."), ""},
     {"SteerKP", parent->steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
     {"SteerLatAccel", parent->latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
     {"SteerRatio", parent->steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
@@ -87,15 +88,18 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     } else if (param == "SteerFriction") {
       std::vector<QString> steerFrictionButton{"Reset"};
       lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 0.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerFrictionButton, false, false);
+    } else if (param == "SteerOffset") {
+      std::vector<QString> steerOffsetButton{"Reset"};
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, -0.2, 0.2, QString(), std::map<float, QString>(), 0.005, false, {}, steerOffsetButton, false, false);
     } else if (param == "SteerKP") {
       std::vector<QString> steerKPButton{"Reset"};
       lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
     } else if (param == "SteerLatAccel") {
       std::vector<QString> steerLatAccelButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
     } else if (param == "SteerRatio") {
       std::vector<QString> steerRatioButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.5, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.25, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
 
     } else if (param == "AlwaysOnLateral") {
       FrogPilotManageControl *aolToggle = new FrogPilotManageControl(param, title, desc, icon);
@@ -216,6 +220,14 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     }
   });
 
+  steerOffsetToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerOffset"]);
+  QObject::connect(steerOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
+    if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Steer Offset</b> to its default value?"), this)) {
+      params.putFloat("SteerOffset", parent->steerOffset);
+      steerOffsetToggle->refresh();
+    }
+  });
+
   steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
   QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Kp Factor</b> to its default value?"), this)) {
@@ -255,12 +267,13 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
 
   steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)));
   steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)));
+  steerOffsetToggle->setTitle(QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)));
   steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)));
   steerKPToggle->updateControl(parent->steerKp * 0.5, parent->steerKp * 1.5);
   steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)));
-  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25);
+  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25);
   steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)));
-  steerRatioToggle->updateControl(parent->steerRatio * 0.5, parent->steerRatio * 1.5);
+  steerRatioToggle->updateControl(parent->steerRatio * 0.25, parent->steerRatio * 1.5);
 
   updateToggles();
 }
@@ -340,7 +353,6 @@ void FrogPilotLateralPanel::updateToggles() {
     }
   }
 
-  bool forcingAutoTune = !parent->hasAutoTune && params.getBool("ForceAutoTune");
   bool forcingAutoTuneOff = parent->hasAutoTune && params.getBool("ForceAutoTuneOff");
   bool forcingTorqueController = !parent->isAngleCar && params.getBool("ForceTorqueController");
   bool usingNNFF = parent->hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
@@ -401,7 +413,13 @@ void FrogPilotLateralPanel::updateToggles() {
 
     else if (key == "SteerFriction") {
       setVisible &= parent->friction != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
+      setVisible &= parent->isTorqueCar || forcingTorqueController;
+      setVisible &= !usingNNFF;
+    }
+
+    else if (key == "SteerOffset") {
+      setVisible &= parent->isGM;
       setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
@@ -413,14 +431,14 @@ void FrogPilotLateralPanel::updateToggles() {
 
     else if (key == "SteerLatAccel") {
       setVisible &= parent->latAccelFactor != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
       setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
 
     else if (key == "SteerRatio") {
       setVisible &= parent->steerRatio != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
     }
 
     toggle->setVisible(setVisible);

frogpilot/ui/qt/offroad/lateral_settings.h

@@ -31,6 +31,7 @@ private:
   float friction;
   float latAccelFactor;
   float steerActuatorDelay;
+  float steerOffset;
   float steerKp;
   float steerRatio;
 
@@ -38,7 +39,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"};
+  QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerOffset", "SteerLatAccel", "SteerKP", "SteerRatio"};
   QSet<QString> aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "PauseAOLOnBrake"};
   QSet<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"};
   QSet<QString> lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"};
@@ -48,6 +49,7 @@ private:
 
   FrogPilotParamValueButtonControl *steerDelayToggle;
   FrogPilotParamValueButtonControl *steerFrictionToggle;
+  FrogPilotParamValueButtonControl *steerOffsetToggle;
   FrogPilotParamValueButtonControl *steerLatAccelToggle;
   FrogPilotParamValueButtonControl *steerKPToggle;
   FrogPilotParamValueButtonControl *steerRatioToggle;

frogpilot/ui/qt/offroad/longitudinal_settings.h

@@ -40,19 +40,19 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> advancedLongitudinalTuneKeys = {"LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
-  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
+  QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "TruckTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
+  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
   QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
-  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"};
+  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TrailerLoad", "TacoTune"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"};
-  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
+  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
   QSet<QString> speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7"};
   QSet<QString> speedLimitControllerQOLKeys = {"ForceMPHDashboard", "SetSpeedLimit", "SLCConfirmation", "SLCLookaheadHigher", "SLCLookaheadLower", "SLCMapboxFiller"};
   QSet<QString> speedLimitControllerVisualKeys = {"ShowSLCOffset", "SpeedLimitSources"};
-  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
+  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardFollowHigh", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
   QSet<QString> trafficPersonalityKeys = {"TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration", "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease", "ResetTrafficPersonality"};
 
   QSet<QString> parentKeys;

frogpilot/ui/qt/offroad/model_settings.cc

@@ -30,12 +30,14 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     {"DeleteModel", tr("Delete Driving Models"), tr("Delete driving models from the device."), ""},
     {"DownloadModel", tr("Download Driving Models"), tr("Download driving models to the device."), ""},
     {"ModelRandomizer", tr("Model Randomizer"), tr("Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs."), ""},
+    {"RecoveryPower", tr("Recovery Power"), tr("Adjust the strength of planplus lane recovery corrections (0.5 to 2.0)."), ""},
     {"StopDistance", tr("Stop Distance"), tr("Adjust the model's stopping distance in meters (minimum 4 for safety). Most users prefer 6."), ""},
     {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Add or remove models from the <b>Model Randomizer</b>'s blacklist list."), ""},
     {"ManageScores", tr("Manage Model Ratings"), tr("Reset or view the saved ratings for the driving models."), ""},
     {"SelectModel", tr("Select Driving Model"), tr("Select the active driving model."), ""},
   };
 
+  FrogPilotParamValueButtonControl *recoveryPowerToggle = nullptr;
   FrogPilotParamValueButtonControl *stopDistanceToggle = nullptr;
 
   for (const auto &[param, title, desc, icon] : modelToggles) {
@@ -431,6 +433,10 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
       });
       modelToggle = selectModelButton;
 
+    } else if (param == "RecoveryPower") {
+      std::vector<QString> recoveryPowerButton{"Reset"};
+      modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.5, 2.0, QString(), std::map<float, QString>(), 0.1, false, {}, recoveryPowerButton, false, false);
+      recoveryPowerToggle = static_cast<FrogPilotParamValueButtonControl*>(modelToggle);
     } else if (param == "StopDistance") {
       std::vector<QString> stopDistanceButton{"Reset"};
       modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 4.0, 10.0, QString(), std::map<float, QString>(), 0.1, false, {}, stopDistanceButton, false, false);
@@ -463,6 +469,16 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     }
   });
 
+  if (recoveryPowerToggle) {
+    QObject::connect(recoveryPowerToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, recoveryPowerToggle]() {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Recovery Power</b> to the default of 1.0?"), tr("Reset"), this)) {
+        params.putFloat("RecoveryPower", 1.0);
+        recoveryPowerToggle->refresh();
+        updateFrogPilotToggles();
+      }
+    });
+  }
+
   if (stopDistanceToggle) {
     QObject::connect(stopDistanceToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, stopDistanceToggle]() {
       if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Stop Distance</b> to the default of 6 meters?"), tr("Reset"), this)) {
@@ -487,6 +503,8 @@ bool FrogPilotModelPanel::isModelInstalled(const QString &key) const {
   bool has_policy_tg = false;
   bool has_vision_meta = false;
   bool has_vision_tg = false;
+  bool has_off_policy_meta = false;
+  bool has_off_policy_tg = false;
   bool foundAny = false;
 
   for (const QString &file : modelDir.entryList(QDir::Files)) {
@@ -505,6 +523,10 @@ bool FrogPilotModelPanel::isModelInstalled(const QString &key) const {
         has_policy_meta = true;
       } else if (base.contains("_driving_policy_tinygrad")) {
         has_policy_tg = true;
+      } else if (base.contains("_driving_off_policy_metadata")) {
+        has_off_policy_meta = true;
+      } else if (base.contains("_driving_off_policy_tinygrad")) {
+        has_off_policy_tg = true;
       } else if (base.contains("_driving_vision_metadata")) {
         has_vision_meta = true;
       } else if (base.contains("_driving_vision_tinygrad")) {
@@ -518,6 +540,9 @@ bool FrogPilotModelPanel::isModelInstalled(const QString &key) const {
   }
 
   if (has_policy_meta && has_policy_tg && has_vision_meta && has_vision_tg) {
+    if (has_off_policy_meta || has_off_policy_tg) {
+      return has_off_policy_meta && has_off_policy_tg;
+    }
     return true;
   }
 
@@ -740,6 +765,8 @@ void FrogPilotModelPanel::updateToggles() {
       setVisible &= params.getBool("ModelRandomizer");
     } else if (key == "SelectModel") {
       setVisible &= !params.getBool("ModelRandomizer");
+    } else if (key == "RecoveryPower") {
+      setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
     } else if (key == "StopDistance") {
       setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
     }

frogpilot/ui/qt/offroad/theme_settings.cc

@@ -66,6 +66,11 @@ void deleteThemeAsset(QDir &directory, const QString &subFolder, const QString &
 }
 
 void downloadThemeAsset(const QString &input, const std::string &paramKey, const QString &assetParam, Params &params, Params &params_memory) {
+  if (paramKey == "BootLogoToDownload") {
+    params_memory.put(paramKey, input.trimmed().toStdString());
+    return;
+  }
+
   QString output = input;
   int tilde = output.indexOf("~");
   if (tilde >= 0) {
@@ -228,6 +233,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
 
   const std::vector<std::tuple<QString, QString, QString, QString>> themeToggles {
     {"PersonalizeOpenpilot", tr("Custom Themes"), tr("<b>The overall look and feel of openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), "../../frogpilot/assets/toggle_icons/icon_frog.png"},
+    {"BootLogo", tr("Boot Logo"), tr("<b>The boot logo shown while the device starts.</b>"), ""},
     {"CustomColors", tr("Color Scheme"), tr("<b>The color scheme used throughout openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
     {"CustomDistanceIcons", tr("Distance Button"), tr("<b>The distance button icons shown on the driving screen.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
     {"CustomIcons", tr("Icon Pack"), tr("<b>The icon style used across openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
@@ -252,6 +258,57 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
         themesLayout->setCurrentWidget(customThemesPanel);
       });
       themeToggle = personalizeOpenpilotToggle;
+    } else if (param == "BootLogo") {
+      manageBootLogosButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")});
+      QObject::connect(manageBootLogosButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
+        // Show all downloaded boot logos, including the currently selected one.
+        QStringList bootLogos = getThemeList(true, QDir(bootLogosDirectory.path()), "", "BootLogo", params);
+
+        if (id == 0) {
+          QString bootLogoToDelete = MultiOptionDialog::getSelection(tr("Select a boot logo to delete"), bootLogos, "", this);
+          if (!bootLogoToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Delete the \"%1\" boot logo?").arg(bootLogoToDelete), tr("Delete"), this)) {
+            bootLogosDownloaded = false;
+
+            deleteThemeAsset(bootLogosDirectory, "", "DownloadableBootLogos", bootLogoToDelete, params);
+          }
+        } else if (id == 1) {
+          if (bootLogoDownloading) {
+            cancellingDownload = true;
+
+            params_memory.putBool("CancelThemeDownload", true);
+
+            QTimer::singleShot(2500, [this]() {
+              bootLogoDownloading = false;
+              cancellingDownload = false;
+              themeDownloading = false;
+
+              params_memory.putBool("CancelThemeDownload", false);
+            });
+          } else {
+            QStringList downloadableBootLogos = QString::fromStdString(params.get("DownloadableBootLogos")).split(",");
+            bootLogoToDownload = MultiOptionDialog::getSelection(tr("Select a boot logo to download"), downloadableBootLogos, "", this);
+            if (!bootLogoToDownload.isEmpty()) {
+              manageBootLogosButton->setValue(storeThemeName(bootLogoToDownload, "BootLogo", params));
+
+              bootLogoDownloading = true;
+              themeDownloading = true;
+
+              params_memory.put("ThemeDownloadProgress", "Downloading...");
+
+              downloadThemeAsset(bootLogoToDownload, "BootLogoToDownload", "DownloadableBootLogos", params, params_memory);
+
+              downloadStatusLabel->setText("Downloading...");
+            }
+          }
+        } else if (id == 2) {
+          QString bootLogoToSelect = MultiOptionDialog::getSelection(tr("Select a boot logo"), bootLogos, getThemeName("BootLogo", params), this);
+          if (!bootLogoToSelect.isEmpty()) {
+            manageBootLogosButton->setValue(storeThemeName(bootLogoToSelect, "BootLogo", params));
+          }
+        }
+      });
+      manageBootLogosButton->setValue(getThemeName(param.toStdString(), params));
+      themeToggle = manageBootLogosButton;
     } else if (param == "CustomColors") {
       manageCustomColorsButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")});
       QObject::connect(manageCustomColorsButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
@@ -704,6 +761,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
 }
 
 void FrogPilotThemesPanel::showEvent(QShowEvent *event) {
+  bootLogosDownloaded = params.get("DownloadableBootLogos").empty();
   colorsDownloaded = params.get("DownloadableColors").empty();
   distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty();
   iconsDownloaded = params.get("DownloadableIcons").empty();
@@ -756,6 +814,7 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
       finalizingDownload = true;
 
       QTimer::singleShot(2500, [this]() {
+        bootLogoDownloading = false;
         colorDownloading = false;
         distanceIconDownloading = false;
         finalizingDownload = false;
@@ -765,6 +824,7 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
         themeDownloading = false;
         wheelDownloading = false;
 
+        bootLogosDownloaded = params.get("DownloadableBootLogos").empty();
         colorsDownloaded = params.get("DownloadableColors").empty();
         distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty();
         iconsDownloaded = params.get("DownloadableIcons").empty();
@@ -782,6 +842,11 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
 
   bool parked = !s.scene.started || fs.frogpilot_scene.parked || fs.frogpilot_toggles.value("frogs_go_moo").toBool();
 
+  manageBootLogosButton->setText(1, bootLogoDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
+  manageBootLogosButton->setEnabledButtons(0, !themeDownloading);
+  manageBootLogosButton->setEnabledButtons(1, fs.frogpilot_scene.online && (!themeDownloading || bootLogoDownloading) && !cancellingDownload && !finalizingDownload && !bootLogosDownloaded && parked);
+  manageBootLogosButton->setEnabledButtons(2, !themeDownloading);
+
   manageCustomColorsButton->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
   manageCustomColorsButton->setEnabledButtons(0, !themeDownloading);
   manageCustomColorsButton->setEnabledButtons(1, fs.frogpilot_scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !finalizingDownload && !colorsDownloaded && parked);

frogpilot/ui/qt/offroad/theme_settings.h

@@ -19,6 +19,8 @@ private:
   void updateToggles();
 
   bool cancellingDownload;
+  bool bootLogoDownloading = false;
+  bool bootLogosDownloaded = false;
   bool colorDownloading;
   bool colorsDownloaded;
   bool distanceIconDownloading;
@@ -40,10 +42,11 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> customThemeKeys = {"CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"};
+  QSet<QString> customThemeKeys = {"BootLogo", "CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"};
 
   QSet<QString> parentKeys;
 
+  FrogPilotButtonsControl *manageBootLogosButton;
   FrogPilotButtonsControl *manageCustomColorsButton;
   FrogPilotButtonsControl *manageCustomIconsButton;
   FrogPilotButtonsControl *manageCustomSignalsButton;
@@ -55,11 +58,13 @@ private:
 
   LabelControl *downloadStatusLabel;
 
+  QDir bootLogosDirectory{"/data/themes/bootlogos/"};
   QDir themePacksDirectory{"/data/themes/theme_packs/"};
   QDir wheelsDirectory{"/data/themes/steering_wheels/"};
 
   QJsonObject frogpilotToggleLevels;
 
+  QString bootLogoToDownload;
   QString colorSchemeToDownload;
   QString distanceIconPackToDownload;
   QString iconPackToDownload;

frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -1,6 +1,9 @@
 #include <QRegularExpression>
 #include <QTextStream>
 
+#include <chrono>
+#include <thread>
+
 #include "frogpilot/ui/qt/offroad/vehicle_settings.h"
 
 QStringList getCarNames(const QString &carMake, QMap<QString, QString> &carModels) {
@@ -170,6 +173,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     {"ExperimentalGMTune", tr("FrogsGoMoo's Experimental Tune"), tr("<b>Experimental GM tune by FrogsGoMoo</b> that attempts to smoothen stopping and takeoff control. Use at your own risk!"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal for Longitudinal Control"), tr("<b>Use the pedal interceptor for longitudinal control</b> instead of camera ACC/Redneck when available."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
+    {"RedPanda", tr("Red Panda"), tr("<b>Enable Red Panda behavior</b> for GM (alternate safety config and bus numbering). Requires a reboot to take effect."), ""},
+    {"RemoteStartBootsComma", tr("Remote Start Boots Comma"), tr("<b>Use GM C9 SystemPowerMode</b> for ignition detection. Toggle requires a panda firmware update and a reboot to take effect."), ""},
     {"VoltSNG", tr("Stop-and-Go Hack"), tr("<b>Force stop-and-go</b> on the 2017 Chevy Volt."), ""},
 
     {"HKGToggles", tr("Hyundai/Kia/Genesis Settings"), tr("<b>FrogPilot features for Genesis, Hyundai, and Kia vehicles.</b>"), ""},
@@ -189,6 +194,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     {"PedalSupport", tr("comma Pedal Support"), tr("<b>Does your vehicle support the \"comma pedal\"?</b>"), ""},
     {"OpenpilotLongitudinal", tr("openpilot Longitudinal Support"), tr("<b>Can openpilot control the vehicle's acceleration and braking?</b>"), ""},
     {"RadarSupport", tr("Radar Support"), tr("<b>Does openpilot use the vehicle's radar data</b> alongside the device's camera for tracking lead vehicles?"), ""},
+    {"SASCMSupport", tr("SASCM Support"), tr("<b>Does your vehicle support \"SASCMs\"?</b>"), ""},
     {"SDSUSupport", tr("SDSU Support"), tr("<b>Does your vehicle support \"SDSUs\"?</b>"), ""},
     {"SNGSupport", tr("Stop-and-Go Support"), tr("<b>Does your vehicle support stop-and-go driving?</b>"), ""}
   };
@@ -299,6 +305,25 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     });
   }
 
+  ParamControl *remoteStartToggle = static_cast<ParamControl*>(toggles["RemoteStartBootsComma"]);
+  QObject::connect(remoteStartToggle, &ToggleControl::toggleFlipped, [parent, remoteStartToggle, this](bool state) {
+    const QString prompt = tr("Remote Start requires a Panda firmware update. Flash the Panda now?");
+    if (!FrogPilotConfirmationDialog::yesorno(prompt, this)) {
+      params.putBool("RemoteStartBootsComma", !state);
+      remoteStartToggle->refresh();
+      return;
+    }
+
+    std::thread([parent, this]() {
+      parent->keepScreenOn = true;
+      params_memory.putBool("FlashPanda", true);
+      while (params_memory.getBool("FlashPanda")) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      }
+      Hardware::reboot();
+    }).detach();
+  });
+
   openDescriptions(forceOpenDescriptions, toggles);
 
   QObject::connect(uiState(), &UIState::offroadTransition, [selectMakeButton, selectModelButton, this]() {
@@ -342,6 +367,7 @@ void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
 
   QStringList detected;
   if (hasPedal) detected << "comma Pedal";
+  if (parent->hasSASCM) detected << "SASCM";
   if (parent->hasSDSU) detected << "SDSU";
   if (parent->hasZSS) detected << "ZSS";
   static_cast<LabelControl*>(toggles["HardwareDetected"])->setText(detected.isEmpty() ? tr("None") : detected.join(", "));
@@ -350,6 +376,7 @@ void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
   static_cast<LabelControl*>(toggles["OpenpilotLongitudinal"])->setText(hasOpenpilotLongitudinal ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["PedalSupport"])->setText(parent->canUsePedal ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["RadarSupport"])->setText(parent->hasRadar ? tr("Yes") : tr("No"));
+  static_cast<LabelControl*>(toggles["SASCMSupport"])->setText(parent->canUseSASCM ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["SDSUSupport"])->setText(parent->canUseSDSU ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["SNGSupport"])->setText(hasSNG ? tr("Yes") : tr("No"));
 

frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -36,11 +36,11 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "VoltSNG"};
+  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "RedPanda", "RemoteStartBootsComma", "VoltSNG"};
   QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
   QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
-  QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SDSUSupport", "SNGSupport"};
+  QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SASCMSupport", "SDSUSupport", "SNGSupport"};
 
   QSet<QString> parentKeys;
 
@@ -50,6 +50,7 @@ private:
   ParamControl *forceFingerprint;
 
   Params params;
+  Params params_memory{"/dev/shm/params"};
   Params params_default{"/dev/shm/params_default"};
 
   QJsonObject frogpilotToggleLevels;

opendbc/gm_global_a_powertrain_generated.dbc

@@ -171,6 +171,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCHiddenBit : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO

panda/board/SConscript

@@ -6,6 +6,8 @@ Import('build_project', 'base_project_f4', 'base_project_h7')
 build_projects = {
   "panda": base_project_f4,
   "panda_h7": base_project_h7,
+  "panda_remote": base_project_f4,
+  "panda_h7_remote": base_project_h7,
 }
 
 for project_name, project in build_projects.items():
@@ -18,4 +20,7 @@ for project_name, project in build_projects.items():
   if "H723" in os.environ:
     flags.append('-DSTM32H723')
 
+  if "remote" in project_name:
+    flags.append('-DPANDA_GM_REMOTE_START_C9')
+
   build_project(project_name, project, flags)

panda/board/drivers/can_common.h

@@ -33,6 +33,7 @@ extern bool can_loopback;
 // Ignition detected from CAN meessages
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
+extern bool gm_remote_start_boots_comma;
 
 #define ALL_CAN_SILENT 0xFF
 #define ALL_CAN_LIVE 0
@@ -202,10 +203,22 @@ void ignition_can_hook(CANPacket_t *to_push) {
     int len = GET_LEN(to_push);
     
     // GM exception
-    if ((addr == 0xC9) && (len == 8)) {
-      // Matches SystemPowerMode (1=Run, 0=Off)
-      ignition_can = (GET_BYTE(to_push, 6) & 0x10U) != 0U;
-      ignition_can_cnt = 0U;
+    #ifdef PANDA_GM_REMOTE_START_C9
+    if (true) {
+    #else
+    if (gm_remote_start_boots_comma) {
+    #endif
+      if ((addr == 0xC9) && (len == 8)) {
+        // Matches SystemPowerMode (1=Run, 0=Off)
+        ignition_can = (GET_BYTE(to_push, 6) & 0x10U) != 0U;
+        ignition_can_cnt = 0U;
+      }
+    } else {
+      if ((addr == 0x1F1) && (len == 8)) {
+        // SystemPowerMode (2=Run, 3=Crank Request)
+        ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
+        ignition_can_cnt = 0U;
+      }
     }
 
     // Tesla exception

panda/board/safety/safety_gm.h

@@ -9,20 +9,32 @@ const SteeringLimits GM_STEERING_LIMITS = {
   .type = TorqueDriverLimited,
 };
 
+const SteeringLimits GM_BOLT_2017_STEERING_LIMITS = {
+  .max_steer = 450,
+  .max_rate_up = 15,
+  .max_rate_down = 34,
+  .driver_torque_allowance = 78,
+  .driver_torque_factor = 6,
+  .max_rt_delta = 345,
+  .max_rt_interval = 200000,
+  .type = TorqueDriverLimited,
+};
+
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 7168,
+  .max_gas = 8191,
   .min_gas = 5500,
   .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 7496,
+  .max_gas = 8848,
   .min_gas = 5610,
   .inactive_gas = 5650,
   .max_brake = 400,
 };
 
+const SteeringLimits *gm_steer_limits;
 const LongitudinalLimits *gm_long_limits;
 
 const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
@@ -36,35 +48,30 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
                                   {0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2},   // obs bus
                                   {0x315, 2, 5}};  // ch bus
 
-const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
+const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x370, 0, 6}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                  {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
+const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
                                       {0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
+const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
+                                  {0x184, 2, 8}};  // camera bus
+
+const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x370, 0, 6}, {0x1E1, 0, 7}, {0x3D1, 0, 8}, {0xBD, 0, 7}, {0x1F5, 0, 8},  // pt bus
                                      {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
 RxCheck gm_rx_checks[] = {
   {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0x1E1, 0, 7, .frequency = 10U},   // Non-SDGM Car
+           {0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
+  {.msg = {{0xF1, 0, 6, .frequency = 10U},   // Non-SDGM Car
+           {0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
   {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
 };
 
-RxCheck gm_ascm_rx_checks[] = {
-  {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0xBE, 0, 6, .frequency = 10U}, { 0 }, { 0 }}},  // Acadia
-  {.msg = {{0xBE, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},  // Chevy, Bolt EUV
-  {.msg = {{0xBE, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},  // Cadillac
-};
-
 const uint16_t GM_PARAM_HW_CAM = 1;
 const uint16_t GM_PARAM_HW_CAM_LONG = 2;
 const uint16_t GM_PARAM_CC_LONG = 4;
@@ -76,7 +83,17 @@ const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 128;
 const uint16_t GM_PARAM_ASCM_INT = 256;
 const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 512;
 const uint16_t GM_PARAM_HW_SDGM = 1024;
-const uint16_t GM_PARAM_F1_CAN_BRAKE = 2048;  // For cars that skip 0xBE monitoring
+const uint16_t GM_PARAM_BOLT_2017 = 2048;
+const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
+const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
+const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
+
+const uint32_t GM_3D1_PERIOD_US = 100000U;
+const uint32_t GM_3D1_TX_OFFSET_US = 0U;
+const uint32_t GM_3D1_LOCK_TOLERANCE_US = 20000U;
+
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
+void can_set_checksum(CANPacket_t *packet);
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -98,7 +115,45 @@ bool gm_pedal_long = false;
 bool gm_cc_long = false;
 bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
+bool gm_bolt_2022_pedal = false;
+bool gm_ascm_int = false;
 bool gm_force_brake_c9 = false;
+bool gm_remote_start_boots_comma = false;
+bool gm_panda_3d1_sched = false;
+
+bool gm_3d1_spoof_valid = false;
+bool gm_3d1_internal_tx = false;
+uint8_t gm_3d1_spoof_data[8] = {0U};
+uint32_t gm_3d1_next_tx_us = 0U;
+uint32_t gm_3d1_expected_stock_us = 0U;
+uint32_t gm_3d1_last_stock_us = 0U;
+bool gm_3d1_phase_locked = false;
+
+static void gm_try_send_3d1_spoof(uint32_t now_us) {
+  if (!(gm_panda_3d1_sched && gm_3d1_spoof_valid && (gm_3d1_next_tx_us != 0U))) {
+    return;
+  }
+
+  if ((int32_t)(now_us - gm_3d1_next_tx_us) < 0) {
+    return;
+  }
+
+  CANPacket_t to_send = {0};
+  to_send.returned = 0U;
+  to_send.rejected = 0U;
+  to_send.extended = 0U;
+  to_send.addr = 0x3D1U;
+  to_send.bus = 0U;
+  to_send.data_len_code = 8U;
+  (void)memcpy(to_send.data, gm_3d1_spoof_data, 8U);
+  can_set_checksum(&to_send);
+
+  gm_3d1_internal_tx = true;
+  can_send(&to_send, 0U, false);
+  gm_3d1_internal_tx = false;
+
+  gm_3d1_next_tx_us += GM_3D1_PERIOD_US;
+}
 
 static void gm_rx_hook(const CANPacket_t *to_push) {
   if (GET_BUS(to_push) == 0U) {
@@ -140,7 +195,6 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     // Reference for brake pressed signals:
     // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
     // Prefer 0xC9 (ECMEngineStatus) when gm_force_brake_c9 is set, otherwise keep legacy behavior.
-    // This allows SDGM/Traverse variants without 0xBE (ECMAcceleratorPos) to report brake correctly.
     if ((addr == 0xC9) && gm_force_brake_c9) {
       brake_pressed = GET_BIT(to_push, 40U) != 0U;
     } else if ((addr == 0xBE) && ((gm_hw == GM_ASCM) || (gm_hw == GM_SDGM))) {
@@ -165,14 +219,42 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
     }
 
+    // Cruise check for ACC models with pedal interceptor - block stock ACC
+    if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor && gm_bolt_2022_pedal) {
+      cruise_engaged_prev = false;
+    }
+
     // Cruise check for CC only cars
     if ((addr == 0x3D1) && !gm_has_acc) {
+      uint32_t now_us = microsecond_timer_get();
+      gm_3d1_last_stock_us = now_us;
       bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
       if (gm_cc_long) {
         pcm_cruise_check(cruise_engaged);
       } else {
         cruise_engaged_prev = cruise_engaged;
       }
+
+      if (gm_panda_3d1_sched) {
+        if (!gm_3d1_phase_locked) {
+          gm_3d1_phase_locked = true;
+          gm_3d1_expected_stock_us = now_us + GM_3D1_PERIOD_US;
+        } else {
+          int32_t phase_err_us = (int32_t)(now_us - gm_3d1_expected_stock_us);
+          if (phase_err_us < 0) {
+            phase_err_us = -phase_err_us;
+          }
+
+          if ((uint32_t)phase_err_us <= GM_3D1_LOCK_TOLERANCE_US) {
+            gm_3d1_expected_stock_us += GM_3D1_PERIOD_US;
+          } else {
+            gm_3d1_expected_stock_us = now_us + GM_3D1_PERIOD_US;
+          }
+        }
+
+        gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
+        gm_try_send_3d1_spoof(now_us);
+      }
     }
 
     if (addr == 0xBD) {
@@ -195,13 +277,14 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
     generic_rx_checks(stock_ecu_detected);
   }
-  // Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
-  int addr = GET_ADDR(to_push);
-  if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
+
+  // Cruise check for ASCMActiveCruiseControlStatus on bus 2.
+  // Keep kaofui behavior for non-Bolt paths; Bolt pedal path keeps local tracking.
+  if ((GET_ADDR(to_push) == 0x370) && (GET_BUS(to_push) == 2U)) {
     bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
-    // Align SDGM/camera PCM cruise behavior with ASCM path: when using stock PCM cruise,
-    // drive controls_allowed via pcm_cruise_check on ACC engaged edges.
-    if (gm_pcm_cruise && gm_has_acc) {
+    if (gm_bolt_2022_pedal) {
+      cruise_engaged_prev = cruise_engaged;
+    } else if (gm_pcm_cruise && gm_has_acc) {
       pcm_cruise_check(cruise_engaged);
     } else {
       cruise_engaged_prev = cruise_engaged;
@@ -229,7 +312,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
 
     bool steer_req = GET_BIT(to_send, 3U);
 
-    if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
+    if (steer_torque_cmd_checks(desired_torque, steer_req, *gm_steer_limits)) {
       tx = false;
     }
   }
@@ -261,6 +344,9 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
+    if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal && button == GM_BTN_CANCEL) {
+      allowed_btn = true;
+    }
     // For CC_LONG or PCM cruise vehicles, allow SET/RESUME when cruise is engaged
     if (gm_cc_long || gm_pcm_cruise) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
@@ -270,6 +356,45 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
       tx = false;
     }
   }
+
+  // Cruise status spoofing only for non-ACC (CC-only) paths
+  if (addr == 0x3D1) {
+    bool allowed_cruise_status = !gm_has_acc;
+    if (!allowed_cruise_status) {
+      tx = false;
+    } else if (gm_panda_3d1_sched) {
+      if (gm_3d1_internal_tx) {
+        tx = true;
+      } else {
+        uint32_t now_us = microsecond_timer_get();
+        (void)memcpy(gm_3d1_spoof_data, to_send->data, 8U);
+        gm_3d1_spoof_valid = true;
+        if (gm_3d1_next_tx_us == 0U) {
+          gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
+        }
+        bool stock_stale = (gm_3d1_last_stock_us == 0U) || (get_ts_elapsed(now_us, gm_3d1_last_stock_us) > 300000U);
+        bool scheduler_ready = gm_3d1_phase_locked && !stock_stale;
+        tx = !scheduler_ready;
+      }
+    }
+  }
+
+  // REGEN PADDLE
+  if (addr == 0xBD) {
+    bool regen_apply = GET_BIT(to_send, 7) || GET_BIT(to_send, 6) || GET_BIT(to_send, 5) || GET_BIT(to_send, 4);
+    if (!controls_allowed && regen_apply) {
+      tx = false;
+    }
+  }
+
+  // PRNDL2 regen check (7 for Gen0, Gen1. 5 For Gen2)
+  if (addr == 0x1F5) {
+    uint8_t prndl2 = GET_BYTE(to_send, 3) & 0xF;
+    bool prndl_apply = (prndl2 == 7) || (prndl2 == 5);
+    if (!controls_allowed && prndl_apply) {
+      tx = false;
+    }
+  }
   return tx;
 }
 
@@ -280,16 +405,32 @@ static int gm_fwd_hook(int bus_num, int addr) {
     if (bus_num == 0) {
       // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
       bool is_pscm_msg = (addr == 0x184);
-      if (!is_pscm_msg) {
+      // For non-ACC camera/SDGM paths, keep stock ECMCruiseControl off camera side
+      // so openpilot's spoofed 0x3D1 is the only cruise-status source there.
+      bool is_ecm_cruise_status_msg = (addr == 0x3D1) && !gm_has_acc;
+      if (!is_pscm_msg && !is_ecm_cruise_status_msg) {
         bus_fwd = 2;
       }
     }
 
     if (bus_num == 2) {
-      // block lkas message and acc messages if gm_cam_long, forward all others
       bool is_lkas_msg = (addr == 0x180);
-      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      bool is_acc_status_msg = (addr == 0x370);
+      bool is_acc_actuation_msg = (addr == 0x315) || (addr == 0x2CB);
+
+      // Block steering if we are controlling LKA
+      bool block_msg = is_lkas_msg;
+
+      // Block Dashboard Status if we are in Native Long OR Pedal Long
+      if (gm_cam_long || gm_pedal_long) {
+        block_msg |= is_acc_status_msg;
+      }
+
+      // Block Native Actuation ONLY if we are in Native Long (not Pedal)
+      if (gm_cam_long) {
+        block_msg |= is_acc_actuation_msg;
+      }
+
       if (!block_msg) {
         bus_fwd = 0;
       }
@@ -300,8 +441,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config gm_init(uint16_t param) {
-  const bool gm_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
-  const bool F1_CAN_BRAKE = GET_FLAG(param, GM_PARAM_F1_CAN_BRAKE);
+  gm_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
   if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
     gm_hw = GM_CAM;
   } else if (GET_FLAG(param, GM_PARAM_HW_SDGM)) {
@@ -311,43 +451,44 @@ static safety_config gm_init(uint16_t param) {
   }
 
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
+  gm_steer_limits = GET_FLAG(param, GM_PARAM_BOLT_2017) ? &GM_BOLT_2017_STEERING_LIMITS : &GM_STEERING_LIMITS;
 
   if (gm_hw == GM_ASCM || gm_force_ascm || gm_ascm_int) {
-    gm_long_limits = &GM_ASCM_LONG_LIMITS;
+      gm_long_limits = &GM_ASCM_LONG_LIMITS;
   } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
-    gm_long_limits = &GM_CAM_LONG_LIMITS;
+      gm_long_limits = &GM_CAM_LONG_LIMITS;
   } else {
   }
 
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
+  enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
+  gm_bolt_2022_pedal = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
   gm_pcm_cruise = (((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
-  enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
+  gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
+  gm_panda_3d1_sched = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
 
-  safety_config ret;
+  gm_3d1_spoof_valid = false;
+  gm_3d1_internal_tx = false;
+  gm_3d1_next_tx_us = 0U;
+  gm_3d1_expected_stock_us = 0U;
+  gm_3d1_last_stock_us = 0U;
+  gm_3d1_phase_locked = false;
 
-  // Use F1_CAN_BRAKE flag for RX check selection (Joe's approach)
-  if (F1_CAN_BRAKE) {
-    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
-  } else {
-    ret = BUILD_SAFETY_CFG(gm_ascm_rx_checks, GM_ASCM_TX_MSGS);
-  }
-
-  // For CAM hardware, set TX messages appropriately (but don't override RX checks)
+  safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {
     if (gm_cc_long) {
-      ret.tx_msgs = GM_CC_LONG_TX_MSGS;
+      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
     } else if (gm_cam_long) {
-      ret.tx_msgs = GM_CAM_LONG_TX_MSGS;
+      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
     } else {
-      ret.tx_msgs = GM_CAM_TX_MSGS;
+      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
     }
   }
-
   return ret;
 }
 

panda/python/__init__.py

@@ -235,12 +235,15 @@ class Panda:
   FLAG_GM_HW_ASCM_LONG = 8
   FLAG_GM_NO_CAMERA = 16
   FLAG_GM_NO_ACC = 32
-  FLAG_GM_PEDAL_LONG = 64
-  FLAG_GM_PEDAL_INTERCEPTOR = 128
+  FLAG_GM_PEDAL_LONG = 64  # TODO: This can be inferred
+  FLAG_GM_GAS_INTERCEPTOR = 128
   FLAG_GM_ASCM_INT = 256
   FLAG_GM_FORCE_BRAKE_C9 = 512
   FLAG_GM_HW_SDGM = 1024
-  FLAG_GM_F1_CAN_BRAKE = 2048
+  FLAG_GM_BOLT_2017 = 2048
+  FLAG_GM_BOLT_2022_PEDAL = 4096
+  FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
+  FLAG_GM_PANDA_3D1_SCHED = 16384
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2
@@ -807,7 +810,8 @@ class Panda:
   # The panda will NAK CAN writes when there is CAN congestion.
   # libusb will try to send it again, with a max timeout.
   # Timeout is in ms. If set to 0, the timeout is infinite.
-  CAN_SEND_TIMEOUT_MS = 10
+  CAN_SEND_TIMEOUT_MS = 5
+  CAN_MAX_RETRIES = 3
 
   def can_reset_communications(self):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')
@@ -815,18 +819,18 @@ class Panda:
   @ensure_can_packet_version
   def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
     snds = pack_can_buffer(arr)
-    while True:
-      try:
-        for tx in snds:
-          while True:
-            bs = self._handle.bulkWrite(3, tx, timeout=timeout)
-            tx = tx[bs:]
-            if len(tx) == 0:
-              break
-            logging.error("CAN: PARTIAL SEND MANY, RETRYING")
-        break
-      except (usb1.USBErrorIO, usb1.USBErrorOverflow):
-        logging.error("CAN: BAD SEND MANY, RETRYING")
+    for tx in snds:
+      retries = 0
+      while len(tx) > 0:
+        bs = self._handle.bulkWrite(3, tx, timeout=timeout)
+        if bs == 0:
+          retries += 1
+          if retries > self.CAN_MAX_RETRIES:
+            logging.warning("CAN send: no progress after retries, dropping")
+            break
+        else:
+          retries = 0
+        tx = tx[bs:]
 
   def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
     self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
@@ -834,13 +838,16 @@ class Panda:
   @ensure_can_packet_version
   def can_recv(self):
     dat = bytearray()
-    while True:
+    for _ in range(self.CAN_MAX_RETRIES):
       try:
         dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         logging.error("CAN: BAD RECV, RETRYING")
-        time.sleep(0.1)
+        time.sleep(0.01)
+    else:
+      logging.error("CAN: recv failed after retries")
+      return []
     msgs, self.can_rx_overflow_buffer = unpack_can_buffer(self.can_rx_overflow_buffer + dat)
     return msgs
 

panda/python/spi.py

@@ -27,7 +27,10 @@ NACK = 0x1F
 CHECKSUM_START = 0xAB
 
 MIN_ACK_TIMEOUT_MS = 100
+MAX_ACK_TIMEOUT_MS = 500  # like C++ SPI_ACK_TIMEOUT
+DEFAULT_TIMEOUT_MS = 500  # default when timeout=0
 MAX_XFER_RETRY_COUNT = 5
+MAX_TIMEOUT_RETRIES = 5  # like C++
 
 XFER_SIZE = 0x40*31
 
@@ -152,6 +155,8 @@ class PandaSpiHandle(BaseHandle):
     return cksum
 
   def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int, length: int = 1) -> bytes:
+    # Original behavior preserved - timeout=0 means wait forever within this function
+    # The caller (_transfer) handles the overall timeout
     timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3
 
     start = time.monotonic()
@@ -225,10 +230,15 @@ class PandaSpiHandle(BaseHandle):
     logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
     logging.debug("==============================================")
 
+    # Fix timeout=0 infinite loop: default to DEFAULT_TIMEOUT_MS
+    if timeout == 0:
+      timeout = DEFAULT_TIMEOUT_MS
+
     n = 0
     start_time = time.monotonic()
     exc = PandaSpiException()
-    while (timeout == 0) or (time.monotonic() - start_time) < timeout*1e-3:
+    # Use the timeout for the overall loop, matching original behavior but with timeout=0 fixed
+    while (time.monotonic() - start_time) < timeout * 1e-3:
       n += 1
       logging.debug("\ntry #%d", n)
       with self.dev.acquire() as spi:
@@ -238,6 +248,7 @@ class PandaSpiHandle(BaseHandle):
           exc = e
           logging.debug("SPI transfer failed, retrying", exc_info=True)
 
+    logging.error("SPI transfer failed after %d tries, %.2fms", n, (time.monotonic() - start_time) * 1000)
     raise exc
 
   def get_protocol_version(self) -> bytes:

panda/tests/safety/test_gm.py

@@ -386,7 +386,7 @@ class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafet
 
 
 class TestGmCcLongitudinalSafety(TestGmCameraSafety):
-  TX_MSGS = [[384, 0], [481, 0], [0x1F5, 0], [388, 2]]
+  TX_MSGS = [[384, 0], [481, 0], [0x3D1, 0], [0x1F5, 0], [388, 2]]
   FWD_BLACKLISTED_ADDRS = {2: [384], 0: [388]}  # block LKAS message and PSCMStatus
   BUTTONS_BUS = 0  # tx only
 

selfdrive/car/car_helpers.py

@@ -11,12 +11,14 @@ from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, al
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.gm.values import CAR as GM_CAR, CanBus as GMCanBus
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
+SOURCE_BRANCH_FILE = "/data/media/0/starpilot_source_branch"
 
 EventName = car.CarEvent.EventName
 FrogPilotEventName = custom.FrogPilotCarEvent.EventName
@@ -68,8 +70,9 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict], dict[int, set[int]]]:
   finger = gen_empty_fingerprint()
+  nonzero_addrs = {bus: set() for bus in finger}
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
   car_fingerprint = None
@@ -84,7 +87,10 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
       if can.src < 128:
         if can.src not in finger:
           finger[can.src] = {}
+          nonzero_addrs[can.src] = set()
         finger[can.src][can.address] = len(can.dat)
+        if any(can.dat):
+          nonzero_addrs[can.src].add(can.address)
 
       for b in candidate_cars:
         # Ignore extended messages and VIN query response.
@@ -105,7 +111,7 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
 
     frame += 1
 
-  return car_fingerprint, finger
+  return car_fingerprint, finger, nonzero_addrs
 
 
 # **** for use live only ****
@@ -162,7 +168,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
   messaging.drain_sock_raw(logcan)
-  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
+  car_fingerprint, finger, nonzero_addrs = can_fingerprint(lambda: get_one_can(logcan))
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can
@@ -181,16 +187,74 @@ def fingerprint(logcan, sendcan, num_pandas):
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                  fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
 
-  return car_fingerprint, finger, vin, car_fw, source, exact_match
+  return car_fingerprint, finger, nonzero_addrs, vin, car_fw, source, exact_match
 
 
 def get_car_interface(CP, FPCP):
   CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
   return CarInterface(CP, FPCP, CarController, CarState)
 
+def get_cached_car_fingerprint(params: Params) -> str | None:
+  for key in ("CarParamsPersistent", "CarParamsCache", "CarParams"):
+    cp_bytes = params.get(key)
+    if cp_bytes is None:
+      continue
+    try:
+      with car.CarParams.from_bytes(cp_bytes) as cached_cp:
+        if cached_cp.carFingerprint:
+          return cached_cp.carFingerprint
+    except Exception:
+      continue
+  return None
+
+def clear_stale_car_params(params: Params, candidate: str) -> None:
+  cached_fingerprint = get_cached_car_fingerprint(params)
+  if cached_fingerprint is None or cached_fingerprint == candidate:
+    return
+
+  stale_keys = (
+    "CarParams",
+    "CarParamsCache",
+    "CarParamsPersistent",
+    "FrogPilotCarParams",
+    "FrogPilotCarParamsPersistent",
+    "CarModelName",
+  )
+  for key in stale_keys:
+    params.remove(key)
+
+  cloudlog.warning("cleared stale car params after fingerprint change: %s -> %s", cached_fingerprint, candidate)
+
+def migrate_legacy_bolt_candidate(candidate: str) -> str:
+  source_branch = ""
+  try:
+    with open(SOURCE_BRANCH_FILE, encoding="utf-8") as f:
+      source_branch = f.read().strip()
+  except OSError:
+    pass
+
+  migration_branch = source_branch or get_build_metadata().channel
+  replacements = {}
+  if migration_branch in {"TorqueTune", "TorquePedal"}:
+    replacements = {
+      "CHEVROLET_BOLT_EUV": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+      "CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+    }
+  elif migration_branch in {"TotallyTune", "StarPilot-2017", "StarPilot 2017"}:
+    replacements = {
+      "CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2017,
+    }
+  elif migration_branch in {"StarPilot"}:
+    replacements = {
+      "CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+    }
+
+  normalized_candidate = candidate[4:] if candidate.startswith("CAR.") else candidate
+  return replacements.get(normalized_candidate, normalized_candidate)
+
 
 def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
+  candidate, fingerprints, nonzero_addrs, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None or frogpilot_toggles.force_fingerprint:
     if frogpilot_toggles.car_model is not None:
@@ -202,10 +266,80 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, fr
     params.put_nonblocking("CarMake", candidate.split('_')[0].title())
     params.put_nonblocking("CarModel", candidate)
 
+  # Branch migration can leave legacy Bolt candidate names active in params/cache.
+  # Remap the selected candidate itself so fingerprint selection and params stay in sync.
+  migrated_candidate = migrate_legacy_bolt_candidate(candidate)
+  if candidate != migrated_candidate:
+    cloudlog.warning("legacy Bolt candidate migration: %s -> %s", candidate, migrated_candidate)
+    candidate = migrated_candidate
+    params.put_nonblocking("CarMake", candidate.split('_')[0].title())
+    params.put_nonblocking("CarModel", candidate)
+    params.remove("CarModelName")
+
+  # VIN-based Bolt year mapping (selfdrive-only, bolt variants only)
+  if not frogpilot_toggles.force_fingerprint and is_valid_vin(vin):
+    bolt_variants = {
+      "CHEVROLET_BOLT_EUV",
+      "CHEVROLET_BOLT_CC",
+      "CAR.CHEVROLET_BOLT_EUV",
+      "CAR.CHEVROLET_BOLT_CC",
+      GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+      GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+      GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+      GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+      GM_CAR.CHEVROLET_BOLT_CC_2017,
+    }
+    if candidate in bolt_variants:
+      year_code = vin[9:10]
+      year_map = {
+        "H": GM_CAR.CHEVROLET_BOLT_CC_2017,       # 2017
+        "J": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2018
+        "K": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2019
+        "L": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2020
+        "M": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2021
+        "N": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023, # 2022
+        "P": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023, # 2023
+      }
+      if year_code in year_map:
+        vin_candidate = year_map[year_code]
+        if vin_candidate == GM_CAR.CHEVROLET_BOLT_ACC_2022_2023:
+          has_acc_data = (
+            0x370 in nonzero_addrs.get(GMCanBus.CAMERA, set()) or
+            0x370 in nonzero_addrs.get(GMCanBus.POWERTRAIN, set())
+          )
+          has_pedal_msg = 0x201 in fingerprints.get(GMCanBus.POWERTRAIN, {})
+          if has_acc_data:
+            vin_candidate = GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL if has_pedal_msg else GM_CAR.CHEVROLET_BOLT_ACC_2022_2023
+          else:
+            vin_candidate = GM_CAR.CHEVROLET_BOLT_CC_2022_2023
+        if candidate != vin_candidate:
+          prev_candidate = candidate
+          candidate = vin_candidate
+          params.put_nonblocking("CarMake", candidate.split('_')[0].title())
+          params.put_nonblocking("CarModel", candidate)
+          params.remove("CarModelName")
+          cloudlog.warning("VIN Bolt override: %s -> %s", prev_candidate, candidate)
+
+  # Always prefer live fingerprint naming for Bolt variants to avoid stale manual labels.
+  if candidate in {
+    GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+    GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+    GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+    GM_CAR.CHEVROLET_BOLT_CC_2017,
+    "CHEVROLET_BOLT_EUV",
+    "CHEVROLET_BOLT_CC",
+    "CAR.CHEVROLET_BOLT_EUV",
+    "CAR.CHEVROLET_BOLT_CC",
+  }:
+    params.remove("CarModelName")
+
   if frogpilot_toggles.block_user:
     candidate = MOCK.MOCK
     sentry.capture_block()
 
+  clear_stale_car_params(params, candidate)
+
   CarInterface, _, _ = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, frogpilot_toggles, docs=False)
   FPCP = CarInterface.get_frogpilot_params(candidate, fingerprints, car_fw, CP, frogpilot_toggles)

selfdrive/car/fingerprints.py

@@ -158,7 +158,7 @@ MIGRATION = {
   "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
   "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
   "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
-  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
+  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_ACC_2022_2023,
   "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
   "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
   "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,

selfdrive/car/gm/carcontroller.py

@@ -1,3 +1,7 @@
+from typing import Tuple
+import time
+import math
+from openpilot.common.swaglog import cloudlog
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -7,10 +11,11 @@ from openpilot.common.params_pyx import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
+from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, EV_CAR, CC_REGEN_PADDLE_CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.swaglog import cloudlog
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -22,7 +27,15 @@ TransmissionType = car.CarParams.TransmissionType
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
 MIN_STEER_MSG_INTERVAL_MS = 15
-
+# Two‑sided spacing tuned for ~33 Hz steer; target a 10 ms wide window per interval
+# Paddle spoofing and scheduling constants
+PADDLE_STEER_GAP_MIN_NS = 5_000_000   # ≥5 ms each side (EPS guard)
+PADDLE_STEER_GAP_MAX_NS = 12_000_000  # cap for long intervals
+PADDLE_GAP_TARGET_NS    = 5_000_000   # aim per‑side gap even if interval//2 − early is larger
+PADDLE_NONBLOCK_GAP_NS  = 1_000_000   # ≥1 ms since last paddle send
+PADDLE_SLOT_EARLY_NS    = 1_000_000   # allow firing up to 1 ms before slot
+OVERFLOW_THRESH         = 1.00        # fire one extra slot whenever credits ≥ 1.0
+PADDLE_TARGET_HZ        = 42.0        # desired paddle rate (Hz) when regen active; steer is ~33 Hz
 # Constants for pitch compensation
 BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
 BRAKE_PITCH_FACTOR_V = [0., 1.]  # [unitless in [0,1]]; don't touch
@@ -38,6 +51,11 @@ class CarController(CarControllerBase):
     self.apply_speed = 0
     self.frame = 0
     self.last_steer_frame = 0
+    self.last_steer_ts_ns = 0
+    self.last_regen_active = False
+    self.prev_steer_ts_ns = 0
+    self.last_spoof_ts_ns = 0
+    self.last_paddle_ts_ns = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
     self.pedal_steady = 0.
@@ -46,8 +64,23 @@ class CarController(CarControllerBase):
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
+    self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
+    self.pedal_scale = 1.0
     self.params_ = Params()
 
+    self.mass = CP.mass
+    self.tireRadius = 0.075 * CP.wheelbase + 0.1453
+    self.frontalArea = 1.05 * CP.wheelbase + 0.0679
+    self.coeffDrag = 0.30
+    self.airDensity = 1.225
+
+
+
+    self.malibu_cancel_phase = 0
+    self.malibu_cancel_last_ts = 0.0
+    self.malibu_cancel_frame = 0
+    self.malibu_button_phase = 0
+
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
@@ -56,25 +89,101 @@ class CarController(CarControllerBase):
     self.accel_g = 0.0
     self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
     self.accel_g = 0.0
+    self.regen_paddle_pressed = False
+    self.aego = 0.0
+    self.regen_paddle_timer = 0
+    self.planner_regen_hold = False
 
-  @staticmethod
-  def calc_pedal_command(accel: float, long_active: bool) -> float:
-    if not long_active: return 0.
 
-    zero = 0.15625  # 40/256
-    if accel > 0.:
-      # Scales the accel from 0-1 to 0.156-1
-      pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
-    else:
-      # if accel is negative, -0.1 -> 0.015625
-      pedal_gas = clip(zero + accel, 0., zero)  # Make brake the same size as gas, but clip to regen
 
-    return pedal_gas
+    # Midpoint + overflow spoof accumulator and flags
+    self.spoof_accum = 0.0
+    self.spoof_mid_sent = False
+    self.spoof_over_sent = False
+    self.last_interval_ns = 0
+
+  def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
+    if not long_active:
+      self.planner_regen_hold = False
+      return 0., False
+
+    # Regen paddle hysteresis (frame-based): hold 10 frames, with decrement dead-zone
+    if not hasattr(self, 'regen_paddle_timer'):
+      self.regen_paddle_timer = 0  # frames
+
+    # Regen paddle hysteresis (frame‑based): count frames when decelerating hard, decrement only when truly released
+    if self.aego < -0.7:
+      self.regen_paddle_timer += 1
+    elif self.aego > -0.3:
+      self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0)
+    # else: hold timer between -0.7 and -0.3
+
+    # Base paddle press hysteresis
+    self.regen_paddle_pressed = self.regen_paddle_timer >= 10  # 10 frames
+    press_regen_paddle = self.regen_paddle_pressed or self.planner_regen_hold
+
+
+    # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
+    speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
+                 11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
+                 22.939, 24.058, 25.177, 26.296]
+    regen_gain_ratio = [
+      1.000000, 1.057308, 1.131123, 1.220611, 1.270247, 1.300253, 1.339543, 1.361002,
+      1.388410, 1.403253, 1.414721, 1.430949, 1.420289, 1.436787, 1.434116, 1.436805,
+      1.417508, 1.402213, 1.395360, 1.360921, 1.342030, 1.292219, 1.270048, 1.239172
+    ]
+
+    gain = interp(car_velocity, speed_mps, regen_gain_ratio)
+    pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+
+    # Compute raw pedal gas
+    raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+
+    # --- Immediate application of raw pedal gas, no blending ---
+    pedal_gas = raw_pedal_gas
+    # Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttle
+    pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0])
+    pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
+    return pedal_gas, press_regen_paddle
 
 
   def update(self, CC, CS, now_nanos, frogpilot_toggles):
+    self.CS = CS
+    self.aego = CS.out.aEgo
     actuators = CC.actuators
     accel = brake_accel = actuators.accel
+    press_regen_paddle = False
+    kaofui_cars = SDGM_CAR | ASCM_INT | {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_2019,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+      CAR.CHEVROLET_MALIBU_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    volt_like = {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_2019,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+    }
+
+    # Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
+    if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
+        and self.CP.openpilotLongitudinalControl and CC.longActive):
+      # Match original hysteresis intent: vehicle can usually stop without paddle up to ~1.0 m/s^2
+      # Use the same thresholds as the aEgo-based hysteresis, but on commanded accel for preemption
+      planner_press_threshold = -0.7
+      planner_release_threshold = -0.3
+      if accel <= planner_press_threshold:
+        self.planner_regen_hold = True
+      elif accel >= planner_release_threshold:
+        self.planner_regen_hold = False
+    else:
+      self.planner_regen_hold = False
+
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
     hud_v_cruise = hud_control.setSpeed
@@ -83,6 +192,129 @@ class CarController(CarControllerBase):
 
     # Send CAN commands.
     can_sends = []
+    paddle_sends = []
+
+    if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      phase_map = gmcan.malibu_phase_map_for_acc(CS.cruise_buttons)
+      if phase_map and CS.steering_button_checksum in phase_map:
+        phase = (phase_map[CS.steering_button_checksum] + 1) % 4
+        self.malibu_cancel_phase = phase
+        self.malibu_button_phase = phase
+
+    raw_regen_active = (
+      self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
+      self.CP.openpilotLongitudinalControl and
+      CC.longActive and
+      self.CP.enableGasInterceptor and
+      (self.regen_paddle_timer >= 10 or self.planner_regen_hold)  # hysteresis or planner hint
+    )
+    regen_active = raw_regen_active
+
+    # === Spoof scheduling: midpoint + overflow (~target Hz) ===
+    # Rising-edge reset on regen start
+    if raw_regen_active and not self.last_regen_active:
+      self.prev_steer_ts_ns = self.last_steer_ts_ns
+      self.last_spoof_ts_ns = 0
+      self.spoof_accum = 0.0
+      self.spoof_mid_sent = False
+      self.spoof_over_sent = False
+
+    if raw_regen_active:
+      # Interval between last two bus-0 steer sends
+      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
+
+      # Adaptive two‑sided gap sized to the current steer interval, but capped to a target so the window stays wide enough
+      gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
+                max(PADDLE_STEER_GAP_MIN_NS,
+                    min(PADDLE_STEER_GAP_MAX_NS,
+                        min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
+
+      # New steer interval? clear per-interval flags and add credits to reach target Hz
+      if interval_ns != self.last_interval_ns:
+        self.spoof_mid_sent = False
+        self.spoof_over_sent = False
+        self.last_interval_ns = interval_ns
+        # Add credits once per new steer interval to reach the desired paddle rate
+        if interval_ns > 0:
+          steer_hz = 1e9 / float(interval_ns)
+          extra_needed = max(0.0, (PADDLE_TARGET_HZ / steer_hz) - 1.0)  # e.g., 42/33 − 1 ≈ 0.2727
+          self.spoof_accum += extra_needed
+
+      # Midpoint spoof: one per interval
+      if not self.spoof_mid_sent and interval_ns > 0:
+        midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
+        # Compute spacing to last and next steer (two-sided guard)
+        next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
+        delta_after_ns = now_nanos - self.last_steer_ts_ns
+        delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
+        if (CS.out.vEgo > 2.68
+            and now_nanos >= (midpoint_ns - PADDLE_SLOT_EARLY_NS)
+            and delta_after_ns >= gap_ns
+            and delta_before_ns >= gap_ns):
+          # Non-blocking 1 ms spacing for paddle frames
+          if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
+            paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
+            paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
+            self.last_paddle_ts_ns = now_nanos
+          self.last_spoof_ts_ns = now_nanos
+          self.spoof_mid_sent = True
+
+      # Overflow spoof: insert extra when accumulator allows
+      if self.spoof_accum >= OVERFLOW_THRESH and not self.spoof_over_sent and interval_ns > 0:
+        slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
+        # Two-sided spacing relative to steer
+        next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
+        delta_after_ns = now_nanos - self.last_steer_ts_ns
+        delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
+        if (CS.out.vEgo > 2.68
+            and now_nanos >= (slot2_ns - PADDLE_SLOT_EARLY_NS)
+            and delta_after_ns >= gap_ns
+            and delta_before_ns >= gap_ns):
+          # Non-blocking 1 ms spacing for paddle frames
+          if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
+            paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
+            paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
+            self.last_paddle_ts_ns = now_nanos
+          self.last_spoof_ts_ns = now_nanos
+          self.spoof_over_sent = True
+          self.spoof_accum -= OVERFLOW_THRESH
+    # === End Spoof scheduling ===
+
+    # === Off-pulse scheduling on regen release ===
+    if not raw_regen_active and self.last_regen_active:
+      # schedule two off-slots at 1/3 and 2/3 of the last steer interval
+      if self.prev_steer_ts_ns and self.last_steer_ts_ns:
+        intv = self.last_steer_ts_ns - self.prev_steer_ts_ns
+        self.off_schedule_ns = [
+          self.prev_steer_ts_ns + intv // 3,
+          self.prev_steer_ts_ns + (2 * intv) // 3
+        ]
+        self.off_sent = [False, False]
+
+    if hasattr(self, "off_schedule_ns"):
+      for i, t_ns in enumerate(self.off_schedule_ns):
+        if not self.off_sent[i] and now_nanos >= (t_ns - PADDLE_SLOT_EARLY_NS):
+          # Two-sided spacing to steer before sending
+          interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
+          gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
+                    max(PADDLE_STEER_GAP_MIN_NS,
+                        min(PADDLE_STEER_GAP_MAX_NS,
+                            min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
+          next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
+          delta_after_ns = now_nanos - self.last_steer_ts_ns
+          delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
+          if (delta_after_ns >= gap_ns and delta_before_ns >= gap_ns):
+            # Non-blocking 1 ms spacing for paddle frames
+            if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
+              paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False, self.CP))
+              paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
+              self.last_paddle_ts_ns = now_nanos
+            self.off_sent[i] = True
+      # clean up once both off pulses are sent
+      if hasattr(self, "off_sent") and all(self.off_sent):
+        del self.off_schedule_ns
+        del self.off_sent
+    # === End off-pulse scheduling ===
 
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
@@ -115,24 +347,46 @@ class CarController(CarControllerBase):
       if (self.CP.flags & GMFlags.CC_LONG.value) and CC.enabled and not CS.out.cruiseState.enabled: # Send 0 so Panda doesn't error
         apply_steer = 0
 
+      # shift previous steer timestamp
+      self.prev_steer_ts_ns = self.last_steer_ts_ns
+      self.last_steer_ts_ns = now_nanos
       self.last_steer_frame = self.frame
       self.apply_steer_last = apply_steer
       idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
+    # Update regen_active state and last_regen_paddle_pressed for next loop
+    self.last_regen_active = regen_active
+    self.last_regen_paddle_pressed = self.regen_paddle_pressed or self.planner_regen_hold
+
+    if paddle_sends:
+      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
+      flush_gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
+                      max(PADDLE_STEER_GAP_MIN_NS,
+                          min(PADDLE_STEER_GAP_MAX_NS,
+                              min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
+      if now_nanos - self.last_steer_ts_ns >= flush_gap_ns:
+        can_sends.extend(paddle_sends)
+
+    spoof_ecm_cruise_cars = {
+      CAR.CHEVROLET_BOLT_CC_2017,
+      CAR.CHEVROLET_BOLT_CC_2019_2021,
+      CAR.CHEVROLET_BOLT_CC_2022_2023,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    non_acc_pedal_long = (self.CP.flags & GMFlags.PEDAL_LONG.value) and self.CP.carFingerprint in spoof_ecm_cruise_cars and self.CP.enableGasInterceptor
+    if non_acc_pedal_long and self.frame % 4 == 0:
+      spoof_enabled = True
+      spoof_set_speed_kph = hud_v_cruise * CV.MS_TO_KPH
+      can_sends.append(gmcan.create_ecm_cruise_control_command(
+        self.packer_pt, CanBus.POWERTRAIN, spoof_enabled, spoof_set_speed_kph))
+
     if self.CP.openpilotLongitudinalControl:
+
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
         stopping = actuators.longControlState == LongCtrlState.stopping
 
-        # Pitch compensated acceleration;
-        # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
-        if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
-          self.pitch.update(CC.orientationNED[1])
-          self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
-          accel += self.accel_g
-          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
-
         at_full_stop = CC.longActive and CS.out.standstill
         near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
         interceptor_gas_cmd = 0
@@ -144,21 +398,61 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
         else:
-          # Normal operation
-          if self.CP.carFingerprint in EV_CAR:
-            self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
-            self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          if self.is_volt:
+            if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+              volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+            else:
+              volt_pitch_accel = 0.0
+
+            aero_drag_accel = (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2) / self.mass
+            accel += aero_drag_accel + volt_pitch_accel
+            brake_accel = actuators.accel + aero_drag_accel + volt_pitch_accel * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
+            accel = clip(accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+            brake_accel = clip(brake_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+
+            if self.CP.carFingerprint in EV_CAR:
+              self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+              self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+              self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+
+            # Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
+            self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
+            self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
+
+            if self.apply_brake > 0:
+              # Volt should never present positive torque alongside friction braking
+              self.apply_gas = self.params.INACTIVE_REGEN
           else:
-            self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+              accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+            else:
+              accel_due_to_pitch = 0.0
+
+            gas_max = self.params.MAX_GAS
+            accel_max = self.params.ACCEL_MAX
+
+            accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
+            torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
+
+            scaled_torque = torque + self.params.ZERO_GAS
+            apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
+            BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
+            brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
+            self.apply_gas = int(round(apply_gas_torque))
             self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            if self.apply_brake > 0:
+              self.apply_gas = self.params.INACTIVE_REGEN
+
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
           if stopping:
             self.apply_gas = self.params.INACTIVE_REGEN
           if self.CP.carFingerprint in CC_ONLY_CAR:
             # gas interceptor only used for full long control on cars without ACC
-            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
+            interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
 
         if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
           # "Tap" the accelerator pedal to re-engage ACC
@@ -169,18 +463,25 @@ class CarController(CarControllerBase):
         idx = (self.frame // 4) % 4
 
         if self.CP.flags & GMFlags.CC_LONG.value:
-          if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
+          if CC.longActive and CS.out.cruiseState.enabled and CS.out.vEgo > self.CP.minEnableSpeed:
             # Using extend instead of append since the message is only sent intermittently
             can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles))
-          elif CC.enabled and self.frame % 52 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise:
-            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
+          elif (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
+                CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
+            if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+              can_sends.append(gmcan.create_buttons_malibu(
+                self.packer_pt, CanBus.POWERTRAIN, CruiseButtons.DECEL_SET,
+                self.malibu_button_phase, CS.steering_button_prefix))
+              self.malibu_button_phase = (self.malibu_button_phase + 1) % 4
+            else:
+              can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
         if self.CP.enableGasInterceptor:
           can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
           friction_brake_bus = CanBus.CHASSIS
           # GM Camera exceptions
           # TODO: can we always check the longControlState?
-          if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
+          if self.CP.networkLocation == NetworkLocation.fwdCamera:
             at_full_stop = at_full_stop and stopping
             friction_brake_bus = CanBus.POWERTRAIN
             if self.CP.carFingerprint in SDGM_CAR:
@@ -196,45 +497,76 @@ class CarController(CarControllerBase):
             acc_engaged = CC.enabled
 
           # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
-          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
+          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop,
+                                                          include_always_one3=self.CP.carFingerprint in kaofui_cars))
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
-                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
+                                                               idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
-          # Send dashboard UI commands (ACC status)
+        is_bolt_acc_pedal = self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
+        if self.CP.carFingerprint not in CC_ONLY_CAR or is_bolt_acc_pedal:
           send_fcw = hud_alert == VisualAlert.fcw
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
+          can_sends.append(gmcan.create_acc_dashboard_command(
+            self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
       else:
         # to keep accel steady for logs when not sending gas
         accel += self.accel_g
 
       # Radar needs to know current speed and yaw rate (50hz),
-      # and that ADAS is alive (10hz)
-      if not self.CP.radarUnavailable and self.CP.networkLocation != NetworkLocation.fwdCamera and self.CP.carFingerprint not in SDGM_CAR:
-        tt = self.frame * DT_CTRL
-        time_and_headlights_step = 10
-        if self.frame % time_and_headlights_step == 0:
-          idx = (self.frame // time_and_headlights_step) % 4
-          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+      # and that ADAS is alive (5hz, previously 10hz)
+      if not self.CP.radarUnavailable:
+        send_adas = True
+        if self.CP.carFingerprint in kaofui_cars:
+          if self.CP.carFingerprint in ASCM_INT:
+            send_adas = True
+          else:
+            send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
 
-        speed_and_accelerometer_step = 2
-        if self.frame % speed_and_accelerometer_step == 0:
-          idx = (self.frame // speed_and_accelerometer_step) % 4
-          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+        if send_adas:
+          tt = self.frame * DT_CTRL
+          if self.CP.carFingerprint in kaofui_cars:
+            time_and_headlights_step = 10
+            speed_and_accelerometer_step = 2
+            if self.frame % time_and_headlights_step == 0:
+              idx = (self.frame // time_and_headlights_step) % 4
+              can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+              can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+            if self.frame % speed_and_accelerometer_step == 0:
+              idx = (self.frame // speed_and_accelerometer_step) % 4
+              can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+              can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+          else:
+            time_and_headlights_step = 20
+            if self.frame % time_and_headlights_step == 0:
+              idx = (self.frame // time_and_headlights_step) % 4
+              can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+              can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+              can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+              can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
 
-      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+      if self.CP.networkLocation == NetworkLocation.gateway and (self.frame % (self.params.ADAS_KEEPALIVE_STEP if self.CP.carFingerprint in kaofui_cars else self.params.ADAS_KEEPALIVE_STEP * 2)) == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
       # TODO: integrate this with the code block below?
+      stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
+      if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+        # Match TorquePedal behavior for ACC+pedal path: gate cancel on camera ACC active state.
+        stock_cc_active = CS.out.cruiseState.enabled
       if (
           (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
           or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled)  # Cancel stock CC if OP is not active
-      ) and CS.out.cruiseState.enabled:
-        if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
-          self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
+      ) and stock_cc_active:
+        if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+          # Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
+          if self.malibu_cancel_frame % 3 == 0:
+            can_sends.append(gmcan.create_buttons_malibu_cancel(
+              CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
+            self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
+          self.malibu_cancel_frame += 1
+        else:
+          if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+            self.last_button_frame = self.frame
+            cancel_bus = CanBus.CAMERA if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL else CanBus.POWERTRAIN
+            can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
     else:
       # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
@@ -245,7 +577,16 @@ class CarController(CarControllerBase):
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
+          if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+            if self.malibu_cancel_frame % 3 == 0:
+              can_sends.append(gmcan.create_buttons_malibu_cancel(
+                CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
+              self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
+            self.malibu_cancel_frame += 1
+          elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
+          else:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1

selfdrive/car/gm/carstate.py

@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, ASCM_INT, CAR, ALT_ACCS
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, ASCM_INT, CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -26,22 +26,43 @@ class CarState(CarStateBase):
     self.pt_lka_steering_cmd_counter = 0
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
+    self.steering_button_checksum = 0
+    self.steering_button_prefix = 0x01
 
     self.prev_distance_button = 0
     self.distance_button = 0
 
     self.single_pedal_mode = False
     self.pedal_steady = 0.
+    self.ecm_cruise_control_ts_nanos = 0
+    self.accelerator_pedal2_ts_nanos = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
     ret = car.CarState.new_message()
     fp_ret = custom.FrogPilotCarState.new_message()
+    volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
+    kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
+      CAR.CHEVROLET_BLAZER,
+      CAR.CHEVROLET_MALIBU_SDGM,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and \
+                    self.CP.carFingerprint not in kaofui_state_cars
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button
-    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    if not sdgm_non_volt:
+      self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+      self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+      self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
+      acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
+      acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
+      self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
+    else:
+      self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+      self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
     # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
@@ -51,6 +72,13 @@ class CarState(CarStateBase):
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.loopback_lka_steering_cmd_updated:
       self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
+
+    # Track timestamps for OEM PRNDL2 and Regen Paddle messages (used to sync spoofing timing)
+    self.prndl2_ts_nanos = pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"]
+    if self.CP.carFingerprint in CC_REGEN_PADDLE_CAR:
+      self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
+    else:
+      self.regen_paddle_ts_nanos = 0
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -71,25 +99,38 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
-      ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
-    else:
-      ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
+    no_accel_pos = bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value)
 
-    if (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
+    if no_accel_pos:
+      if self.CP.carFingerprint in kaofui_state_cars:
+        ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
+      else:
+        ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+    else:
+      if self.CP.carFingerprint in kaofui_state_cars:
+        ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
+      else:
+        ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+
+    if self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
+      ret.brakePressed = ret.brake >= 8
+    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
       # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
       # that the brake is being intermittently pressed without user interaction.
       # To avoid a cruise fault we need to use a conservative brake position threshold
       # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
-      analog_thresh = 0.07 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
+      analog_thresh = 0.10 if no_accel_pos else 8
       ret.brakePressed = ret.brake >= analog_thresh
 
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
       ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
-      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic) or (self.CP.carFingerprint in [CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC] and self.CP.enableGasInterceptor)
+      self.single_pedal_mode = (ret.gearShifter == GearShifter.low or
+                                pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or
+                                (ret.regenBraking and GearShifter.manumatic) or
+                                (self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023) and self.CP.enableGasInterceptor))
 
     if self.CP.enableGasInterceptor:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
@@ -110,19 +151,32 @@ class CarState(CarStateBase):
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
 
+    if not sdgm_non_volt:
+      # 1 - open, 0 - closed
+      ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                      pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                      pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                      pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-    # 1 - open, 0 - closed
-    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
+      # 1 - latched
+      ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+      ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+      ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    # 1 - latched
-    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+      ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+    else:
+      # 1 - open, 0 - closed
+      ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+      # 1 - latched
+      ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+      ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+      ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+
+      ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -133,26 +187,47 @@ class CarState(CarStateBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       if self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      if self.CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
+      if self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      else:
+        ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
-      # 2016-2018 Volt won't identify non-adaptive cruise state since switchable cruise state was not introduced till 2019 model year / SDGM Global AAdd commentMore actions
       if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
     if self.CP.carFingerprint in CC_ONLY_CAR:
+      self.ecm_cruise_control_ts_nanos = pt_cp.ts_nanos["ECMCruiseControl"]["CruiseActive"]
+      self.accelerator_pedal2_ts_nanos = pt_cp.ts_nanos["AcceleratorPedal2"]["CruiseState"]
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
-
-    if self.CP.carFingerprint in ALT_ACCS:
-      ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
+      if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+        try:
+          ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+        except:
+          ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+      else:
+        # Most CC paths use ECM first.
+        try:
+          ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+        except:
+          ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+    else:
+      self.ecm_cruise_control_ts_nanos = 0
+      self.accelerator_pedal2_ts_nanos = 0
 
     if self.CP.enableBsm:
-      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+      if not sdgm_non_volt:
+        ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+        ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+      else:
+        ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+        ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
+    # FrogPilot CarState functions
     self.lkas_previously_enabled = self.lkas_enabled
-    self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    if sdgm_non_volt:
+      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    else:
+      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
 
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
 
@@ -164,14 +239,31 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP, FPCP):
     messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
+      volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
+      kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
+        CAR.CHEVROLET_BLAZER,
+        CAR.CHEVROLET_MALIBU_SDGM,
+        CAR.CHEVROLET_MALIBU_HYBRID_CC,
+      }
+      sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
+                      CP.carFingerprint not in kaofui_state_cars
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]
-      if CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
+      if sdgm_non_volt:
+        messages += [
+          ("BCMTurnSignals", 1),
+          ("BCMDoorBeltStatus", 10),
+          ("BCMGeneralPlatformStatus", 10),
+          ("ASCMSteeringButton", 33),
+        ]
+        if CP.enableBsm:
+          messages.append(("BCMBlindSpotMonitor", 10))
+      elif CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
         messages += [
           ("AEBCmd", 10),
         ]
-      if CP.carFingerprint not in CC_ONLY_CAR:
+      if CP.carFingerprint not in CC_ONLY_CAR or CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
         messages += [
           ("ASCMActiveCruiseControlStatus", 25),
         ]
@@ -181,25 +273,43 @@ class CarState(CarStateBase):
   @staticmethod
   def get_can_parser(CP, FPCP):
     messages = [
-      ("BCMTurnSignals", 1),
-      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
-      ("BCMDoorBeltStatus", 10),
-      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),
-      ("AcceleratorPedal2", 33),
-      ("ASCMSteeringButton", 33),
-      ("ECMEngineStatus", 100),
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
       ("SportMode", 0),
     ]
 
-    if CP.enableBsm:
-      messages.append(("BCMBlindSpotMonitor", 10))
+    volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
+    kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
+      CAR.CHEVROLET_BLAZER,
+      CAR.CHEVROLET_MALIBU_SDGM,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40
+    sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
+                    CP.carFingerprint not in kaofui_state_cars
+    if sdgm_non_volt:
+      messages += [
+        ("ECMPRDNL2", prndl2_rate),
+        ("AcceleratorPedal2", 40),
+        ("ECMEngineStatus", 80),
+      ]
+    else:
+      messages += [
+        ("ECMPRDNL2", prndl2_rate),
+        ("AcceleratorPedal2", 33),
+        ("ECMEngineStatus", 100),
+        ("BCMTurnSignals", 1),
+        ("BCMDoorBeltStatus", 10),
+        ("BCMGeneralPlatformStatus", 10),
+        ("ASCMSteeringButton", 33),
+      ]
+      if CP.enableBsm:
+        messages.append(("BCMBlindSpotMonitor", 10))
 
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
@@ -211,8 +321,9 @@ class CarState(CarStateBase):
         messages.append(("EBCMBrakePedalPosition", 100))
 
     if CP.transmissionType == TransmissionType.direct:
+      regen_paddle_rate = 50 if CP.carFingerprint in kaofui_state_cars else 40
       messages += [
-        ("EBCMRegenPaddle", 50),
+        ("EBCMRegenPaddle", regen_paddle_rate),
         ("EVDriveMode", 0),
       ]
 
@@ -221,17 +332,11 @@ class CarState(CarStateBase):
         ("ECMCruiseControl", 10),
       ]
 
-    if CP.carFingerprint in ALT_ACCS:
-      messages += [
-        ("ECMCruiseControl", 10),
-      ]
-
     if CP.enableGasInterceptor:
       messages += [
         ("GAS_SENSOR", 50),
       ]
 
-
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
 
   @staticmethod

selfdrive/car/gm/fingerprints.py

@@ -66,6 +66,9 @@ FINGERPRINTS = {
   CAR.CHEVROLET_MALIBU: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
   }],
+  CAR.CHEVROLET_MALIBU_ASCM: [{
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
   CAR.GMC_ACADIA: [{
     190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
   },
@@ -81,14 +84,34 @@ FINGERPRINTS = {
   CAR.CADILLAC_ESCALADE_ESV_2019: [{
     715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
   }],
-  CAR.CHEVROLET_BOLT_EUV: [{
+  CAR.CHEVROLET_BOLT_ACC_2022_2023: [{
     189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
-  CAR.CHEVROLET_BOLT_CC: [
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL: [{
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+  CAR.CHEVROLET_BOLT_CC_2022_2023: [{
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+  CAR.CHEVROLET_BOLT_CC_2017: [
   # Bolt Premier w/o ACC 2017
   {
     170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   },
+  # Bolt EV Premier 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017 w Pedal
+  { # pylint: disable=duplicate-key
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
+  },
+  # Bolt EV Premier 2017 2 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
+  }],
+  CAR.CHEVROLET_BOLT_CC_2019_2021: [
+  # Chevy Bolt EV 2018-2021
   # Bolt Premier no ACC 2018 + Pedal
   {
     170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
@@ -109,18 +132,6 @@ FINGERPRINTS = {
   {
     170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
   },
-  # Bolt EV Premier 2017
-  {
-    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
-  },
-  # Bolt EV Premier 2017 w Pedal
-  { # pylint: disable=duplicate-key
-    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
-  },
-  # Bolt EV Premier 2017 2 w Pedal
-  {
-    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
-  },
   # Bolt EV Premier no ACC 2023
   {
     170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
@@ -192,7 +203,8 @@ FINGERPRINTS = {
   CAR.CADILLAC_XT4: [
   # Cadillac XT4 w/ ACC 2023
   {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 767: 4, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8  }],
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 767: 4, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
+  }],
   CAR.CADILLAC_XT5_CC: [
   # TRain's 2017 XT5
   {
@@ -201,6 +213,9 @@ FINGERPRINTS = {
   CAR.CADILLAC_XT6: [
   #{}
   ],
+  CAR.CHEVROLET_BLAZER: [{
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 289: 8, 298: 8, 304: 3, 309: 8, 313: 8, 322: 7, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 532: 6, 560: 8, 562: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1296: 4
+  }],
   CAR.CHEVROLET_TRAVERSE: [
   # Chevy Traverse w/ ACC 2023
   {
@@ -222,7 +237,7 @@ FINGERPRINTS = {
   }],
   CAR.CHEVROLET_MALIBU_HYBRID_CC: [
   {
-    193:8, 197:8, 201:8, 209:7, 211:2, 241:6, 249:8, 352:5, 386:8, 451:8, 452:8, 453:6, 481:7, 485:8, 489:8, 493:8, 500:6, 560:8, 562:8, 566:6, 609:6, 610:6, 611:6, 612:8, 613:8, 707:8, 717:5, 761:7, 810:8, 840:5, 842:5, 844:8, 869:4
+    193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 352: 5, 386: 8, 451: 8, 452: 8, 453: 6, 481: 7, 485: 8, 489: 8, 493: 8, 500: 6, 560: 8, 562: 8, 566: 6, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4
   }],
   CAR.CHEVROLET_TRAX: [
   {
@@ -233,9 +248,6 @@ FINGERPRINTS = {
   {
     170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
   }],
-  CAR.GMC_YUKON_XL_2017: [{
-    193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1611: 8
-  }],
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

selfdrive/car/gm/gmcan.py

@@ -6,6 +6,56 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
 
+MALIBU_BUTTON_TABLE = {
+  0: [0x2FBC, 0x25DE, 0x15EE, 0x1FCC],
+  1: [0x55AE, 0x5F8C, 0x6F7C, 0x659E],
+  4: [0x2ACD, 0x20EF, 0x1ADD, 0x10FF],
+  5: [0x50BF, 0x5A9D, 0x60AF, 0x6A8D],
+}
+
+MALIBU_BUTTON_MAP = {
+  CruiseButtons.UNPRESS: 0,
+  CruiseButtons.RES_ACCEL: 1,
+  CruiseButtons.MAIN: 4,
+  CruiseButtons.CANCEL: 5,
+}
+
+
+def malibu_phase_map_for_button(button):
+  key = MALIBU_BUTTON_MAP.get(button, None)
+  if key is None or key not in MALIBU_BUTTON_TABLE:
+    return None
+  return {v: i for i, v in enumerate(MALIBU_BUTTON_TABLE[key])}
+
+
+def malibu_phase_map_for_acc(acc_value):
+  seq = MALIBU_BUTTON_TABLE.get(acc_value)
+  if not seq:
+    return None
+  return {v: i for i, v in enumerate(seq)}
+
+
+def create_buttons_malibu(packer, bus, button, phase, prefix=0x41):
+  key = MALIBU_BUTTON_MAP.get(button, None)
+  if key is None or key not in MALIBU_BUTTON_TABLE:
+    # fallback to standard checksum for unsupported buttons
+    return create_buttons(packer, bus, 0, button)
+
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": 0,
+    "ACCAlwaysOne": 1,
+    "DistanceButton": 0,
+  }
+  dat = packer.make_can_msg("ASCMSteeringButton", bus, values)[2]
+  data = bytearray(dat)
+  data[3] = prefix & 0xFF
+
+  seq = MALIBU_BUTTON_TABLE[key]
+  val = seq[phase % len(seq)]
+  data[5] = (val >> 8) & 0xFF
+  data[6] = val & 0xFF
+  return make_can_msg(0x1e1, bytes(data), bus)
 
 def create_buttons(packer, bus, idx, button):
   values = {
@@ -23,6 +73,17 @@ def create_buttons(packer, bus, idx, button):
   values["SteeringButtonChecksum"] = checksum
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
+def create_buttons_malibu_cancel(bus, phase, prefix=0x41):
+  # Malibu Hybrid CC cancel frames use a 4-value pattern in the last 2 bytes.
+  data = bytearray(7)
+  data[3] = prefix & 0xFF
+  data[4] = 0x00
+  cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
+  idx = ((phase + 2) % 4) * 2
+  data[5] = cancel_bytes[idx]
+  data[6] = cancel_bytes[idx + 1]
+  return make_can_msg(0x1e1, bytes(data), bus)
+
 
 def create_pscm_status(packer, bus, pscm_status):
   values = {s: pscm_status[s] for s in [
@@ -57,7 +118,7 @@ def create_adas_keepalive(bus):
   return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
 
 
-def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
+def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False):
   values = {
     "GasRegenCmdActive": enabled,
     "RollingCounter": idx,
@@ -66,8 +127,9 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenFullStopActive": at_full_stop,
     "GasRegenAlwaysOne": 1,
     "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
   }
+  if include_always_one3:
+    values["GasRegenAlwaysOne3"] = 1
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
   values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
@@ -81,7 +143,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   mode = 0x1
 
   # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
-  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
+  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023,):
     mode = 0x9
 
   if apply_brake > 0:
@@ -123,6 +185,23 @@ def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_con
 
   return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
 
+def create_ecm_cruise_control_command(packer, bus, enabled, target_speed_kph):
+  dat = bytearray(8)
+  dat[0] = 0x01
+  # Match observed stock shape on non-ACC CC paths: byte4 is usually 0x00
+  # (with occasional 0x80 from stock state transitions). Keep this spoofed
+  # path at 0x00 to avoid plausibility mismatch on non-speed bits.
+  dat[4] = 0x00
+
+  set_speed_raw = 0
+  if enabled:
+    set_speed_raw = int(round(max(0., target_speed_kph) / 0.0625))
+    set_speed_raw = max(0, min(set_speed_raw, 0x0FFF))
+
+  dat[2] = (set_speed_raw >> 8) & 0xFF
+  dat[3] = set_speed_raw & 0xFF
+  return make_can_msg(0x3D1, bytes(dat), bus)
+
 
 def create_adas_time_status(bus, tt, idx):
   dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
@@ -177,6 +256,36 @@ def create_lka_icon_command(bus, active, critical, steer):
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
 
+def create_prndl2_command(packer, bus, press_regen_paddle, CP):
+  if CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023):
+    prndl2_value = 5 if press_regen_paddle else 6
+  else:
+    prndl2_value = 7 if press_regen_paddle else 6
+  manual_mode = 1 if press_regen_paddle else 0
+  values = {
+    "Byte0": 0x0C,
+    "Byte1": 0x0C,
+    "Byte2": 0x00,
+    "PRNDL2": prndl2_value,
+    "Byte4": 0x00,
+    "ManualMode": manual_mode,
+    "TransmissionState": 1,
+    "Byte7": 0x00
+  }
+  return packer.make_can_msg("ECMPRDNL2", bus, values)
+
+def create_regen_paddle_command(packer, bus, press_regen_paddle):
+  regen_paddle_value = 2 if press_regen_paddle else 0
+  values = {
+    "RegenPaddle": regen_paddle_value,
+    "Byte1": 0,
+    "Byte2": 0,
+    "Byte3": 0,
+    "Byte4": 0,
+    "Byte5": 0,
+    "Byte6": 0
+  }
+  return packer.make_can_msg("EBCMRegenPaddle", bus, values)
 
 def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggles):
   accel = actuators.accel
@@ -215,6 +324,13 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggl
   # TODO: Cleanup the timing - normal is every 30ms...
   if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
     controller.last_button_frame = controller.frame
+    if CS.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      phase_map = malibu_phase_map_for_button(cruiseBtn)
+      if phase_map:
+        msgs = [create_buttons_malibu(packer, CanBus.POWERTRAIN, cruiseBtn, controller.malibu_button_phase,
+                                      CS.steering_button_prefix)]
+        controller.malibu_button_phase = (controller.malibu_button_phase + 1) % 4
+        return msgs
     idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV
     return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
   else:

selfdrive/car/gm/interface.py

@@ -7,12 +7,10 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, ALT_ACCS, F1_CAN_BRAKE
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, set_red_panda_canbus
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
-
-
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -28,16 +26,56 @@ CAM_MSG = 0x320  # AEBCmd
                  # TODO: Is this always linked to camera presence?
 ACCELERATOR_POS_MSG = 0xbe
 
+VOLT_LIKE_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_MALIBU,
+  CAR.CHEVROLET_MALIBU_ASCM,
+  CAR.CHEVROLET_MALIBU_SDGM,
+  CAR.CHEVROLET_MALIBU_CC,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+}
+
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.GMC_ACADIA_ASCM: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_BOLT_ACC_2022_2023: {
+    "left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
+    "right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL: {
+    "left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
+    "right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC_2022_2023: {
+    "left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
+    "right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC_2019_2021: {
+    "left": [1.8, 1.1, 0.27, 0.0],
+    "right": [2.0, 1.0, 0.205, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC_2017: {
+    "left": [2.15, 1.0, 0.21, 0.0],
+    "right": [2.15, 1.0, 0.21, 0.0],
+  },
+  CAR.GMC_ACADIA: {
+    "left": [4.78003305, 1.0, 0.3122, 0.05591772],
+    "right": [4.78003305, 1.0, 0.3122, 0.05591772],
+  },
+  CAR.CHEVROLET_SILVERADO: {
+    "left": [3.8, 0.81, 0.24, 0.0465122],
+    "right": [3.8, 0.81, 0.24, 0.0465122],
+  },
 }
 
 
 class CarInterface(CarInterfaceBase):
+  def __init__(self, CP, FPCP, CarController, CarState):
+    super().__init__(CP, FPCP, CarController, CarState)
+    self.steer_offset = 0.0
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@@ -50,7 +88,7 @@ class CarInterface(CarInterfaceBase):
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
   def get_steer_feedforward_function(self):
-    if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_ASCM):
+    if self.CP.carFingerprint in VOLT_LIKE_CARS:
       return self.get_steer_feedforward_volt
     else:
       return CarInterfaceBase.get_steer_feedforward_default
@@ -63,7 +101,9 @@ class CarInterface(CarInterfaceBase):
       # This has big effect on the stability about 0 (noise when going straight)
       non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
       assert non_linear_torque_params, "The params are not defined"
-      a, b, c, d = non_linear_torque_params
+      # Left is positive
+      side_key = "left" if lateral_acceleration >= 0 else "right"
+      a, b, c, d = non_linear_torque_params[side_key]
       sig_input = a * lateral_acceleration
       sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
       steer_torque = (sig * b) + (lateral_acceleration * c) + d
@@ -79,101 +119,211 @@ class CarInterface(CarInterfaceBase):
       torque_values, lataccel_values = self.get_lataccel_torque_siglin()
 
       def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: car.CarParams.LateralTorqueTuning):
-        return np.interp(lateral_acceleration, lataccel_values, torque_values)
+        return float(np.interp(lateral_acceleration, lataccel_values, torque_values) + self.steer_offset)
       return torque_from_lateral_accel_siglin
     else:
-      return self.torque_from_lateral_accel_linear
+      def torque_from_lateral_accel_linear(lateral_acceleration: float, torque_params: car.CarParams.LateralTorqueTuning):
+        return self.torque_from_lateral_accel_linear(lateral_acceleration, torque_params) + self.steer_offset
+      return torque_from_lateral_accel_linear
 
   def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
     if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
       torque_values, lataccel_values = self.get_lataccel_torque_siglin()
 
       def lateral_accel_from_torque_siglin(torque: float, torque_params: car.CarParams.LateralTorqueTuning):
-        return np.interp(torque, torque_values, lataccel_values)
+        return np.interp(torque - self.steer_offset, torque_values, lataccel_values)
       return lateral_accel_from_torque_siglin
     else:
-      return self.lateral_accel_from_torque_linear
+      def lateral_accel_from_torque_linear(torque: float, torque_params: car.CarParams.LateralTorqueTuning):
+        return self.lateral_accel_from_torque_linear(torque - self.steer_offset, torque_params)
+      return lateral_accel_from_torque_linear
+
+  def update(self, c: car.CarControl, can_strings: list[bytes], frogpilot_toggles) -> car.CarState:
+    self.steer_offset = float(getattr(frogpilot_toggles, "steer_offset", 0.0))
+    return super().update(c, can_strings, frogpilot_toggles)
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
     ret.carName = "gm"
+    red_panda = getattr(frogpilot_toggles, "red_panda", False)
+    set_red_panda_canbus(red_panda)
+
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    if red_panda:
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), ret.safetyConfigs[0]]
+    gm_safety_cfg = ret.safetyConfigs[-1] if red_panda else ret.safetyConfigs[0]
     ret.autoResumeSng = False
-    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
-    if PEDAL_MSG in fingerprint[0]:
+    ret.enableBsm = 0x142 in fingerprint.get(CanBus.POWERTRAIN, {})
+
+    def has_sascm(fingerprint):
+      return 0x2FF in fingerprint.get(CanBus.POWERTRAIN, {})
+
+    # Detect Beartech SASCM allows openpilot longitudinal control on SDGM and ASCM_INT vehicles
+    if has_sascm(fingerprint):
+      ret.flags |= GMFlags.SASCM.value
+
+    if PEDAL_MSG in fingerprint.get(CanBus.POWERTRAIN, {}):
       ret.enableGasInterceptor = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
-      # When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
-      experimental_long = False
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
+      if candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023:
+        # Hard-block pedal interceptor for ACC fingerprinted Bolts
+        ret.enableGasInterceptor = False
+        gm_safety_cfg.safetyParam &= ~Panda.FLAG_GM_GAS_INTERCEPTOR
+      else:
+        # When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
+        experimental_long = False
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.kiBP = [5., 35.]
+    kaofui_cars = SDGM_CAR | ASCM_INT | VOLT_LIKE_CARS | {CAR.CHEVROLET_MALIBU_HYBRID_CC}
+    ret.longitudinalTuning.kiBP = [5., 35.] if candidate in kaofui_cars else [5., 35., 60.]
 
-    if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT) or candidate == CAR.CHEVROLET_VOLT_CAMERA:
-      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
+    is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and ret.enableGasInterceptor
+
+    kaofui_camera_cars = {
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    bolt_cc_camera_cars = {
+      CAR.CHEVROLET_BOLT_CC_2017,
+      CAR.CHEVROLET_BOLT_CC_2019_2021,
+      CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+      CAR.CHEVROLET_BOLT_CC_2022_2023,
+    }
+    is_camera_acc = candidate in CAMERA_ACC_CAR and candidate not in kaofui_cars and \
+                    (candidate not in CC_ONLY_CAR or candidate in bolt_cc_camera_cars)
+    if candidate in kaofui_camera_cars:
+      # Keep Volt/Malibu camera path functionally aligned with kaofui.
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
+      ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
       ret.pcmCruise = True
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
-      if candidate in SDGM_CAR:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
-        # Use C9 brake bit only on SDGM variants that lack 0xBE (ECMAcceleratorPos)
-        if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
-          ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
-          ret.flags |= GMFlags.FORCE_BRAKE_C9.value
-        ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-        ret.minSteerSpeed = 7 * CV.MPH_TO_MS
-      elif candidate in ASCM_INT:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
-        ret.minSteerSpeed = 7 * CV.MPH_TO_MS
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT
-      else:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [1.0, 1.0]
-
+      ret.longitudinalTuning.kiV = [0.5, 0.5]
       ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
-      ret.stopAccel = -0.20
+      ret.stopAccel = -0.25
 
       if ret.experimentalLongitudinalAvailable and experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+    elif is_camera_acc:
+      # TorqueTune camera-ACC behavior
+      ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarUnavailable = True  # no radar
+      ret.pcmCruise = not ret.enableGasInterceptor
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
-      if candidate in ALT_ACCS:
+      # Tuning for experimental long
+      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.vEgoStopping = 0.1
+      ret.vEgoStarting = 0.1
+
+      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stopAccel = -0.25
+
+      if ret.experimentalLongitudinalAvailable and experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+    elif candidate in SDGM_CAR:
+      # kaofui parity: SDGM cars require SASCM for experimental long
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
+      ret.pcmCruise = True
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_SDGM
+      # Use C9 brake bit on Blazer and SDGM variants that lack 0xBE (ECMAcceleratorPos),
+      # so panda brake_pressed source matches carstate on light taps.
+      if candidate == CAR.CHEVROLET_BLAZER or ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
+        ret.flags |= GMFlags.FORCE_BRAKE_C9.value
+
+      # Tuning for experimental long
+      ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
+      ret.vEgoStopping = 0.1
+      ret.vEgoStarting = 0.1
+
+      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stopAccel = -0.25
+
+      if ret.experimentalLongitudinalAvailable and experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+      if is_bolt_2022_2023_pedal:
         ret.experimentalLongitudinalAvailable = False
-        ret.openpilotLongitudinalControl = False
-        ret.minEnableSpeed = -1.  # engage speed is decided by PCM
+        ret.pcmCruise = False
+    elif candidate in ASCM_INT:
+      # kaofui parity: ASCM_INT cars require SASCM for experimental long
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
+      ret.pcmCruise = True
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_ASCM_INT
 
+      # Tuning for experimental long
+      ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
+      ret.vEgoStopping = 0.1
+      ret.vEgoStarting = 0.1
 
+      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stopAccel = -0.25
 
+      if ret.experimentalLongitudinalAvailable and experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+      if is_bolt_2022_2023_pedal:
+        ret.experimentalLongitudinalAvailable = False
+        ret.pcmCruise = False
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint.get(CanBus.OBSTACLE, {}) and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [0.5, 0.5]
-      ret.stoppingDecelRate = 3
-      ret.vEgoStopping = 0.75
-      ret.vEgoStarting = 0.75
-      ret.stopAccel = -1.5
+      ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
+      if candidate in kaofui_cars:
+        ret.stoppingDecelRate = 3
+        ret.vEgoStopping = 0.75
+        ret.vEgoStarting = 0.75
+        ret.stopAccel = -1.5
 
       if ret.enableGasInterceptor:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
+
+    if getattr(frogpilot_toggles, "remote_start_boots_comma", False):
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_REMOTE_START_BOOTS_COMMA
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -189,23 +339,21 @@ class CarInterface(CarInterfaceBase):
 
     if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA):
       ret.minEnableSpeed = -1
-      ret.lateralTuning.pid.kpBP = [0., 40.]
-      ret.lateralTuning.pid.kpV = [0., 0.17]
-      ret.lateralTuning.pid.kiBP = [0.]
-      ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
+
+    if candidate == CAR.CHEVROLET_VOLT_2019 and not ret.openpilotLongitudinalControl:
+      ret.minEnableSpeed = -1
+
+    if candidate in VOLT_LIKE_CARS:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.steerActuatorDelay = 0.2
+      if candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC and ret.enableGasInterceptor:
+        ret.flags |= GMFlags.PEDAL_LONG.value
 
     elif candidate == CAR.GMC_ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.GMC_ACADIA_ASCM:
-      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
     elif candidate == CAR.BUICK_LACROSSE:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -224,20 +372,41 @@ class CarInterface(CarInterfaceBase):
         ret.steerActuatorDelay = 0.2
         CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
+    elif candidate in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2017):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+      # Bolt-only lateral tuning overrides
+      ret.lateralTuning.torque.kp = 1.03
+      ret.lateralTuning.torque.ki = 1.07
+      ret.lateralTuning.torque.kd = 0.93
+      ret.lateralTuning.torque.kfDEPRECATED = 0.02
+
+      if candidate in (CAR.CHEVROLET_BOLT_CC_2019_2021,
+                       CAR.CHEVROLET_BOLT_ACC_2022_2023,
+                       CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+                       CAR.CHEVROLET_BOLT_CC_2022_2023):
+        # Apply 2019-style negative FF and Ki-mult tweaks to 2019-2021 and 2022 variants.
+        ret.lateralTuning.torque.ki *= 1.07
+        ret.lateralTuning.torque.kd *= 0.93
+
+      if candidate == CAR.CHEVROLET_BOLT_CC_2017:
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
+
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
         ret.flags |= GMFlags.PEDAL_LONG.value
 
-    elif candidate == CAR.CHEVROLET_SILVERADO:
+    # Enable pedal interceptor for ACC models when detected
+    if is_bolt_2022_2023_pedal:
+      ret.flags |= GMFlags.PEDAL_LONG.value
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
+
+    if candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future
-      if ret.openpilotLongitudinalControl:
-        ret.minEnableSpeed = -1.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
@@ -271,11 +440,13 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_MALIBU_SDGM):
+    elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER):
       ret.steerActuatorDelay = 0.2
       if not ret.openpilotLongitudinalControl:
         ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      if candidate == CAR.CHEVROLET_BLAZER:
+        ret.minEnableSpeed = 5 * CV.KPH_TO_MS
 
     elif candidate == CAR.BUICK_BABYENCLAVE:
       ret.steerActuatorDelay = 0.2
@@ -286,94 +457,100 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.CADILLAC_CT6_CC:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
+    elif candidate == CAR.CHEVROLET_MALIBU_CC:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CHEVROLET_TRAX:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.CHEVROLET_VOLT_2019:
-      ret.steerActuatorDelay = 0.2
-      if not ret.openpilotLongitudinalControl:
-        ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-    elif candidate == CAR.GMC_YUKON_XL_2017:
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
-      ret.lateralTuning.pid.kf = 0.000045
-      ret.steerActuatorDelay = 0.3
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-      # Set F1_CAN_BRAKE flag for 0xF1 monitoring
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_F1_CAN_BRAKE
-      ret.flags |= GMFlags.F1_CAN_BRAKE.value
-
     if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1
       ret.pcmCruise = False
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
-      if candidate in CC_ONLY_CAR:
+      if candidate in CC_ONLY_CAR or (candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor): #pedal interceptor tuning
         ret.flags |= GMFlags.PEDAL_LONG.value
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
-        ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
-        ret.longitudinalTuning.kfDEPRECATED = 0.15
-        ret.stoppingDecelRate = 0.8
-        ret.minEnableSpeed = -1
-        ret.pcmCruise = False
-        ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+        if candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
+          ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
+          ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+          ret.longitudinalTuning.kfDEPRECATED = 0.15
+          ret.stoppingDecelRate = 0.8
+          ret.minEnableSpeed = -1
+          ret.pcmCruise = False
+          ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+        else:
+          ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
+          ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
+          ret.longitudinalTuning.kfDEPRECATED = 0.25
+          ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
         ret.startingState = True
         ret.vEgoStopping = 0.25
         ret.vEgoStarting = 0.25
 
+    if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      ret.flags |= GMFlags.PEDAL_LONG.value
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
+      ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
+      ret.longitudinalTuning.kiV = [0.0, 0.18, 0.25]
+      ret.longitudinalTuning.kfDEPRECATED = 0.15
+      ret.stoppingDecelRate = 0.8
+      ret.minEnableSpeed = -1
+      ret.pcmCruise = False
+      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
 
-    elif candidate in CC_ONLY_CAR:
+    elif candidate in CC_ONLY_CAR and not ret.enableGasInterceptor:
       ret.flags |= GMFlags.CC_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_CC_LONG
       ret.radarUnavailable = True
       ret.experimentalLongitudinalAvailable = False
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.pcmCruise = False
 
-      ret.stoppingDecelRate = 11.18
-
-      if candidate not in (CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
-        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
-        ret.longitudinalTuning.kpV = [0., 5., 2.]  # set lower end to 0 since we can't drive below that speed
-        ret.longitudinalTuning.deadzoneBP = [0., 1.]
-        ret.longitudinalTuning.deadzoneV = [0.9, 0.9]  # == 2 km/h/s, 1.25 mph/s
-        ret.longitudinalActuatorDelay = 1.  # TODO: measure this
-
-        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
-        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
-        ret.longitudinalTuning.kiBP = [0.]
-        ret.longitudinalTuning.kiV = [0.1]
+      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
+        if candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+          pass
+        else:
+          ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
+          ret.longitudinalTuning.kpV = [0., 5., 2.]  # set lower end to 0 since we can't drive below that speed
+          ret.longitudinalTuning.deadzoneBP = [0., 1.]
+          ret.longitudinalTuning.deadzoneV = [0.9, 0.9]  # == 2 km/h/s, 1.25 mph/s
+          ret.longitudinalActuatorDelay = 1.  # TODO: measure this
+          if candidate == CAR.CHEVROLET_MALIBU_CC:
+            ret.longitudinalTuning.kpV = [0., 20., 20.]
+          ret.longitudinalTuning.kiBP = [0.]
+          ret.longitudinalTuning.kiV = [0.1]
+          ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
 
     if candidate in CC_ONLY_CAR:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
 
     # Exception for flashed cars, or cars whose camera was removed
-    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in (SDGM_CAR | ASCM_INT):
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint.get(CanBus.CAMERA, {}) and not candidate in (SDGM_CAR | ASCM_INT):
       ret.flags |= GMFlags.NO_CAMERA.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
-    if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
+    if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 
-    # Set NO_ACCELERATOR_POS_MSG flag for cars that need 0xF1 monitoring
-    if candidate in F1_CAN_BRAKE:
-      ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
+    use_panda_3d1_sched = (
+      ret.openpilotLongitudinalControl and
+      ret.enableGasInterceptor and
+      bool(ret.flags & GMFlags.PEDAL_LONG.value) and
+      candidate in CC_ONLY_CAR and
+      candidate != CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
+    )
+    if use_panda_3d1_sched:
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PANDA_3D1_SCHED
 
     return ret
 
@@ -404,23 +581,28 @@ class CarInterface(CarInterfaceBase):
     # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
     below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
     if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
+                                       (self.CP.networkLocation == NetworkLocation.fwdCamera and
+                                        (self.CP.carFingerprint in VOLT_LIKE_CARS or self.CP.carFingerprint in {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE} or self.CP.carFingerprint not in SDGM_CAR))):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill and not self.CP.autoResumeSng:
       events.add(EventName.resumeRequired)
-
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(EventName.belowSteerSpeed)
 
-    if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
-      events.add(EventName.speedTooLow)
+    if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed:
+      if ret.cruiseState.enabled or self.CS.out.cruiseState.enabled:
+        events.add(EventName.speedTooLow)
 
     if (self.CP.flags & GMFlags.PEDAL_LONG.value) and \
       self.CP.transmissionType == TransmissionType.direct and \
+      self.CP.carFingerprint != CAR.CHEVROLET_MALIBU_HYBRID_CC and \
       not self.CS.single_pedal_mode and \
       c.longActive:
       events.add(FrogPilotEventName.pedalInterceptorNoBrake)
 
+    if self.CS.lkas_status == 3:
+      events.add(EventName.steerUnavailable)
+
     ret.events = events.to_msg()
 
     return ret, fp_ret

selfdrive/car/gm/tests/test_gm.py

@@ -0,0 +1,20 @@
+from parameterized import parameterized
+
+from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
+from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
+
+CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
+
+
+class TestGMFingerprint:
+  @parameterized.expand(FINGERPRINTS.items())
+  def test_can_fingerprints(self, car_model, fingerprints):
+    assert len(fingerprints) > 0
+
+    assert all(len(finger) for finger in fingerprints)
+
+    # The camera can sometimes be communicating on startup
+    if car_model in CAMERA_ACC_CAR:
+      for finger in fingerprints:
+        for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
+          assert finger.get(required_addr) == 8, required_addr

selfdrive/car/gm/values.py

@@ -37,36 +37,111 @@ class CarControllerParams:
   ACCEL_MIN = -4.  # m/s^2
 
   def __init__(self, CP):
+    self.STEER_MAX = CarControllerParams.STEER_MAX
+    self.STEER_STEP = CarControllerParams.STEER_STEP
+    self.INACTIVE_STEER_STEP = CarControllerParams.INACTIVE_STEER_STEP
+    self.STEER_DELTA_UP = CarControllerParams.STEER_DELTA_UP
+    self.STEER_DELTA_DOWN = CarControllerParams.STEER_DELTA_DOWN
+    self.STEER_DRIVER_ALLOWANCE = CarControllerParams.STEER_DRIVER_ALLOWANCE
+    self.STEER_DRIVER_MULTIPLIER = CarControllerParams.STEER_DRIVER_MULTIPLIER
+    self.STEER_DRIVER_FACTOR = CarControllerParams.STEER_DRIVER_FACTOR
+
+    if CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2017:
+      self.STEER_MAX = 450
+      self.STEER_DELTA_UP = 15
+      self.STEER_DELTA_DOWN = 34
+      self.STEER_DRIVER_ALLOWANCE = 78
+      self.STEER_DRIVER_MULTIPLIER = 6
+      self.STEER_DRIVER_FACTOR = 100
+
     # Gas/brake lookups
-    self.ZERO_GAS = 6144  # Coasting
+    self.ZERO_GAS = 6150  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
-    if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
-      self.MAX_GAS = 7496
-      self.MAX_GAS_PLUS = 8848
-      self.MAX_ACC_REGEN = 5610
-      self.INACTIVE_REGEN = 5650
-      # Camera ACC vehicles have no regen while enabled.
-      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
-      self.max_regen_acceleration = 0.
+    kaofui_cars = SDGM_CAR | ASCM_INT | {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_2019,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+      CAR.CHEVROLET_MALIBU_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    volt_like = {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+    }
+
+    if CP.carFingerprint in kaofui_cars:
+      if (CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and
+          CP.carFingerprint not in CC_ONLY_CAR and
+          CP.carFingerprint != CAR.CHEVROLET_BOLT_ACC_2022_2023):
+        self.MAX_GAS = 8848
+        self.MAX_GAS_PLUS = 8848
+        self.MAX_ACC_REGEN = 5610
+        self.INACTIVE_REGEN = 5650
+        # Camera ACC vehicles have no regen while enabled.
+        # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+        max_regen_acceleration = 0.
+      else:
+        self.MAX_GAS = 8191  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+        self.MAX_GAS_PLUS = 8191
+        self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+        self.INACTIVE_REGEN = 5500
+        # ICE has much less engine braking force compared to regen in EVs,
+        # lower threshold removes some braking deadzone
+        max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
+
+      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
+      if CP.carFingerprint in volt_like:
+        self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
+      else:
+        self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
 
     else:
-      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
-      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 5500
-      # ICE has much less engine braking force compared to regen in EVs,
-      # lower threshold removes some braking deadzone
-      self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
+      if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
+        self.MAX_GAS = 8848
+        self.MAX_GAS_PLUS = 8848
+        self.MAX_ACC_REGEN = 5610
+        self.INACTIVE_REGEN = 5650
+        # Camera ACC vehicles have no regen while enabled.
+        # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+        max_regen_acceleration = 0.
+        self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
+      elif CP.carFingerprint in SDGM_CAR:
+        self.MAX_GAS = 8191
+        self.MAX_GAS_PLUS = 8191
+        self.MAX_ACC_REGEN = 5500
+        self.INACTIVE_REGEN = 5500
+        max_regen_acceleration = 0.
+        self.BRAKE_SWITCH_MAX = self.ZERO_GAS
+
+      else:
+        self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+        self.MAX_GAS_PLUS = 7168 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
+        self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+        self.INACTIVE_REGEN = 5500
+        # ICE has much less engine braking force compared to regen in EVs,
+        # lower threshold removes some braking deadzone
+        max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
+        self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
+
+      self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
+
+    self.max_regen_acceleration = max_regen_acceleration
     self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
     self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
     self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
 
-    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
+    self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
+    self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
+
   # determined by letting Volt regen to a stop in L gear from 89mph,
   # and by letting off gas and allowing car to creep, for determining
   # the positive threshold values at very low speed
@@ -104,7 +179,8 @@ class GMPlatformConfig(PlatformConfig):
 @dataclass
 class GMASCMPlatformConfig(GMPlatformConfig):
   def init(self):
-    pass
+    # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
+    self.car_docs = []
 
 
 class CAR(Platforms):
@@ -135,6 +211,10 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Malibu Premier 2017")],
     GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
   )
+  CHEVROLET_MALIBU_ASCM = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu 2017-19 ASCM Harness")],
+    CHEVROLET_MALIBU.specs,
+  )
   GMC_ACADIA = GMASCMPlatformConfig(
     [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
     GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
@@ -164,10 +244,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
     CADILLAC_ESCALADE_ESV.specs,
   )
-  CHEVROLET_BOLT_EUV = GMPlatformConfig(
+  CHEVROLET_BOLT_ACC_2022_2023 = GMPlatformConfig(
     [
-      GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
-      GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+      GMCarDocs("Chevrolet Bolt ACC 2022-2023", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
+      GMCarDocs("Chevrolet Bolt EV ACC 2022-2023", "2LT Trim with Adaptive Cruise Control Package"),
     ],
     GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
@@ -176,7 +256,7 @@ class CAR(Platforms):
       GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
       GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
     ],
-    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
   CHEVROLET_EQUINOX = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -192,12 +272,25 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Volt 2017-18 - No-ACC", min_enable_speed=0)],
     CHEVROLET_VOLT.specs,
   )
-  CHEVROLET_BOLT_CC = GMPlatformConfig(
+  CHEVROLET_BOLT_CC_2019_2021 = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Bolt EV 2018-2021 - No-ACC")],
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
+  )
+  CHEVROLET_BOLT_ACC_2022_2023_PEDAL = GMPlatformConfig(
     [
-      GMCarDocs("Chevrolet Bolt EUV 2022-23 - No-ACC"),
-      GMCarDocs("Chevrolet Bolt EV 2017-23 - No-ACC"),
+      GMCarDocs("Chevrolet Bolt EV 2022-2023 ACC w Pedal"),
     ],
-    CHEVROLET_BOLT_EUV.specs,
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
+  )
+  CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
+    [
+      GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
+    ],
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
+  )
+  CHEVROLET_BOLT_CC_2017 = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Bolt EV 2017 - No-ACC")],
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_EQUINOX_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
@@ -231,6 +324,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac XT5 - No-ACC")],
     CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
   )
+  CHEVROLET_BLAZER = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Blazer 2019-2025", "Driver Assist Package")],
+    CarSpecs(mass=1850, wheelbase=3.10, steerRatio=17.9, centerToFrontRatio=0.4),
+  )
   CHEVROLET_TRAVERSE = GMPlatformConfig(
     [GMCarDocs("Chevrolet Traverse 2023", "Driver Assist Package")],
     CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
@@ -245,7 +342,7 @@ class CAR(Platforms):
   )
   CHEVROLET_MALIBU_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
-    CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
+    CarSpecs(mass=1450, wheelbase=2.8, steerRatio=18.25, centerToFrontRatio=0.4, tireStiffnessFactor=0.997),
   )
   CHEVROLET_MALIBU_HYBRID_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Malibu Hybrid 2017 - No-ACC")],
@@ -263,10 +360,6 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
     GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
   )
-  GMC_YUKON_XL_2017 = GMPlatformConfig(
-    [GMCarDocs("GMC Yukon XL 2017", "Adaptive Cruise Control (ACC) & LKAS")],
-    GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=23, centerToFrontRatio=0.55, tireStiffnessFactor=1.0),
-  )
 
 
 class CruiseButtons:
@@ -291,13 +384,29 @@ class CanBus:
   LOOPBACK = 128
   DROPPED = 192
 
+def set_red_panda_canbus(enabled: bool) -> None:
+  if enabled:
+    CanBus.POWERTRAIN = 4
+    CanBus.OBSTACLE = 5
+    CanBus.CAMERA = 6
+    CanBus.CHASSIS = 6
+    CanBus.LOOPBACK = 132
+    CanBus.DROPPED = 196
+  else:
+    CanBus.POWERTRAIN = 0
+    CanBus.OBSTACLE = 1
+    CanBus.CAMERA = 2
+    CanBus.CHASSIS = 2
+    CanBus.LOOPBACK = 128
+    CanBus.DROPPED = 192
+
 class GMFlags(IntFlag):
-  CC_LONG = 4
-  NO_CAMERA = 16
-  PEDAL_LONG = 64
-  FORCE_BRAKE_C9 = 512
-  F1_CAN_BRAKE = 2048
-  NO_ACCELERATOR_POS_MSG = 4096
+  PEDAL_LONG = 1
+  CC_LONG = 2
+  NO_CAMERA = 4
+  NO_ACCELERATOR_POS_MSG = 8
+  FORCE_BRAKE_C9 = 16
+  SASCM = 32
 
 
 # In a Data Module, an identifier is a string used to recognize an object,
@@ -349,26 +458,64 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )
 
-EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_MALIBU_HYBRID_CC}
-CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC}
-# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
+EV_CAR = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+}
+CC_ONLY_CAR = {
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_EQUINOX_CC,
+  CAR.CHEVROLET_SUBURBAN_CC,
+  CAR.GMC_YUKON_CC,
+  CAR.CADILLAC_CT6_CC,
+  CAR.CHEVROLET_TRAILBLAZER_CC,
+  CAR.CADILLAC_XT5_CC,
+  CAR.CHEVROLET_MALIBU_CC,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+}
+CC_REGEN_PADDLE_CAR = {
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+}
 
 # We're integrated at the Safety Data Gateway Module on these cars
-SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
+SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
 
-ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM}
+ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA, CAR.GMC_YUKON_XL_2017}
-CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC})
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BLAZER}
+CAMERA_ACC_CAR.update({
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_EQUINOX_CC,
+  CAR.GMC_YUKON_CC,
+  CAR.CADILLAC_CT6_CC,
+  CAR.CHEVROLET_TRAILBLAZER_CC,
+  CAR.CADILLAC_XT5_CC,
+  CAR.CHEVROLET_MALIBU_CC,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+})
 # CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
-# Alt for of ASCMActiveCruiseControlStatus. Uses ECMCruiseControl
-ALT_ACCS = {CAR.GMC_YUKON_XL_2017}
-
 STEER_THRESHOLD = 1.0
 
-# Cars that need F1_CAN_BRAKE flag for 0xF1 monitoring (without 0xBE)
-F1_CAN_BRAKE = {CAR.GMC_YUKON_XL_2017}
-
 DBC = CAR.create_dbc_map()

selfdrive/car/honda/carcontroller.py

@@ -260,11 +260,11 @@ class CarController(CarControllerBase):
           self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
     new_actuators = actuators.as_builder()
-    new_actuators.speed = self.speed
-    new_actuators.accel = self.accel
-    new_actuators.gas = self.gas
-    new_actuators.brake = self.brake
-    new_actuators.steer = self.last_steer
+    new_actuators.speed = float(self.speed)
+    new_actuators.accel = float(self.accel)
+    new_actuators.gas = float(self.gas)
+    new_actuators.brake = float(self.brake)
+    new_actuators.steer = float(self.last_steer)
     new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1

selfdrive/car/honda/hondacan.py

@@ -76,14 +76,14 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 
-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint, gas_force):
   commands = []
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
-  gas_command = gas if active and accel > min_gas_accel else -30000
+  gas_command = gas if active and gas_force > min_gas_accel else -30000
   accel_command = accel if active else 0
-  braking = 1 if active and accel < min_gas_accel else 0
+  braking = 1 if active and gas_force < min_gas_accel else 0
   standstill = 1 if active and stopping_counter > 0 else 0
   standstill_release = 1 if active and stopping_counter == 0 else 0
 

selfdrive/car/interfaces.py

@@ -37,7 +37,12 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.3
+FRICTION_THRESHOLD = 0.12
+
+def get_friction_threshold(v_ego):
+  # Interpolate friction threshold
+  from openpilot.common.numpy_fast import interp
+  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
 
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
@@ -147,8 +152,11 @@ class CarInterfaceBase(ABC):
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles)
 
+    trailer_load_kg = getattr(frogpilot_toggles, "trailer_load_kg", 0)
+
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
+      ret.mass = ret.mass + trailer_load_kg
       ret.mass = ret.mass + STD_CARGO_KG
 
     # Set params dependent on values set by the car interface
@@ -179,6 +187,7 @@ class CarInterfaceBase(ABC):
 
       elif platform in GMCAR:
         fp_ret.canUsePedal = True
+        fp_ret.canUseSASCM = True
 
       elif platform in HondaCAR:
         if candidate == HondaCAR.HONDA_CLARITY:

selfdrive/car/tests/routes.py

@@ -66,8 +66,8 @@ routes = [
   CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.CADILLAC_ESCALADE_ESV),
   CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.CADILLAC_ESCALADE_ESV_2019),
   CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.CHEVROLET_VOLT),
-  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_EUV, segment=1),
-  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_EUV, segment=14),  # Bolt EV
+  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_ACC_2022_2023, segment=1),
+  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_ACC_2022_2023, segment=14),  # Bolt EV
   CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.CHEVROLET_SILVERADO),
   CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.CHEVROLET_TRAILBLAZER),
 

selfdrive/car/tests/test_can_fingerprint.py

@@ -17,7 +17,7 @@ class TestCanFingerprint:
 
       fingerprint_iter = iter([can])
       empty_can = messaging.new_message('can', 0)
-      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
+      car_fingerprint, finger, _ = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
 
       assert car_fingerprint == car_model
       assert finger[0] == fingerprint
@@ -26,7 +26,7 @@ class TestCanFingerprint:
 
   def test_timing(self, subtests):
     # just pick any CAN fingerprinting car
-    car_model = "CHEVROLET_BOLT_EUV"
+    car_model = "CHEVROLET_BOLT_ACC_2022_2023"
     fingerprint = FINGERPRINTS[car_model][0]
 
     cases = []
@@ -56,6 +56,6 @@ class TestCanFingerprint:
           frames += 1
           return can  # noqa: B023
 
-        car_fingerprint, _ = can_fingerprint(test)
+        car_fingerprint, _, _ = can_fingerprint(test)
         assert car_fingerprint == car_model
         assert frames == expected_frames + 2# TODO: fix extra frames

selfdrive/car/torque_data/override.toml

@@ -43,13 +43,16 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
-"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
-"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
+"CADILLAC_XT6" = [1.33, 1.9, 0.16]
+"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.13]
+"CHEVROLET_BOLT_CC_2017" = [1.5, 2.0, 0.245]
+"CHEVROLET_BOLT_CC_2019_2021" = [2.0, 2.0, 0.13]
+"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
+"CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
-"GMC_YUKON_XL_2017" = [1.2, 2.5, 0.26]
 "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]

selfdrive/car/torque_data/params.toml

@@ -5,6 +5,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
 "AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
 "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+"CHEVROLET_MALIBU_HYBRID_CC" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
 "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
 "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
 "CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]

selfdrive/car/torque_data/substitute.toml

@@ -56,9 +56,16 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
 "CADILLAC_ATS" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
+"CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"
+"CHEVROLET_MALIBU_SDGM" = "CHEVROLET_VOLT"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
-"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
+"CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"
+"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
+"GMC_ACADIA_ASCM" = "GMC_ACADIA"
+"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
+"CHEVROLET_BOLT_ACC_2022_2023_PEDAL" = "CHEVROLET_BOLT_ACC_2022_2023"
+"CHEVROLET_BOLT_CC_2022_2023" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
 "CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"

selfdrive/controls/controlsd.py

@@ -199,7 +199,7 @@ class Controls:
 
     self.event_names_to_clear = set()
 
-    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR)
+    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value)
 
     self.frogpilot_AM = AlertManager()
     self.frogpilot_events = Events(frogpilot=True)
@@ -623,9 +623,31 @@ class Controls:
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
-                                           torque_params.frictionCoefficientFiltered)
+
+      allow_lat_accel_learning = self.CP.carName in ['toyota', 'hyundai']
+      allow_friction_learning = (allow_lat_accel_learning or self.CP.carName in ['gm'])
+      use_live_params = self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune)
+
+      # Defaults pulled from manual tuning values
+      lat_accel_factor = self.params.get_float("SteerLatAccel")
+      friction = self.params.get_float("SteerFriction")
+      lat_accel_offset = self.CP.lateralTuning.torque.latAccelOffset
+
+      # Apply user overrides first
+      if self.frogpilot_toggles.use_custom_latAccelFactor:
+        lat_accel_factor = self.frogpilot_toggles.latAccelFactor
+      if self.frogpilot_toggles.use_custom_friction:
+        friction = self.frogpilot_toggles.friction
+
+      # Layer in live values only for parameters the platform allows to learn and only when not overridden
+      if use_live_params:
+        if allow_lat_accel_learning and not self.frogpilot_toggles.use_custom_latAccelFactor:
+          lat_accel_factor = torque_params.latAccelFactorFiltered
+          lat_accel_offset = torque_params.latAccelOffsetFiltered
+        if allow_friction_learning and not self.frogpilot_toggles.use_custom_friction:
+          friction = torque_params.frictionCoefficientFiltered
+
+      self.LaC.update_live_torque_params(lat_accel_factor, lat_accel_offset, friction)
 
       if self.sm.updated['liveDelay'] and hasattr(self.LaC, "update_live_delay"):
         self.LaC.update_live_delay(self.sm['liveDelay'].lateralDelay)

selfdrive/controls/lib/drive_helpers.py

@@ -147,8 +147,7 @@ class VCruiseHelper:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
-
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not frogpilot_toggles.conditional_experimental_mode else V_CRUISE_INITIAL
+    engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
 
     # 250kph or above probably means we never had a set speed
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
@@ -157,7 +156,7 @@ class VCruiseHelper:
       if desired_speed_limit != 0 and frogpilot_toggles.set_speed_limit:
         self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
       else:
-        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph
 

selfdrive/controls/lib/events.py

@@ -357,8 +357,8 @@ def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMas
 def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   holiday_messages = {
     "new_years": "Happy New Year! 🎉",
-    "valentines": "Happy Valentine's Day! ❤️",
-    "st_patricks": "Happy St. Patrick's Day! 🍀",
+    "valentines_day": "Happy Valentine's Day! ❤️",
+    "st_patricks_day": "Happy St. Patrick's Day! 🍀",
     "world_frog_day": "Happy World Frog Day! 🐸",
     "april_fools": "Happy April Fool's Day! 🤡",
     "easter_week": "Happy Easter! 🐰",
@@ -372,7 +372,7 @@ def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   }
 
   return Alert(
-    holiday_messages.get(frogpilot_toggles.current_holiday_theme),
+    holiday_messages.get(frogpilot_toggles.current_holiday_theme, "Happy Holidays!"),
     "",
     AlertStatus.normal, AlertSize.small,
     Priority.LOWEST, VisualAlert.none, FrogPilotAudibleAlert.startup, 5.)
@@ -982,8 +982,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "",
       AlertStatus.normal, AlertSize.full,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
-    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+    ET.USER_DISABLE: ImmediateDisableAlert("Wrong Gear"),
+    ET.NO_ENTRY: NoEntryAlert("Wrong Gear"),
   },
 
   # On cars that use stock ACC the car can decide to cancel ACC for various reasons.

selfdrive/controls/lib/latcontrol_pid.py

@@ -1,18 +1,21 @@
 import math
 
 from cereal import log
-from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
 
 class LatControlPID(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
+    self.steer_release_i_decay = 0.8
+    self.prev_steering_pressed = False
     self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                              pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.ff_factor = CP.lateralTuning.pid.kf
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
+    self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
     pid_log = log.ControlsState.LateralPIDState.new_message()
@@ -28,11 +31,17 @@ class LatControlPID(LatControl):
     if not active:
       output_torque = 0.0
       pid_log.active = False
+      self.pid.reset()
 
     else:
+      if self.prev_steering_pressed and not CS.steeringPressed:
+        self.pid.i *= self.steer_release_i_decay
+
       # offset does not contribute to resistive torque
       ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      if CS.vEgo < self.low_speed_reset_threshold:
+        self.pid.reset()
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
 
       output_torque = self.pid.update(error,
                                 feedforward=ff,
@@ -46,4 +55,6 @@ class LatControlPID(LatControl):
       pid_log.output = float(output_torque)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+    self.prev_steering_pressed = CS.steeringPressed
+
     return output_torque, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -3,10 +3,11 @@ import numpy as np
 from collections import deque
 
 from cereal import log
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD
+from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD, get_friction_threshold
 from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
-from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
+from openpilot.selfdrive.car.gm.values import CAR as GM_CAR
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
@@ -16,29 +17,85 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # wheel slip, or to speed.
 
 # This controller applies torque to achieve desired lateral
-# accelerations. To compensate for the low speed effects we
-# use a LOW_SPEED_FACTOR in the error. Additionally, there is
-# friction in the steering wheel that needs to be overcome to
-# move it at all, this is compensated for too.
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
+
+KP = 0.7
+KI = 0.35
+
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LOW_SPEED_X = [0, 10, 20, 30]
-LOW_SPEED_Y = [15, 13, 10, 5]
-
+LOW_SPEED_Y = [12, 10.5, 8, 5]
 MAX_LAT_JERK_UP = 2.5            # m/s^3
 
+LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.22
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+VERSION = 2
+DEBUG_TORQUE_TUNE = False
+FF_SCALE_BLEND_LAT_ACCEL = 0.05
+DEADZONE_BOOST_LAT_ACCEL = 0.08
+UNWIND_D_DES_THRESHOLD = -1.0
+UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
+
+BOLT_2022_2023_CARS = (
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+)
+BOLT_2019_2021_CARS = (
+  GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+)
+BOLT_2017_CARS = (
+  GM_CAR.CHEVROLET_BOLT_CC_2017,
+)
+BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2019_2021_CARS + BOLT_2017_CARS
+
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
+    self.steer_release_i_decay = 0.8
+    self.prev_steering_pressed = False
     self.torque_params = CP.lateralTuning.torque
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
-    self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
-    self.requested_lateral_accel_buffer = deque([0.] * self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES , maxlen=self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES)
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
     self.previous_measurement = 0.0
     self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
+    self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
+    self.debug_counter = 0
+    self.prev_desired_lateral_accel = 0.0
+
+    self.is_bolt = CP.carFingerprint in BOLT_CARS
+    self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
+    self.is_bolt_2019_2021 = CP.carFingerprint in BOLT_2019_2021_CARS
+    self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
+    # Keep Bolt-specific FF controls isolated by generation.
+    self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
+    self.use_bolt_deadzone_boost = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
+    self.use_bolt_ki_multiplier = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
+    self.torque_ff_scale_pos = 1.0
+    self.torque_ff_scale_neg = 1.0
+    self.torque_deadzone_boost_neg = 0.0
+    self.torque_ki_mult = 1.0
+    if self.is_bolt:
+      self.torque_ff_scale_pos = float(self.torque_params.kp)
+      self.torque_ff_scale_neg = float(self.torque_params.ki)
+      self.torque_ki_mult = float(self.torque_params.kd)
+      self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
+      if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
+        self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -52,46 +109,71 @@ class LatControlTorque(LatControl):
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
     if not active:
       output_torque = 0.0
       pid_log.active = False
+      self.pid.reset()
+      self.previous_measurement = 0.0
+      self.measurement_rate_filter.x = 0.0
+      self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+      self.prev_desired_lateral_accel = 0.0
     else:
+      if self.prev_steering_pressed and not CS.steeringPressed:
+        self.pid.i *= self.steer_release_i_decay
+
       measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
       roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES))
-      expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      self.requested_lateral_accel_buffer.append(future_desired_lateral_accel)
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      raw_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
+      raw_lateral_jerk = np.clip(raw_lateral_jerk, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
+      desired_lateral_jerk = np.clip(self.jerk_filter.update(raw_lateral_jerk), -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay
+      desired_lateral_accel_rate = (setpoint - self.prev_desired_lateral_accel) / self.dt
+      unwind_detected = (desired_lateral_accel_rate < UNWIND_D_DES_THRESHOLD and
+                         abs(setpoint) < UNWIND_LAT_ACCEL_NEAR_ZERO)
+      self.prev_desired_lateral_accel = setpoint
 
       measurement = measured_curvature * CS.vEgo ** 2
       measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      measurement_rate = np.clip(measurement_rate, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
       self.previous_measurement = measurement
 
       low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
+      current_kp = np.interp(CS.vEgo, self.pid._k_p[0], self.pid._k_p[1])
       error = setpoint - measurement
-      error_lsf = error + low_speed_factor / self.torque_params.kp * error
+      error_with_lsf = error * (1 + low_speed_factor / max(current_kp, 1e-3))
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
-      pid_log.error = float(error_lsf)
+      pid_log.error = float(error_with_lsf)
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff_scale = 1.0
+      if self.use_bolt_ff_scaling:
+        ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
+                             [self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
+        ff *= ff_scale
+      ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
+      deadzone_boost_active = False
+      if self.use_bolt_deadzone_boost and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
+        if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
+          boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
+          ff -= self.torque_deadzone_boost_neg * boost_scale
+          deadzone_boost_active = True
 
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      if CS.vEgo < self.low_speed_reset_threshold:
+        self.pid.reset()
+      freeze_integrator = (steer_limited_by_safety or CS.steeringPressed or
+                           CS.vEgo < self.low_speed_reset_threshold or unwind_detected)
+      output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       pid_log.active = True
@@ -102,7 +184,16 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)  # TODO: log lat accel?
       pid_log.actualLateralAccel = float(measurement)
       pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+      if DEBUG_TORQUE_TUNE and self.is_bolt:
+        self.debug_counter += 1
+        if self.debug_counter % 50 == 0:
+          print(f"bolt_torque ff_scale={ff_scale:.3f} pos={self.torque_ff_scale_pos:.3f} "
+                f"neg={self.torque_ff_scale_neg:.3f} deadzone_boost_active={deadzone_boost_active}")
+
+    self.prev_steering_pressed = CS.steeringPressed
+
     # TODO left is positive in this convention
-    return -output_torque, 0.0, pid_log
+    return -output_torque, 0.0, pid_log

selfdrive/controls/lib/longcontrol.py

@@ -179,6 +179,26 @@ class LongControl:
       else:
         output_accel = raw_output_accel
 
+    if self.long_control_state == LongCtrlState.pid:
+      # Smooth acceleration and deceleration with urgency-based rate limiting
+      base_rate = 1.0
+      
+      if output_accel < self.last_output_accel:  # Deceleration requested
+          decel_needed = self.last_output_accel - output_accel
+          # Use a safe default for ACCEL_MIN if not available, to prevent division by zero
+          max_decel = abs(CarControllerParams.ACCEL_MIN) if CarControllerParams.ACCEL_MIN != 0 else 4.0
+          urgency = min(1.0, decel_needed / max_decel)
+          
+          # Adjust rate based on urgency (1.0 m/s^3 for low urgency, up to 4.0 m/s^3 for high urgency)
+          max_rate = 1.0 + 3.0 * urgency
+      else:
+          max_rate = base_rate  # Acceleration is always smooth
+      
+      max_accel_change = max_rate * DT_CTRL
+      output_accel = clip(output_accel,
+                          self.last_output_accel - max_accel_change,
+                          self.last_output_accel + max_accel_change)
+
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -5,7 +5,6 @@ import numpy as np
 from cereal import log
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_MDL
-from openpilot.common.swaglog import cloudlog
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.conversions import Conversions as CV
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -422,9 +421,6 @@ class LongitudinalMpc:
       scale = float(np.interp(uncertainty, [0.45, 0.60], [1.2, 1.5]))
       speed_jerk *= scale
 
-    if abs(filter_time_factor - prev_filter_time_factor) > 1e-3:
-      cloudlog.error(f"LON_FILTER; filter_time_factor={filter_time_factor:.2f}; uncertainty={uncertainty:.3f}; v_ego={v_ego:.2f} mps; lead_dist={lead_dist:.2f} m; accel_reengage={accel_reengage}")
-
     if self.mode == 'acc':
       a_change_cost = acceleration_jerk if prev_accel_constraint else 0
       cost_weights = [self.current_x_ego_cost, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, speed_jerk]
@@ -627,11 +623,7 @@ class LongitudinalMpc:
 
     self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
 
-    t = time.monotonic()
     if self.solution_status != 0:
-      if t > self.last_cloudlog_t + 5.0:
-        self.last_cloudlog_t = t
-        cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
       self.reset()
       # reset = 1
     # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \

selfdrive/controls/lib/longitudinal_planner.py

@@ -111,9 +111,6 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
-    # logging cadence & state
-    self.last_uncert_log_t = 0.0
-    self.prev_uncert_over = False
 
     # ---- Rubberband mitigation state ----
     # Two uncertainty tracks (slow/fast) for asymmetric gating
@@ -138,7 +135,7 @@ class LongitudinalPlanner:
 
   @property
   def mlsim(self):
-      return self.generation in ("v8", "v10", "v11")
+      return self.generation in ("v8", "v10", "v11", "v12")
 
   def get_mpc_mode(self) -> str:
       """
@@ -344,19 +341,6 @@ class LongitudinalPlanner:
 
     # now_t defined earlier
     over = uncertainty > 1.0
-    # Log on threshold edge or at ~1 Hz
-    if over != self.prev_uncert_over or (now_t - self.last_uncert_log_t) > 1.0:
-      try:
-        cloudlog.error(
-          f"LON_UNCERT; v_ego={v_ego:.2f} mps; desireEntropy={desire_entropy:.3f}; "
-          f"brakeRawMax={(raw_brake_max if 'raw_brake_max' in locals() else -1.0):.3f}; "
-          f"brakeDecayed={(disengage_risk if 'disengage_risk' in locals() else -1.0):.3f}; "
-          f"lam={(lam if 'lam' in locals() else -1.0):.2f}; uncertainty={uncertainty:.3f}; over={over}"
-        )
-      except Exception as e:
-        cloudlog.warning(f"LON_UNCERT log error: {e}")
-      self.prev_uncert_over = over
-      self.last_uncert_log_t = now_t
 
     # Asymmetric accel release with hysteresis + dwell to prevent on/off pulsing
     rise_dwell_s, fall_dwell_s = 0.6, 0.4
@@ -364,7 +348,8 @@ class LongitudinalPlanner:
       (self.a_desired > 0.0) and
       self.stable_lead and
       (uncertainty <= 0.425) and
-      (desire_entropy < 0.41)
+      (desire_entropy < 0.41) and
+      (v_ego > 5.0)
     )
 
     # dwell timers for robust gating
@@ -443,7 +428,8 @@ class LongitudinalPlanner:
         self.a_desired = float(self.a_desired - pre_brake)
 
     # Apply tiny feed-forward nudge when released and safe
-    if now_t < self.accel_nudge_until and self.a_desired > -0.1:
+    close_lead = self.lead_one.status and self.lead_one.dRel < 10.0
+    if now_t < self.accel_nudge_until and self.a_desired > -0.1 and not close_lead:
       self.a_desired = float(min(self.a_desired + 0.12, get_max_accel(v_ego)))
 
     # Small deadzone around zero accel to kill micro-dithers

selfdrive/locationd/paramsd.py

@@ -135,7 +135,7 @@ def main():
     CP = msg
   cloudlog.info("paramsd got CarParams")
 
-  min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
+  min_sr, max_sr = 0.25 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")
 

selfdrive/locationd/torqued.py

@@ -34,7 +34,8 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai']
+FULL_AUTO_CARS = ['toyota', 'hyundai']
+FRICTION_ONLY_CARS = ['gm']
 
 
 def slope2rot(slope):
@@ -72,7 +73,10 @@ class TorqueEstimator(ParameterEstimator):
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.allow_lat_accel_learning = CP.carName in FULL_AUTO_CARS and CP.lateralTuning.which() == 'torque'
+    self.allow_friction_learning = (self.allow_lat_accel_learning or CP.carName in FRICTION_ONLY_CARS) \
+                                   and CP.lateralTuning.which() == 'torque'
+    self.use_params = self.allow_friction_learning
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction
@@ -104,11 +108,11 @@ class TorqueEstimator(ParameterEstimator):
           cache_CP = msg
         if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
           if cache_ltp.liveValid:
-            initial_params = {
-              'latAccelFactor': cache_ltp.latAccelFactorFiltered,
-              'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
-              'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
-            }
+            if self.allow_lat_accel_learning:
+              initial_params['latAccelFactor'] = cache_ltp.latAccelFactorFiltered
+              initial_params['latAccelOffset'] = cache_ltp.latAccelOffsetFiltered
+            if self.allow_friction_learning:
+              initial_params['frictionCoefficient'] = cache_ltp.frictionCoefficientFiltered
           initial_params['points'] = cache_ltp.points
           self.decay = cache_ltp.decay
           self.filtered_points.load_points(initial_params['points'])
@@ -155,6 +159,10 @@ class TorqueEstimator(ParameterEstimator):
   def update_params(self, params):
     self.decay = min(self.decay + DT_MDL, MAX_FILTER_DECAY)
     for param, value in params.items():
+      if param.startswith('latAccel') and not self.allow_lat_accel_learning:
+        continue
+      if param == 'frictionCoefficient' and not self.allow_friction_learning:
+        continue
       self.filtered_params[param].update(value)
       self.filtered_params[param].update_alpha(self.decay)
 

selfdrive/monitoring/helpers.py

@@ -33,7 +33,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.4
+    self._EE_THRESH11 = 0.6
     self._EE_THRESH12 = 15.0
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
@@ -44,9 +44,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289

selfdrive/pandad/panda.cc

@@ -118,7 +118,7 @@ std::optional<std::string> Panda::get_serial() {
 
 bool Panda::up_to_date() {
   if (auto fw_sig = get_firmware_version()) {
-    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
+    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed", "panda_remote.bin.signed", "panda_h7_remote.bin.signed" }) {
       auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
       if (content.size() >= fw_sig->size() &&
           memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {

selfdrive/pandad/pandad.py

@@ -13,15 +13,25 @@ from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
 
-def get_expected_signature(panda: Panda) -> bytes:
+def get_expected_firmware_path(panda: Panda, remote_start: bool) -> str:
+  app_fn = panda.get_mcu_type().config.app_fn
+  if remote_start:
+    remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
+    remote_path = os.path.join(FW_PATH, remote_fn)
+    if os.path.isfile(remote_path):
+      return remote_path
+    cloudlog.warning(f"Remote-start panda firmware not found: {remote_path}, falling back to default")
+  return os.path.join(FW_PATH, app_fn)
+
+def get_expected_signature(panda: Panda, remote_start: bool) -> bytes:
   try:
-    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
+    fn = get_expected_firmware_path(panda, remote_start)
     return Panda.get_signature_from_firmware(fn)
   except Exception:
     cloudlog.exception("Error computing expected signature")
     return b""
 
-def flash_panda(panda_serial: str) -> Panda:
+def flash_panda(panda_serial: str, remote_start: bool) -> Panda:
   try:
     panda = Panda(panda_serial)
   except PandaProtocolMismatch:
@@ -29,7 +39,8 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
-  fw_signature = get_expected_signature(panda)
+  fw_path = get_expected_firmware_path(panda, remote_start)
+  fw_signature = get_expected_signature(panda, remote_start)
   internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
@@ -38,7 +49,7 @@ def flash_panda(panda_serial: str) -> Panda:
 
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
-    panda.flash()
+    panda.flash(fn=fw_path)
     cloudlog.info("Done flashing")
 
   if panda.bootstub:
@@ -105,8 +116,9 @@ def main() -> NoReturn:
 
       # Flash pandas
       pandas: list[Panda] = []
+      remote_start = params.get_bool("RemoteStartBootsComma")
       for serial in panda_serials:
-        pandas.append(flash_panda(serial))
+        pandas.append(flash_panda(serial, remote_start))
 
       # Ensure internal panda is present if expected
       internal_pandas = [panda for panda in pandas if panda.is_internal()]

selfdrive/test/process_replay/test_processes.py

@@ -30,7 +30,7 @@ source_segments = [
   ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500_5TH_GEN
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.SUBARU_OUTBACK
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.CHEVROLET_VOLT
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
+  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_ACC_2022_2023
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021

selfdrive/ui/qt/home.cc

@@ -2,6 +2,7 @@
 
 #include <QHBoxLayout>
 #include <QMouseEvent>
+#include <QSet>
 #include <QStackedWidget>
 #include <QVBoxLayout>
 
@@ -172,6 +173,22 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 
   main_layout->addLayout(header_layout);
 
+  branch_merge_banner = new QLabel(this);
+  branch_merge_banner->setAlignment(Qt::AlignCenter);
+  branch_merge_banner->setWordWrap(true);
+  branch_merge_banner->setAttribute(Qt::WA_TransparentForMouseEvents, true);
+  branch_merge_banner->setVisible(false);
+  branch_merge_banner->setStyleSheet(R"(
+    background-color: #E22C2C;
+    color: white;
+    border-radius: 16px;
+    padding: 24px;
+    font-size: 44px;
+    font-weight: 700;
+  )");
+  branch_merge_banner->setText(tr("Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch."));
+  main_layout->addWidget(branch_merge_banner);
+
   // main content
   main_layout->addSpacing(25);
   center_layout = new QStackedLayout();
@@ -268,10 +285,21 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 }
 
 void OffroadHome::refresh() {
+  static const QSet<QString> deprecated_branches = {
+    "TorqueTune",
+    "TorquePedal",
+    "Kaofui",
+    "Red-Kao",
+    "TotallyTune",
+    "StarPilot-2017",
+    "TRX",
+  };
+
   date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
   date->setVisible(util::system_time_valid());
 
   version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + processModelName(frogpilotUIState()->frogpilot_toggles.value("model_name").toString()));
+  branch_merge_banner->setVisible(deprecated_branches.contains(QString::fromStdString(params.get("GitBranch"))));
 
   bool updateAvailable = update_widget->refresh();
   int alerts = alerts_widget->refresh();

selfdrive/ui/qt/home.h

@@ -41,6 +41,7 @@ private:
   OffroadAlert* alerts_widget;
   QPushButton* alert_notif;
   QPushButton* update_notif;
+  QLabel* branch_merge_banner;
 
   // FrogPilot variables
   ElidedLabel* date;

system/manager/manager.py

@@ -92,6 +92,99 @@ def manager_init() -> None:
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
 
+  # Legacy Bolt fingerprint migration after branch consolidation
+  bolt_source_branch_file = "/data/media/0/starpilot_source_branch"
+  bolt_fingerprint_migration_flag_file = "/data/media/0/frogpilot_bolt_fingerprint_migrated.flag"
+  if not os.path.exists(bolt_fingerprint_migration_flag_file):
+    source_branch = ""
+    try:
+      if os.path.exists(bolt_source_branch_file):
+        with open(bolt_source_branch_file, encoding="utf-8") as f:
+          source_branch = f.read().strip()
+    except OSError:
+      cloudlog.exception("failed reading StarPilot source branch file")
+
+    migration_branch = source_branch or build_metadata.channel
+    replacements = {}
+    if migration_branch in {"TorqueTune", "TorquePedal"}:
+      replacements = {
+        "CHEVROLET_BOLT_EUV": "CHEVROLET_BOLT_ACC_2022_2023",
+        "CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2022_2023",
+      }
+    elif migration_branch in {"TotallyTune", "StarPilot-2017", "StarPilot 2017"}:
+      replacements = {
+        "CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2017",
+      }
+    elif migration_branch in {"StarPilot"}:
+      replacements = {
+        "CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2019_2021",
+      }
+
+    migrated_values = []
+    if replacements:
+      for param_key in ("CarModel", "CarModelName"):
+        current_value = params.get(param_key, encoding='utf-8')
+        normalized_value = current_value[4:] if current_value is not None and current_value.startswith("CAR.") else current_value
+        if normalized_value in replacements:
+          new_value = replacements[normalized_value]
+          params.put(param_key, new_value)
+          params_cache.put(param_key, new_value)
+          migrated_values.append(f"{param_key}: {current_value} -> {new_value}")
+
+    if migrated_values:
+      cloudlog.info(f"migrated legacy bolt fingerprint values from branch '{migration_branch}' (source='{source_branch}'): {', '.join(migrated_values)}")
+
+    # Keep Bolt display label aligned with live fingerprint selection
+    bolt_models = {
+      "CHEVROLET_BOLT_EUV",
+      "CHEVROLET_BOLT_CC",
+      "CHEVROLET_BOLT_ACC_2022_2023",
+      "CHEVROLET_BOLT_ACC_2022_2023_PEDAL",
+      "CHEVROLET_BOLT_CC_2022_2023",
+      "CHEVROLET_BOLT_CC_2019_2021",
+      "CHEVROLET_BOLT_CC_2017",
+    }
+    if (params.get("CarModel", encoding='utf-8') or "") in bolt_models:
+      params.remove("CarModelName")
+      params_cache.remove("CarModelName")
+
+    with open(bolt_fingerprint_migration_flag_file, "w") as f:
+      f.write(migration_branch or "unknown")
+
+  # One-time migration to align FrogPilot defaults after install
+  frogpilot_migration_flag_file = "/data/media/0/frogpilot_migrated.flag"
+  if not os.path.exists(frogpilot_migration_flag_file):
+    params.put_bool("NNFF", False)
+    params.put_bool("NNFFLite", False)
+    params.put_bool("AdvancedLateralTune", True)
+    params.put_bool("ForceAutoTuneOff", True)
+    params.put_bool("ForceAutoTune", False)
+
+    params.put_bool("CECurves", False)
+    params.put_bool("CENavigation", False)
+    params.put_bool("ShowCEMStatus", True)
+    params.put_bool("CESlowerLead", True)
+    params.put_bool("CEStoppedLead", True)
+    params.put_int("CEModelStopTime", 8)
+
+    params.put_bool("ReverseCruise", True)
+    params.put_bool("HumanFollowing", False)
+    params.put_bool("HumanAcceleration", False)
+
+    params.put_int("TuningLevel", 3)
+    params.put_bool("TuningLevelConfirmed", True)
+
+    params.put_bool("DeveloperUI", True)
+    params.put_bool("DeveloperWidgets", True)
+    params.put_bool("DeveloperSidebar", False)
+    params.put_bool("LeadInfo", True)
+    params.put_bool("BorderMetrics", True)
+    params.put_bool("ShowSteering", True)
+    params.put_bool("BlindSpotMetrics", True)
+
+    with open(frogpilot_migration_flag_file, "w") as f:
+      f.write("migrated")
+
   # One-time migration for HumanAcceleration and HumanFollowing to off
   migration_flag_file = "/data/media/0/frogpilot_human_toggles_migrated.flag"
   if not os.path.exists(migration_flag_file):
@@ -134,6 +227,18 @@ def manager_init() -> None:
     with open(nnff_migration_flag_file, "w") as f:
       f.write("migrated")
 
+  # One-time migration for lateral tuning/auto-tune preferences
+  lateral_tuning_migration_flag_file = "/data/media/0/frogpilot_lateral_tuning_migrated.flag"
+  if not os.path.exists(lateral_tuning_migration_flag_file):
+    if not params.get_bool("AdvancedLateralTune"):
+      params.put_bool("AdvancedLateralTune", True)
+    if params.get_bool("ForceAutoTune"):
+      params.put_bool("ForceAutoTune", False)
+    if not params.get_bool("ForceAutoTuneOff"):
+      params.put_bool("ForceAutoTuneOff", True)
+    with open(lateral_tuning_migration_flag_file, "w") as f:
+      f.write("migrated")
+
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res:

system/sentry.py

@@ -1,5 +1,6 @@
-"""Install exception handler for process crash."""
+import glob
 import os
+import re
 import sentry_sdk
 import traceback
 from datetime import datetime
@@ -9,15 +10,16 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_build_metadata, get_version
 
 from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, params
 
 class SentryProject(Enum):
   # python project
-  SELFDRIVE = os.environ.get("SENTRY_DSN", "")
+  SELFDRIVE = "https://7305139359a548fcb348ec09497dc389@bugsink.firestar.link/1"
   # native project
-  SELFDRIVE_NATIVE = os.environ.get("SENTRY_DSN", "")
+  SELFDRIVE_NATIVE = "https://7305139359a548fcb348ec09497dc389@bugsink.firestar.link/1"
 
 
 def report_tombstone(fn: str, message: str, contents: str) -> None:
@@ -26,6 +28,12 @@ def report_tombstone(fn: str, message: str, contents: str) -> None:
   with sentry_sdk.configure_scope() as scope:
     scope.set_extra("tombstone_fn", fn)
     scope.set_extra("tombstone", contents)
+
+    # Attach qlog for debugging context
+    qlogs = glob.glob(f"{Paths.log_root()}/*/qlog")
+    if qlogs:
+      scope.add_attachment(path=max(qlogs, key=os.path.getmtime), filename="qlog")
+
     sentry_sdk.capture_message(message=message)
     sentry_sdk.flush()
 
@@ -51,8 +59,14 @@ def capture_exception(*args, crash_log=True, **kwargs) -> None:
   cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   try:
-    sentry_sdk.capture_exception(*args, **kwargs)
-    sentry_sdk.flush()  # https://github.com/getsentry/sentry-python/issues/291
+    with sentry_sdk.push_scope() as scope:
+      # Attach qlog for debugging context
+      qlogs = glob.glob(f"{Paths.log_root()}/*/qlog")
+      if qlogs:
+        scope.add_attachment(path=max(qlogs, key=os.path.getmtime), filename="qlog")
+
+      sentry_sdk.capture_exception(*args, **kwargs)
+      sentry_sdk.flush()  # https://github.com/getsentry/sentry-python/issues/291
   except Exception:
     cloudlog.exception("sentry exception")
 
@@ -90,25 +104,15 @@ def save_exception(exc_text: str, crash_log) -> None:
 
 
 def init(project: SentryProject) -> bool:
-  build_metadata = get_build_metadata()
-  FrogPilot = "frogai" in build_metadata.openpilot.git_origin.lower()
-  if not FrogPilot or PC:
+  if PC:
     return False
 
+  build_metadata = get_build_metadata()
   short_branch = build_metadata.channel
 
-  if short_branch in ["COMMA", "HEAD"]:
-    return
-  elif short_branch == "FrogPilot-Development":
-    env = "Development"
-  elif build_metadata.release_channel:
-    env = "Release"
-  elif short_branch == "FrogPilot-Testing":
+  env = short_branch
+  if re.search("test", short_branch, re.IGNORECASE):
     env = "Testing"
-  elif build_metadata.tested_channel:
-    env = "Staging"
-  else:
-    env = short_branch
 
   dongle_id = params.get("DongleId", encoding="utf-8")
   installed = params.get("InstallDate", encoding="utf-8")

system/updated/updated.py

@@ -36,6 +36,19 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init"))
 
 DAYS_NO_CONNECTIVITY_MAX = 14     # do not allow to engage after this many days
 DAYS_NO_CONNECTIVITY_PROMPT = 10  # send an offroad prompt after this many days
+MIGRATED_TARGET_BRANCH = "StarPilot"
+MIGRATION_DONE_FILE = "/data/starpilot_branch_migrated"
+MIGRATION_SOURCE_BRANCH_FILE = "/data/media/0/starpilot_source_branch"
+MIGRATION_EXCLUDED_BRANCHES = {"Dom"}
+MIGRATION_SOURCE_BRANCHES = {
+  "TorqueTune",
+  "TorquePedal",
+  "Kaofui",
+  "Red-Kao",
+  "TotallyTune",
+  "StarPilot-2017",
+  "TRX",
+}
 
 class UserRequest:
   NONE = 0
@@ -184,6 +197,39 @@ def finalize_update(params) -> None:
   """Take the current OverlayFS merged view and finalize a copy outside of
   OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree"""
 
+  def get_directory_size(path: str) -> int:
+    size = 0
+    for root, _, files in os.walk(path):
+      for name in files:
+        file_path = os.path.join(root, name)
+        if not os.path.islink(file_path):
+          try:
+            size += os.lstat(file_path).st_size
+          except FileNotFoundError:
+            pass
+    return size
+
+  total_size = get_directory_size(OVERLAY_MERGED)
+  copied_size = 0
+
+  def copy_with_progress(src, dst, *, follow_symlinks=True):
+    nonlocal copied_size
+
+    if os.path.islink(src):
+      linkto = os.readlink(src)
+      os.symlink(linkto, dst)
+      return dst
+
+    result = shutil.copy2(src, dst, follow_symlinks=follow_symlinks)
+    try:
+      copied_size += os.lstat(src).st_size
+      if total_size > 0:
+        progress = min(int((copied_size / total_size) * 100), 100)
+        params.put("UpdaterState", f"finalizing update... {progress}%")
+    except FileNotFoundError:
+      pass
+    return result
+
   # Remove the update ready flag and any old updates
   cloudlog.info("creating finalized version of the overlay")
   set_consistent_flag(False)
@@ -191,7 +237,12 @@ def finalize_update(params) -> None:
   # Copy the merged overlay view and set the update ready flag
   if os.path.exists(FINALIZED):
     shutil.rmtree(FINALIZED)
-  shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
+  if total_size == 0:
+    shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
+  else:
+    params.put("UpdaterState", "finalizing update... 0%")
+    shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True, copy_function=copy_with_progress)
+  params.put("UpdaterState", "finalizing update... 100%")
 
   run(["git", "reset", "--hard"], FINALIZED)
   run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED)
@@ -242,6 +293,7 @@ class Updater:
     self.params = Params()
     self.branches = defaultdict(str)
     self._has_internet: bool = False
+    self._migrate_target_branch()
 
   @property
   def has_internet(self) -> bool:
@@ -254,6 +306,31 @@ class Updater:
       b = self.get_branch(BASEDIR)
     return b
 
+  def _migrate_target_branch(self) -> None:
+    target_branch: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8')
+    current_branch = self.get_branch(BASEDIR)
+    if current_branch in MIGRATION_EXCLUDED_BRANCHES or target_branch in MIGRATION_EXCLUDED_BRANCHES:
+      cloudlog.info(f"skipping StarPilot branch migration on excluded branch: current={current_branch}, target={target_branch}")
+      return
+    if current_branch not in MIGRATION_SOURCE_BRANCHES and target_branch not in MIGRATION_SOURCE_BRANCHES:
+      cloudlog.info(f"skipping StarPilot branch migration on unmanaged branch: current={current_branch}, target={target_branch}")
+      return
+
+    if current_branch != MIGRATED_TARGET_BRANCH:
+      try:
+        Path(MIGRATION_SOURCE_BRANCH_FILE).write_text(current_branch, encoding='utf-8')
+      except OSError:
+        cloudlog.exception(f"failed to persist source branch for migration: {MIGRATION_SOURCE_BRANCH_FILE}")
+
+    if target_branch != MIGRATED_TARGET_BRANCH or current_branch != MIGRATED_TARGET_BRANCH:
+      self.params.put("UpdaterTargetBranch", MIGRATED_TARGET_BRANCH)
+      cloudlog.info(f"migrated updater target branch to {MIGRATED_TARGET_BRANCH} from target={target_branch}, current={current_branch}")
+
+    try:
+      Path(MIGRATION_DONE_FILE).touch()
+    except OSError:
+      cloudlog.exception(f"failed to write migration flag file: {MIGRATION_DONE_FILE}")
+
   @property
   def update_ready(self) -> bool:
     consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))
@@ -377,10 +454,34 @@ class Updater:
     else:
       cloudlog.info(f"up to date on {cur_branch} ({str(cur_commit)[:7]})")
 
+  def _git_fetch_with_progress(self, branch: str) -> str:
+    fetch_cmd = ["git", "fetch", "--progress", "origin", branch]
+    progress = 0
+    output_lines: list[str] = []
+
+    with subprocess.Popen(fetch_cmd, cwd=OVERLAY_MERGED, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, bufsize=1) as proc:
+      assert proc.stdout is not None
+      for line in proc.stdout:
+        output_lines.append(line)
+        matches = re.findall(r"(\d+)%", line)
+        if matches:
+          progress = max(progress, int(matches[-1]))
+          self.params.put("UpdaterState", f"downloading... {progress}%")
+
+      proc.wait()
+
+      if proc.returncode != 0:
+        raise subprocess.CalledProcessError(proc.returncode, fetch_cmd, output=''.join(output_lines))
+
+    if progress < 100:
+      self.params.put("UpdaterState", "downloading... 100%")
+
+    return ''.join(output_lines)
+
   def fetch_update(self) -> None:
     cloudlog.info("attempting git fetch inside staging overlay")
 
-    self.params.put("UpdaterState", "downloading...")
+    self.params.put("UpdaterState", "downloading... 0%")
 
     # TODO: cleanly interrupt this and invalidate old update
     set_consistent_flag(False)
@@ -389,7 +490,7 @@ class Updater:
     setup_git_options(OVERLAY_MERGED)
 
     branch = self.target_branch
-    git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED)
+    git_fetch_output = self._git_fetch_with_progress(branch)
     cloudlog.info("git fetch success: %s", git_fetch_output)
 
     cloudlog.info("git reset in progress")

tools/nik/installer_standalone.cc

@@ -0,0 +1,342 @@
+#include <time.h>
+#include <unistd.h>
+#include <cstdlib>
+#include <fstream>
+#include <map>
+#include <cassert>
+
+#include <QApplication>
+#include <QDebug>
+#include <QDir>
+#include <QTimer>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include <QListWidget>
+#include <QStackedLayout>
+#include <QLabel>
+#include <QProgressBar>
+#include <QProcess>
+#include <QWidget>
+#include <QPair>
+#include <QVector>
+
+// --- Configuration ---
+#define GIT_URL "https://github.com/27182818284590452353602874713526624977572470936999595"
+#define BRANCH "161803398874989484820458683436563811772030917980576286213544862270526046281890244970720720418939113748475408807538689175212663386222353693179318006076672635443338908659593958290563832266131992829026788067520876689250171169620703222104321626954862629631361"
+#define LOADING_MSG "314159265358979323846264338327950288419"
+#define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
+#define CONTINUE_PATH "/data/continue.sh"
+#define CACHE_PATH "/usr/comma/openpilot"
+#define INSTALL_PATH "/data/openpilot"
+#define TMP_INSTALL_PATH "/data/tmppilot"
+
+// --- Embedded continue.sh ---
+const char str_continue_data[] = R"(#!/usr/bin/env sh
+exec /data/openpilot/launch_openpilot.sh
+)";
+const uint8_t *str_continue = (const uint8_t*)str_continue_data;
+const uint8_t *str_continue_end = str_continue + sizeof(str_continue_data) - 1;
+
+// --- Helper Functions ---
+bool time_valid() {
+  time_t rawtime;
+  time(&rawtime);
+  struct tm * sys_time = gmtime(&rawtime);
+  return (1900 + sys_time->tm_year) >= 2020;
+}
+
+void run(const char* cmd) {
+  int err = std::system(cmd);
+  assert(err == 0);
+}
+
+float lerp(float a, float b, float f) {
+  return (a * (1.0 - f)) + (b * f);
+}
+
+// --- Installer Class Definition ---
+class Installer : public QWidget {
+public:
+  Installer(QWidget *parent = nullptr);
+
+  void updateProgress(int percent);
+  void doInstall();
+  void freshClone();
+  void cachedFetch();
+  void readProgress();
+  void cloneFinished(int exitCode, QProcess::ExitStatus exitStatus);
+
+private:
+  QProgressBar *bar;
+  QLabel *val;
+  QLabel *title;
+  QProcess proc;
+};
+
+// --- Globals ---
+static QString targetGitUrl = GIT_URL;
+static QString targetBranch = BRANCH;
+
+// --- Installer Implementation ---
+Installer::Installer(QWidget *parent) : QWidget(parent) {
+  QStackedLayout *stack = new QStackedLayout(this);
+  stack->setMargin(0);
+
+  // --- Page 0: Intro ---
+  QWidget *introPage = new QWidget;
+  QVBoxLayout *introLayout = new QVBoxLayout(introPage);
+  introLayout->setContentsMargins(50, 50, 50, 50);
+  introLayout->setSpacing(20);
+
+  QLabel *introTitle = new QLabel("Select Installation Mode");
+  introTitle->setStyleSheet("font-size: 60px; font-weight: 600; padding-bottom: 50px;");
+  introTitle->setAlignment(Qt::AlignCenter);
+  introLayout->addWidget(introTitle);
+
+  QPushButton *btnDefault = new QPushButton("Default Installation");
+  btnDefault->setFixedHeight(120);
+  btnDefault->setStyleSheet("font-size: 40px; background-color: #333; border-radius: 10px;");
+  introLayout->addWidget(btnDefault);
+
+  QPushButton *btnBranch = new QPushButton("StarPilot Branch");
+  btnBranch->setFixedHeight(120);
+  btnBranch->setStyleSheet("font-size: 40px; background-color: #333; border-radius: 10px;");
+  introLayout->addWidget(btnBranch);
+
+  stack->addWidget(introPage);
+
+  // --- Page 1: Branch Selection ---
+  QWidget *branchPage = new QWidget;
+  QVBoxLayout *branchLayout = new QVBoxLayout(branchPage);
+  branchLayout->setContentsMargins(50, 50, 50, 50);
+
+  QLabel *branchTitle = new QLabel("Select Branch");
+  branchTitle->setStyleSheet("font-size: 50px; font-weight: 600;");
+  branchLayout->addWidget(branchTitle);
+
+  QListWidget *branchList = new QListWidget;
+  branchList->setStyleSheet("font-size: 35px; background-color: #222;");
+  branchLayout->addWidget(branchList);
+
+  QHBoxLayout *btnLayout = new QHBoxLayout;
+  QPushButton *btnCancel = new QPushButton("Cancel");
+  btnCancel->setFixedHeight(100);
+  btnCancel->setStyleSheet("font-size: 35px; background-color: #444; border-radius: 10px;");
+
+  QPushButton *btnInstall = new QPushButton("Install");
+  btnInstall->setFixedHeight(100);
+  btnInstall->setStyleSheet("font-size: 35px; background-color: #007aff; border-radius: 10px;");
+
+  btnLayout->addWidget(btnCancel);
+  btnLayout->addWidget(btnInstall);
+  branchLayout->addLayout(btnLayout);
+
+  stack->addWidget(branchPage);
+
+  // --- Page 2: Progress ---
+  QWidget *progressPage = new QWidget;
+  QVBoxLayout *layout = new QVBoxLayout(progressPage);
+  layout->setContentsMargins(150, 290, 150, 150);
+  layout->setSpacing(0);
+
+  title = new QLabel("Installing " LOADING_MSG);
+  title->setStyleSheet("font-size: 90px; font-weight: 600;");
+  layout->addWidget(title, 0, Qt::AlignTop);
+
+  layout->addSpacing(170);
+
+  bar = new QProgressBar();
+  bar->setRange(0, 100);
+  bar->setTextVisible(false);
+  bar->setFixedHeight(72);
+  layout->addWidget(bar, 0, Qt::AlignTop);
+
+  layout->addSpacing(30);
+
+  val = new QLabel("0%");
+  val->setStyleSheet("font-size: 70px; font-weight: 300;");
+  layout->addWidget(val, 0, Qt::AlignTop);
+
+  layout->addStretch();
+  stack->addWidget(progressPage);
+
+  // --- Logic Wiring ---
+
+  // Default Button
+  QObject::connect(btnDefault, &QPushButton::clicked, [=]() {
+    stack->setCurrentWidget(progressPage);
+    QTimer::singleShot(100, this, &Installer::doInstall);
+  });
+
+  // StarPilot Button
+  QObject::connect(btnBranch, &QPushButton::clicked, [=]() {
+    stack->setCurrentWidget(branchPage);
+    branchList->clear();
+    branchList->addItem("Loading branches...");
+
+    QProcess *p = new QProcess(this);
+    QString url = "https://github.com/firestar5683/StarPilot";
+    p->start("git", {"ls-remote", "--heads", url});
+
+    QObject::connect(p, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), [=](int exitCode) {
+      branchList->clear();
+      if (exitCode == 0) {
+        QString out = p->readAllStandardOutput();
+        QStringList lines = out.split('\n');
+        for (const QString &line : lines) {
+           if (line.isEmpty()) continue;
+           QStringList parts = line.split('\t');
+           if (parts.size() < 2) continue;
+           QString ref = parts[1];
+           if (ref.startsWith("refs/heads/")) {
+             branchList->addItem(ref.mid(11));
+           }
+        }
+      } else {
+        branchList->addItem("Error fetching branches");
+      }
+      p->deleteLater();
+    });
+  });
+
+  // Cancel Button
+  QObject::connect(btnCancel, &QPushButton::clicked, [=]() {
+     stack->setCurrentWidget(introPage);
+  });
+
+  // Install Button
+  QObject::connect(btnInstall, &QPushButton::clicked, [=]() {
+     if (branchList->currentItem()) {
+        targetGitUrl = "https://github.com/firestar5683/StarPilot";
+        targetBranch = branchList->currentItem()->text();
+        stack->setCurrentWidget(progressPage);
+        title->setText("Installing " + targetBranch);
+        QTimer::singleShot(100, this, &Installer::doInstall);
+     }
+  });
+
+  QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Installer::cloneFinished);
+  QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress);
+
+  setStyleSheet(R"(
+    * {
+      font-family: Inter;
+      color: white;
+      background-color: black;
+    }
+    QProgressBar {
+      border: none;
+      background-color: #292929;
+    }
+    QListWidget {
+      border: 1px solid #444;
+    }
+  )");
+}
+
+void Installer::updateProgress(int percent) {
+  int h = (int)(lerp(233, 360 + 131, percent / 100.)) % 360;
+  int s = lerp(78, 62, percent / 100.);
+  int b = lerp(94, 87, percent / 100.);
+
+  bar->setValue(percent);
+  bar->setStyleSheet(QString(R"(
+    QProgressBar::chunk {
+      background-color: hsb(%1, %2%, %3%);
+    })").arg(h).arg(s).arg(b));
+  val->setText(QString("%1%").arg(percent));
+  update();
+}
+
+void Installer::doInstall() {
+  while (!time_valid()) {
+    usleep(500 * 1000);
+    qDebug() << "Waiting for valid time";
+  }
+
+  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+
+  if (QDir(CACHE_PATH).exists()) {
+    cachedFetch();
+  } else {
+    freshClone();
+  }
+}
+
+void Installer::freshClone() {
+  qDebug() << "Doing fresh clone";
+  proc.start("git", {"clone", "--progress", targetGitUrl, "-b", targetBranch,
+                     "--depth=1", "--recurse-submodules", TMP_INSTALL_PATH});
+}
+
+void Installer::cachedFetch() {
+  qDebug() << "Fetching with cache";
+
+  run("cp -rp " CACHE_PATH " " TMP_INSTALL_PATH);
+  int err = chdir(TMP_INSTALL_PATH);
+  assert(err == 0);
+  run(("git remote set-branches --add origin " + targetBranch.toStdString()).c_str());
+
+  updateProgress(10);
+
+  proc.setWorkingDirectory(TMP_INSTALL_PATH);
+  proc.start("git", {"fetch", "--progress", "origin", targetBranch});
+}
+
+void Installer::readProgress() {
+  const QVector<QPair<QString, int>> stages = {
+    {"Receiving objects: ", 95},
+    {"Filtering content: ", 5},
+  };
+
+  auto line = QString(proc.readAllStandardError());
+
+  int base = 0;
+  for (const QPair<QString, int> kv : stages) {
+    if (line.startsWith(kv.first)) {
+      auto perc = line.split(kv.first)[1].split("%")[0];
+      int p = base + int(perc.toFloat() / 100. * kv.second);
+      updateProgress(p);
+      break;
+    }
+    base += kv.second;
+  }
+}
+
+void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
+  qDebug() << "git finished with " << exitCode;
+  assert(exitCode == 0);
+
+  title->setText("Installation complete");
+  updateProgress(100);
+
+  int err = chdir(TMP_INSTALL_PATH);
+  assert(err == 0);
+  run(("git checkout " + targetBranch.toStdString()).c_str());
+  run(("git reset --hard origin/" + targetBranch.toStdString()).c_str());
+
+  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+
+// Embedded continue.sh write logic
+  FILE *of = fopen("/data/continue.sh.new", "wb");
+  assert(of != NULL);
+
+  size_t num = str_continue_end - str_continue;
+  size_t num_written = fwrite(str_continue, 1, num, of);
+  assert(num == num_written);
+  fclose(of);
+
+  run("chmod +x /data/continue.sh.new");
+  run("mv /data/continue.sh.new " CONTINUE_PATH);
+
+  QTimer::singleShot(60 * 1000, &QCoreApplication::quit);
+}
+
+int main(int argc, char *argv[]) {
+  // Simplest main setup
+  QApplication a(argc, argv);
+  Installer installer;
+  installer.showFullScreen();
+  return a.exec();
+}