diff --git a/RELEASES.md b/RELEASES.md
index d531fbc6..99e88752 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.9.6 (2024-02-27)
 ========================
+* 指南针和车辆档位 (2024-04-06)
 * 新手指南汉化完成 (2024-03-30)
 * 新增CSLC巡航辅助 (2024-03-26)
 * 修正行车速度显示 (2024-03-19)
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 1c0dde32..1117a00f 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -180,6 +180,14 @@ struct CarState {
   vEgoRaw @17 :Float32;      # unfiltered speed from CAN sensors
   vEgoCluster @44 :Float32;  # best estimate of speed shown on car's instrument cluster, used for UI
 
+  onstarGpsLongitude @48 :Float32; # TEST ONSTAR GPS
+  onstarGpsLatitude @49 :Float32; # TEST ONSTAR GPS
+  onstarGpsAltitude @50 :Float32; # TEST ONSTAR GPS
+  onstarGpsBearing @51 :Float32; # TEST ONSTAR GPS
+
+  currentGearNumber @52 :Int16; # TEST ONSTAR GPS
+  nextGearNumber @53 :Int16; # TEST ONSTAR GPS
+
   yawRate @22 :Float32;     # best estimate of yaw rate
   standstill @18 :Bool;
   wheelSpeeds @2 :WheelSpeeds;
diff --git a/common/params_pyx.so b/common/params_pyx.so
index ae1bc319..98be1536 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/opendbc/gm_global_a_powertrain_sdgm.dbc b/opendbc/gm_global_a_powertrain_sdgm.dbc
new file mode 100644
index 00000000..97681b3e
--- /dev/null
+++ b/opendbc/gm_global_a_powertrain_sdgm.dbc
@@ -0,0 +1,378 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "gm_global_a_powertrain.dbc starts here";
+
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB
+VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
+VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
+VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
+VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
+VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+
+
+BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
+ SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+
+BO_ 190 ECMAcceleratorPos: 6 K20_ECM
+ SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
+ SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 201 ECMEngineStatus: 8 K20_ECM
+ SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
+ SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
+ SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
+ SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
+ SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
+ SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX
+ SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX
+ SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX
+
+BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
+ SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
+ SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 309 ECMPRDNL: 8 K20_ECM
+ SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 320 BCMTurnSignals: 3 K9_BCM
+ SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
+ SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
+ SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 328 PSCM_148: 1 K43_PSCM
+
+BO_ 381 ESPStatus: 6 K20_ECM
+ SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] ""  NEO
+ SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] ""  NEO
+
+BO_ 384 ASCMLKASteeringCmd: 4 NEO
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] ""  NEO
+
+BO_ 388 PSCMStatus: 8 K43_PSCM
+ SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO
+ SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO
+ SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO
+ SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
+ SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
+ SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
+ SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX
+ SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX
+
+BO_ 417 AcceleratorPedal: 7 XXX
+ SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 451 GasAndAcc: 8 XXX
+ SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 452 AcceleratorPedal2: 8 XXX
+ SG_ CruiseState : 15|3@0+ (1,0) [0|7] ""  NEO
+ SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] ""  NEO
+
+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_ ACCByFive : 26|2@0+ (1,0) [0|3] "" 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
+ SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
+
+BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s"  NEO
+
+BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
+ SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
+ SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO
+ SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
+ SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
+
+BO_ 352 BCMImmobilizer: 5 K9_BCM
+ SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
+ SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 501 ECMPRDNL2: 8 K20_ECM
+ SG_ CurrentGearNumber : 3|4@0+ (1,0) [0|15] "" NEO
+ SG_ NextGearNumber : 11|4@0+ (1,0) [0|15] "" NEO
+ SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
+ SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
+ SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
+
+BO_ 532 BRAKE_RELATED: 6 XXX
+ SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
+
+BO_ 560 EPBStatus: 8 EPB
+ SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM
+ SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 SPEED_RELATED: 8 XXX
+ SG_ GPSBearing : 3|20@0+ (0.001,0) [0|1048575] "deg" GPS
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
+ SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
+ SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
+
+BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
+
+BO_ 717 ASCM_2CD: 5 K124_ASCM
+
+BO_ 723 WrongGPSAltitude: 4 K73_TCIC
+ SG_ GPSAltitude : 23|16@0+ (1,0) [0|65535] "cm" GPS
+
+BO_ 761 BRAKE_RELATED_2: 7 XXX
+ SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX
+
+BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO
+
+BO_ 800 AEBCmd: 6 K124_ASCM
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
+ SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
+ SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
+ SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
+ SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
+
+BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
+ SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond"  GPS
+ SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  GPS
+
+BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
+ SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+ SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+
+BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
+ SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO
+
+BO_ 869 ASCM_365: 4 K124_ASCM
+
+BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
+ SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
+ SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 967 EVDriveMode: 4 XXX
+ SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 977 ECMCruiseControl: 8 K20_ECM
+ SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
+ SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
+
+BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
+ SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
+ SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
+
+BO_ 1033 ASCMKeepAlive: 7 NEO
+ SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1034 ASCM_40A: 7 K124_ASCM
+
+BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO
+
+BO_ 1249 VIN_Part2: 8 K20_ECM
+ SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1296 ASCM_510: 4 K124_ASCM
+
+BO_ 1300 VIN_Part1: 8 K20_ECM
+ SG_ VINPart1 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1912 PSCM_778: 8 K43_PSCM
+
+BO_ 1930 ASCM_78A: 7 K124_ASCM
+
+BO_TX_BU_ 384 : K124_ASCM,NEO;
+BO_TX_BU_ 880 : NEO,K124_ASCM;
+BO_TX_BU_ 1033 : K124_ASCM,NEO;
+BO_TX_BU_ 715 : NEO,K124_ASCM;
+BO_TX_BU_ 789 : NEO,K124_ASCM;
+BO_TX_BU_ 800 : NEO,K124_ASCM;
+
+
+CM_ BU_ K16_BECM "Battery Energy Control Module";
+CM_ BU_ K73_TCIC "Telematics Communication Control Module";
+CM_ BU_ K9_BCM "Body Control Module";
+CM_ BU_ K43_PSCM "Power Steering Control Module";
+CM_ BU_ K17_EBCM "Electronic Brake Control Module";
+CM_ BU_ K20_ECM "Engine Control Module";
+CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
+CM_ BU_ NEO "Comma NEO";
+CM_ BU_ K124_ASCM "Active Safety Control Module";
+CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
+CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
+CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
+CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
+CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
+CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
+CM_ SG_ 497 SystemPowerMode "Describes ignition";
+CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy";
+CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
+CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
+CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
+CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
+CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+BA_ "UseGMParameterIDs" 0;
+VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
+VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
+VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
+VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
+VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
+VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
+VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
+VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
+VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
+VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
+VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
+VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged";
+VAL_ 501 ManualMode 1 "Active" 0 "Inactive"
diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd
index b19c8cfd..49ffd80c 100755
Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 9ddaab67..d6966c56 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -43,9 +43,25 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint not in SDGM_CAR:
       self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
       self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+
+      ret.onstarGpsLongitude = 0. # ONSTAR_GPS_TEST
+      ret.onstarGpsLatitude = 0. # ONSTAR_GPS_TEST
+      ret.onstarGpsAltitude = 0. # ONSTAR_GPS_TEST
+      ret.onstarGpsBearing = 0. # ONSTAR_GPS_TEST
+
+      ret.currentGearNumber = 0 # ONSTAR_GPS_TEST
+      ret.nextGearNumber = 0 # ONSTAR_GPS_TEST
     else:
       self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
       self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+
+      ret.onstarGpsLongitude = cam_cp.vl["TCICOnStarGPSPosition"]["GPSLongitude"] # ONSTAR_GPS_TEST
+      ret.onstarGpsLatitude = cam_cp.vl["TCICOnStarGPSPosition"]["GPSLatitude"] # ONSTAR_GPS_TEST
+      ret.onstarGpsAltitude = 0. #pt_cp.vl["WrongGPSAltitude"]["GPSAltitude"] # ONSTAR_GPS_TEST
+      ret.onstarGpsBearing = cam_cp.vl["SPEED_RELATED"]["GPSBearing"] # ONSTAR_GPS_TEST
+      ret.currentGearNumber = pt_cp.vl["ECMPRDNL2"]["CurrentGearNumber"] # ONSTAR_GPS_TEST
+      ret.nextGearNumber = pt_cp.vl["ECMPRDNL2"]["NextGearNumber"] # ONSTAR_GPS_TEST
+
     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)
@@ -260,12 +276,17 @@ class CarState(CarStateBase):
           ("BCMDoorBeltStatus", 10),
           ("BCMGeneralPlatformStatus", 10),
           ("ASCMSteeringButton", 33),
+          ("TCICOnStarGPSPosition", 10), #10Hz # ONSTAR_GPS_TEST
+          ("SPEED_RELATED", 10), #10Hz # ONSTAR_GPS_TEST
+          # ("WrongGPSAltitude", 20), #20Hz # ONSTAR_GPS_TEST
+          # ("ECMPRDNL2", 40), #40Hz # ONSTAR_GPS_TEST
         ]
         if CP.enableBsm:
           messages.append(("BCMBlindSpotMonitor", 10))
       else:
         messages += [
           ("AEBCmd", 10),
+          # ("ECMPRDNL2", 10), #10Hz # ONSTAR_GPS_TEST
         ]
       if CP.carFingerprint not in CC_ONLY_CAR:
         messages += [
@@ -284,6 +305,7 @@ class CarState(CarStateBase):
       ("EBCMFrictionBrakeStatus", 20),
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
+      # ("WrongGPSAltitude", 20), #20Hz # ONSTAR_GPS_TEST
     ]
 
     if CP.carFingerprint in SDGM_CAR:
@@ -301,6 +323,7 @@ class CarState(CarStateBase):
         ("BCMDoorBeltStatus", 10),
         ("BCMGeneralPlatformStatus", 10),
         ("ASCMSteeringButton", 33),
+        # ("TCICOnStarGPSPosition", 10), #10Hz # ONSTAR_GPS_TEST        
       ]
       if CP.enableBsm:
         messages.append(("BCMBlindSpotMonitor", 10))
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 6e9d1e01..666385d9 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -265,6 +265,11 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
 DBC[CAR.VOLT] = dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
 DBC[CAR.VOLT_CC] = DBC[CAR.VOLT]
 
+# SDGM_CAR dbc
+DBC[CAR.XT4] = dbc_dict('gm_global_a_powertrain_sdgm', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
+DBC[CAR.BABYENCLAVE] = DBC[CAR.XT4]
+DBC[CAR.BABYAVENIR] = DBC[CAR.XT4]
+
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC}
 CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC}
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 0697beeb..3ae1de7a 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -482,6 +482,9 @@ class CarStateBase(ABC):
     self.out = car.CarState.new_message()
 
     self.cruise_buttons = 0
+    self.onstar_gps_longitude = 0. # ONSTAR_GPS_TEST
+    self.onstar_gps_latitude = 0. # ONSTAR_GPS_TEST
+    # self.onstar_gps_altitude = 0. # ONSTAR_GPS_TEST
     self.left_blinker_cnt = 0
     self.right_blinker_cnt = 0
     self.steering_pressed_cnt = 0
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 0b61ccd1..f321ed60 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -200,10 +200,10 @@ def manager_init() -> None:
     ("NudgelessLaneChange", "1"),
     ("NumericalTemp", "0"),
     ("OfflineMode", "0"),
-    ("Offset1", "5"), #5mph -> 8kph
-    ("Offset2", "3"), #5mph -> 8kph
-    ("Offset3", "4"), #5mph -> 8kph
-    ("Offset4", "5"), #10mph -> 16kph
+    ("Offset1", "8"), #5mph -> 8kph
+    ("Offset2", "8"), #5mph -> 8kph
+    ("Offset3", "8"), #5mph -> 8kph
+    ("Offset4", "16"), #10mph -> 16kph
     ("OneLaneChange", "1"),
     ("PathEdgeWidth", "20"),
     ("PathWidth", "20"), #61 feet -> 2.0 meters
@@ -285,6 +285,7 @@ def manager_init() -> None:
     ("SpeedDecimal", "0"),
     ("CalibrationCycles", "1"), 
     ("OnStarGPS", "0"),    
+    ("GearNumber", "0"), #GEAR_NUMBER_TEST
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 20e1d4b5..a890c438 100644
Binary files a/selfdrive/ui/translations/main_zh-CHS.qm and b/selfdrive/ui/translations/main_zh-CHS.qm differ
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index ec4478a7..1ffc9c3a 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ