openpilot v0.9.6 release

date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
2024-02-27 16:34:45 -07:00
commit 2901597132
1940 changed files with 647891 additions and 0 deletions
--- a/selfdrive/car/gm/init.py
+++ b/selfdrive/car/gm/init.py
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -0,0 +1,164 @@
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_CTRL
+from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.gm import gmcan
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
+
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+NetworkLocation = car.CarParams.NetworkLocation
+LongCtrlState = car.CarControl.Actuators.LongControlState
+
+# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
+CAMERA_CANCEL_DELAY_FRAMES = 10
+# Enforce a minimum interval between steering messages to avoid a fault
+MIN_STEER_MSG_INTERVAL_MS = 15
+
+
+class CarController:
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.start_time = 0.
+    self.apply_steer_last = 0
+    self.apply_gas = 0
+    self.apply_brake = 0
+    self.frame = 0
+    self.last_steer_frame = 0
+    self.last_button_frame = 0
+    self.cancel_counter = 0
+
+    self.lka_steering_cmd_counter = 0
+    self.lka_icon_status_last = (False, False)
+
+    self.params = CarControllerParams(self.CP)
+
+    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'])
+
+  def update(self, CC, CS, now_nanos):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    hud_alert = hud_control.visualAlert
+    hud_v_cruise = hud_control.setSpeed
+    if hud_v_cruise > 70:
+      hud_v_cruise = 0
+
+    # Send CAN commands.
+    can_sends = []
+
+    # Steering (Active: 50Hz, inactive: 10Hz)
+    steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
+
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      # Also send at 50Hz:
+      # - on startup, first few msgs are blocked
+      # - until we're in sync with camera so counters align when relay closes, preventing a fault.
+      #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
+      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
+        steer_step = self.params.STEER_STEP
+
+    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
+
+    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
+    # received the ASCMLKASteeringCmd loopback confirmation too recently
+    last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
+    if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
+      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
+        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
+
+      if CC.latActive:
+        new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+      else:
+        apply_steer = 0
+
+      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))
+
+    if self.CP.openpilotLongitudinalControl:
+      # Gas/regen, brakes, and UI commands - all at 25Hz
+      if self.frame % 4 == 0:
+        stopping = actuators.longControlState == LongCtrlState.stopping
+        if not CC.longActive:
+          # ASCM sends max regen when not enabled
+          self.apply_gas = self.params.INACTIVE_REGEN
+          self.apply_brake = 0
+        else:
+          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          # 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
+
+        idx = (self.frame // 4) % 4
+
+        at_full_stop = CC.longActive and CS.out.standstill
+        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        friction_brake_bus = CanBus.CHASSIS
+        # GM Camera exceptions
+        # TODO: can we always check the longControlState?
+        if self.CP.networkLocation == NetworkLocation.fwdCamera:
+          at_full_stop = at_full_stop and stopping
+          friction_brake_bus = CanBus.POWERTRAIN
+
+        # 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, CC.enabled, at_full_stop))
+        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))
+
+        # Send dashboard UI commands (ACC status)
+        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.leadVisible, send_fcw))
+
+      # Radar needs to know current speed and yaw rate (50hz),
+      # and that ADAS is alive (10hz)
+      if not self.CP.radarUnavailable:
+        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))
+
+        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 self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+
+    else:
+      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
+      # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
+      self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
+
+      # Stock longitudinal, integrated at camera
+      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.networkLocation == NetworkLocation.fwdCamera:
+      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
+      if self.frame % 10 == 0:
+        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
+
+    new_actuators = actuators.copy()
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
+    new_actuators.gas = self.apply_gas
+    new_actuators.brake = self.apply_brake
+
+    self.frame += 1
+    return new_actuators, can_sends
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -0,0 +1,175 @@
+import copy
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+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
+
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
+STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
+
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
+    self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
+    self.cluster_min_speed = CV.KPH_TO_MS / 2.
+
+    self.loopback_lka_steering_cmd_updated = False
+    self.loopback_lka_steering_cmd_ts_nanos = 0
+    self.pt_lka_steering_cmd_counter = 0
+    self.cam_lka_steering_cmd_counter = 0
+    self.buttons_counter = 0
+
+  def update(self, pt_cp, cam_cp, loopback_cp):
+    ret = car.CarState.new_message()
+
+    self.prev_cruise_buttons = self.cruise_buttons
+    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.buttons_counter = pt_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)
+    self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
+
+    # Variables used for avoiding LKAS faults
+    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"]
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
+      pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
+      pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
+      pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
+    )
+    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
+    ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
+
+    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
+      ret.gearShifter = self.parse_gear_shifter("T")
+    else:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
+
+    ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      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
+      ret.brakePressed = ret.brake >= 8
+
+    # Regen braking is braking
+    if self.CP.transmissionType == TransmissionType.direct:
+      ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
+
+    ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
+    ret.gasPressed = ret.gas > 1e-5
+
+    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
+    ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
+    ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
+    ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+
+    # 0 inactive, 1 active, 2 temporarily limited, 3 failed
+    self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
+    ret.steerFaultTemporary = self.lkas_status == 2
+    ret.steerFaultPermanent = self.lkas_status == 3
+
+    # 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
+
+    ret.parkingBrake = pt_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
+                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
+
+    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
+    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
+      ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      # openpilot controls nonAdaptive when not pcmCruise
+      if self.CP.pcmCruise:
+        ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
+
+    if self.CP.enableBsm:
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+
+    return ret
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    messages = []
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      messages += [
+        ("AEBCmd", 10),
+        ("ASCMLKASteeringCmd", 10),
+        ("ASCMActiveCruiseControlStatus", 25),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA)
+
+  @staticmethod
+  def get_can_parser(CP):
+    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),
+    ]
+
+    if CP.enableBsm:
+      messages.append(("BCMBlindSpotMonitor", 10))
+
+    # Used to read back last counter sent to PT by camera
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      messages += [
+        ("ASCMLKASteeringCmd", 0),
+      ]
+
+    if CP.transmissionType == TransmissionType.direct:
+      messages.append(("EBCMRegenPaddle", 50))
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
+
+  @staticmethod
+  def get_loopback_can_parser(CP):
+    messages = [
+      ("ASCMLKASteeringCmd", 0),
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.LOOPBACK)
--- a/selfdrive/car/gm/fingerprints.py
+++ b/selfdrive/car/gm/fingerprints.py
@@ -0,0 +1,63 @@
+# ruff: noqa: E501
+from openpilot.selfdrive.car.gm.values import CAR
+
+# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
+# FIXME: There are Equinox users with different message lengths, specifically 304 and 320
+
+
+FINGERPRINTS = {
+  CAR.HOLDEN_ASTRA: [{
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 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: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
+  }],
+  CAR.VOLT: [{
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 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: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 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: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 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, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 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: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
+  }],
+  CAR.BUICK_LACROSSE: [{
+    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, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 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, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 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, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
+  CAR.BUICK_REGAL: [{
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 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, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
+  }],
+  CAR.CADILLAC_ATS: [{
+    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, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 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, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 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, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
+  CAR.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.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
+  },
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 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, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 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, 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, 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, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
+  CAR.ESCALADE: [{
+    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 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, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 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, 1609: 8, 1613: 8, 1649: 8, 1792: 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, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
+  CAR.ESCALADE_ESV: [{
+    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
+  }],
+  CAR.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.BOLT_EUV: [{
+    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.SILVERADO: [{
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 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, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+  CAR.EQUINOX: [{
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 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, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  },
+  {
+    190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
+  }],
+}
+
+FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
+}
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -0,0 +1,173 @@
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.gm.values import CAR
+
+
+def create_buttons(packer, bus, idx, button):
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": idx,
+    "ACCAlwaysOne": 1,
+    "DistanceButton": 0,
+  }
+
+  checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
+  checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
+  checksum -= int(values["ACCButtons"] - 1) << 4  # not correct if value is 0
+  checksum -= 2 * values["DistanceButton"]
+
+  values["SteeringButtonChecksum"] = checksum
+  return packer.make_can_msg("ASCMSteeringButton", bus, values)
+
+
+def create_pscm_status(packer, bus, pscm_status):
+  values = {s: pscm_status[s] for s in [
+    "HandsOffSWDetectionMode",
+    "HandsOffSWlDetectionStatus",
+    "LKATorqueDeliveredStatus",
+    "LKADriverAppldTrq",
+    "LKATorqueDelivered",
+    "LKATotalTorqueDelivered",
+    "RollingCounter",
+    "PSCMStatusChecksum",
+  ]}
+  checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5
+  values["HandsOffSWlDetectionStatus"] = 1
+  values["PSCMStatusChecksum"] += checksum_mod
+  return packer.make_can_msg("PSCMStatus", bus, values)
+
+
+def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
+  values = {
+    "LKASteeringCmdActive": lkas_active,
+    "LKASteeringCmd": apply_steer,
+    "RollingCounter": idx,
+    "LKASteeringCmdChecksum": 0x1000 - (lkas_active << 11) - (apply_steer & 0x7ff) - idx
+  }
+
+  return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
+
+
+def create_adas_keepalive(bus):
+  dat = b"\x00\x00\x00\x00\x00\x00\x00"
+  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):
+  values = {
+    "GasRegenCmdActive": enabled,
+    "RollingCounter": idx,
+    "GasRegenCmdActiveInv": 1 - enabled,
+    "GasRegenCmd": throttle,
+    "GasRegenFullStopActive": at_full_stop,
+    "GasRegenAlwaysOne": 1,
+    "GasRegenAlwaysOne2": 1,
+    "GasRegenAlwaysOne3": 1,
+  }
+
+  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
+  values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
+                               (((0xff - dat[2]) & 0xff) << 8) | \
+                               ((0x100 - dat[3] - idx) & 0xff)
+
+  return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
+
+
+def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
+  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.BOLT_EUV,):
+    mode = 0x9
+
+  if apply_brake > 0:
+    mode = 0xa
+    if at_full_stop:
+      mode = 0xd
+
+    # TODO: this is to have GM bringing the car to complete stop,
+    # but currently it conflicts with OP controls, so turned off. Not set by all cars
+    #elif near_stop:
+    #  mode = 0xb
+
+  brake = (0x1000 - apply_brake) & 0xfff
+  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
+
+  values = {
+    "RollingCounter": idx,
+    "FrictionBrakeMode": mode,
+    "FrictionBrakeChecksum": checksum,
+    "FrictionBrakeCmd": -apply_brake
+  }
+
+  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
+
+
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
+  target_speed = min(target_speed_kph, 255)
+
+  values = {
+    "ACCAlwaysOne": 1,
+    "ACCResumeButton": 0,
+    "ACCSpeedSetpoint": target_speed,
+    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCCmdActive": enabled,
+    "ACCAlwaysOne2": 1,
+    "ACCLeadCar": lead_car_in_sight,
+    "FCWAlert": 0x3 if fcw else 0
+  }
+
+  return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
+
+
+def create_adas_time_status(bus, tt, idx):
+  dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
+         ((tt & 0xf) << 4) + (idx << 2)]
+  chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
+  chksum = chksum & 0xfff
+  dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
+  return make_can_msg(0xa1, bytes(dat), bus)
+
+
+def create_adas_steering_status(bus, idx):
+  dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
+  chksum = 0x60 + sum(dat)
+  dat += [chksum >> 8, chksum & 0xff]
+  return make_can_msg(0x306, bytes(dat), bus)
+
+
+def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
+  spd = int(speed_ms * 16) & 0xfff
+  accel = 0 & 0xfff
+  # 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L
+  #stick = 0x08
+  near_range_cutoff = 0x27
+  near_range_mode = 1 if spd <= near_range_cutoff else 0
+  far_range_mode = 1 - near_range_mode
+  dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
+  chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
+  dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
+  return make_can_msg(0x308, bytes(dat), bus)
+
+
+def create_adas_headlights_status(packer, bus):
+  values = {
+    "Always42": 0x42,
+    "Always4": 0x4,
+  }
+  return packer.make_can_msg("ASCMHeadlight", bus, values)
+
+
+def create_lka_icon_command(bus, active, critical, steer):
+  if active and steer == 1:
+    if critical:
+      dat = b"\x50\xc0\x14"
+    else:
+      dat = b"\x50\x40\x18"
+  elif active:
+    if critical:
+      dat = b"\x40\xc0\x14"
+    else:
+      dat = b"\x40\x40\x18"
+  else:
+    dat = b"\x00\x00\x00"
+  return make_can_msg(0x104c006c, dat, bus)
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -0,0 +1,306 @@
+#!/usr/bin/env python3
+import os
+from cereal import car
+from math import fabs, exp
+from panda import Panda
+
+from openpilot.common.basedir import BASEDIR
+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
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
+from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventName = car.CarEvent.EventName
+GearShifter = car.CarState.GearShifter
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
+BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
+                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+
+
+NON_LINEAR_TORQUE_PARAMS = {
+  CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+}
+
+NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
+
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+
+  # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
+  @staticmethod
+  def get_steer_feedforward_volt(desired_angle, v_ego):
+    desired_angle *= 0.02904609
+    sigmoid = desired_angle / (1 + fabs(desired_angle))
+    return 0.10006696 * sigmoid * (v_ego + 3.12485927)
+
+  def get_steer_feedforward_function(self):
+    if self.CP.carFingerprint == CAR.VOLT:
+      return self.get_steer_feedforward_volt
+    else:
+      return CarInterfaceBase.get_steer_feedforward_default
+
+  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
+                                       lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+
+    def sig(val):
+      return 1 / (1 + exp(-val)) - 0.5
+
+    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
+    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
+    # This has big effect on the stability about 0 (noise when going straight)
+    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
+    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, _ = non_linear_torque_params
+    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
+    return float(steer_torque) + friction
+
+  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
+                                       lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+    inputs = list(latcontrol_inputs)
+    if gravity_adjusted:
+      inputs[0] += inputs[1]
+    return float(self.neural_ff_model.predict(inputs)) + friction
+
+  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
+    if self.CP.carFingerprint == CAR.BOLT_EUV:
+      self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
+      return self.torque_from_lateral_accel_neural
+    elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
+      return self.torque_from_lateral_accel_siglin
+    else:
+      return self.torque_from_lateral_accel_linear
+
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "gm"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    ret.autoResumeSng = False
+    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+
+    if candidate in EV_CAR:
+      ret.transmissionType = TransmissionType.direct
+    else:
+      ret.transmissionType = TransmissionType.automatic
+
+    ret.longitudinalTuning.deadzoneBP = [0.]
+    ret.longitudinalTuning.deadzoneV = [0.15]
+
+    ret.longitudinalTuning.kpBP = [5., 35.]
+    ret.longitudinalTuning.kiBP = [0.]
+
+    if candidate in CAMERA_ACC_CAR:
+      ret.experimentalLongitudinalAvailable = True
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarUnavailable = True  # no radar
+      ret.pcmCruise = True
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+
+      # Tuning for experimental long
+      ret.longitudinalTuning.kpV = [2.0, 1.5]
+      ret.longitudinalTuning.kiV = [0.72]
+      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+
+      if experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+
+    else:  # ASCM, OBD-II harness
+      ret.openpilotLongitudinalControl = True
+      ret.networkLocation = NetworkLocation.gateway
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[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.kpV = [2.4, 1.5]
+      ret.longitudinalTuning.kiV = [0.36]
+
+    # These cars have been put into dashcam only due to both a lack of users and test coverage.
+    # These cars likely still work fine. Once a user confirms each car works and a test route is
+    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
+                      (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
+
+    # 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.]]
+    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
+    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
+    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
+    ret.tireStiffnessFactor = 0.444  # not optimized yet
+
+    ret.steerLimitTimer = 0.4
+    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
+
+    if candidate == CAR.VOLT:
+      ret.mass = 1607.
+      ret.wheelbase = 2.69
+      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
+      ret.tireStiffnessFactor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
+      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh
+
+      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()
+      ret.steerActuatorDelay = 0.2
+
+    elif candidate == CAR.MALIBU:
+      ret.mass = 1496.
+      ret.wheelbase = 2.83
+      ret.steerRatio = 15.8
+      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
+
+    elif candidate == CAR.HOLDEN_ASTRA:
+      ret.mass = 1363.
+      ret.wheelbase = 2.662
+      # Remaining parameters copied from Volt for now
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.steerRatio = 15.7
+
+    elif candidate == CAR.ACADIA:
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.mass = 4353. * CV.LB_TO_KG
+      ret.wheelbase = 2.86
+      ret.steerRatio = 14.4  # end to end is 13.46
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.BUICK_LACROSSE:
+      ret.mass = 1712.
+      ret.wheelbase = 2.91
+      ret.steerRatio = 15.8
+      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.BUICK_REGAL:
+      ret.mass = 3779. * CV.LB_TO_KG  # (3849+3708)/2
+      ret.wheelbase = 2.83  # 111.4 inches in meters
+      ret.steerRatio = 14.4  # guess for tourx
+      ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
+
+    elif candidate == CAR.CADILLAC_ATS:
+      ret.mass = 1601.
+      ret.wheelbase = 2.78
+      ret.steerRatio = 15.3
+      ret.centerToFront = ret.wheelbase * 0.5
+
+    elif candidate == CAR.ESCALADE:
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.mass = 5653. * CV.LB_TO_KG  # (5552+5815)/2
+      ret.wheelbase = 2.95  # 116 inches in meters
+      ret.steerRatio = 17.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.mass = 2739.
+      ret.wheelbase = 3.302
+      ret.steerRatio = 17.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.tireStiffnessFactor = 1.0
+
+      if candidate == CAR.ESCALADE_ESV:
+        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
+      else:
+        ret.steerActuatorDelay = 0.2
+        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.BOLT_EUV:
+      ret.mass = 1669.
+      ret.wheelbase = 2.63779
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.tireStiffnessFactor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.SILVERADO:
+      ret.mass = 2450.
+      ret.wheelbase = 3.75
+      ret.steerRatio = 16.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.tireStiffnessFactor = 1.0
+      # 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 == CAR.EQUINOX:
+      ret.mass = 3500. * CV.LB_TO_KG
+      ret.wheelbase = 2.72
+      ret.steerRatio = 14.4
+      ret.centerToFront = ret.wheelbase * 0.4
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.TRAILBLAZER:
+      ret.mass = 1345.
+      ret.wheelbase = 2.64
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.tireStiffnessFactor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    return ret
+
+  # returns a car.CarState
+  def _update(self, c):
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
+
+    # Don't add event if transitioning from INIT, unless it's to an actual button
+    if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
+      ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
+                                              unpressed_btn=CruiseButtons.UNPRESS)
+
+    # The ECM allows enabling on falling edge of set, but only rising edge of resume
+    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                         GearShifter.eco, GearShifter.manumatic],
+                                       pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+    if not self.CP.pcmCruise:
+      if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
+        events.add(EventName.buttonEnable)
+
+    # Enabling at a standstill with brake is allowed
+    # 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):
+      events.add(EventName.belowEngageSpeed)
+    if ret.cruiseState.standstill:
+      events.add(EventName.resumeRequired)
+    if ret.vEgo < self.CP.minSteerSpeed:
+      events.add(EventName.belowSteerSpeed)
+
+    ret.events = events.to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+import math
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.gm.values import DBC, CanBus
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+
+RADAR_HEADER_MSG = 1120
+SLOT_1_MSG = RADAR_HEADER_MSG + 1
+NUM_SLOTS = 20
+
+# Actually it's 0x47f, but can parser only reports
+# messages that are present in DBC
+LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
+
+
+def create_radar_can_parser(car_fingerprint):
+  # C1A-ARS3-A by Continental
+  radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
+  signals = list(zip(['FLRRNumValidTargets',
+                      'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
+                      'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
+                      'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
+                     ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
+                     ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
+                     ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
+                     [RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
+
+  messages = list({(s[1], 14) for s in signals})
+
+  return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE)
+
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+
+    self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
+
+    self.trigger_msg = LAST_RADAR_MSG
+    self.updated_messages = set()
+    self.radar_ts = CP.radarTimeStep
+
+  def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
+    vls = self.rcp.update_strings(can_strings)
+    self.updated_messages.update(vls)
+
+    if self.trigger_msg not in self.updated_messages:
+      return None
+
+    ret = car.RadarData.new_message()
+    header = self.rcp.vl[RADAR_HEADER_MSG]
+    fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
+      header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
+      header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
+    errors = []
+    if not self.rcp.can_valid:
+      errors.append("canError")
+    if fault:
+      errors.append("fault")
+    ret.errors = errors
+
+    currentTargets = set()
+    num_targets = header['FLRRNumValidTargets']
+
+    # Not all radar messages describe targets,
+    # no need to monitor all of the self.rcp.msgs_upd
+    for ii in self.updated_messages:
+      if ii == RADAR_HEADER_MSG:
+        continue
+
+      if num_targets == 0:
+        break
+
+      cpt = self.rcp.vl[ii]
+      # Zero distance means it's an empty target slot
+      if cpt['TrkRange'] > 0.0:
+        targetId = cpt['TrkObjectID']
+        currentTargets.add(targetId)
+        if targetId not in self.pts:
+          self.pts[targetId] = car.RadarData.RadarPoint.new_message()
+          self.pts[targetId].trackId = targetId
+        distance = cpt['TrkRange']
+        self.pts[targetId].dRel = distance  # from front of car
+        # From driver's pov, left is positive
+        self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
+        self.pts[targetId].vRel = cpt['TrkRangeRate']
+        self.pts[targetId].aRel = float('nan')
+        self.pts[targetId].yvRel = float('nan')
+
+    for oldTarget in list(self.pts.keys()):
+      if oldTarget not in currentTargets:
+        del self.pts[oldTarget]
+
+    ret.points = list(self.pts.values())
+    self.updated_messages.clear()
+    return ret
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -0,0 +1,191 @@
+from collections import defaultdict
+from dataclasses import dataclass
+from enum import Enum, StrEnum
+from typing import Dict, List, Union
+
+from cereal import car
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = car.CarParams.Ecu
+
+
+class CarControllerParams:
+  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_STEP = 3  # Active control frames per command (~33hz)
+  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
+  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
+  STEER_DELTA_DOWN = 15
+  STEER_DRIVER_ALLOWANCE = 65
+  STEER_DRIVER_MULTIPLIER = 4
+  STEER_DRIVER_FACTOR = 100
+  NEAR_STOP_BRAKE_PHASE = 0.5  # m/s
+
+  # Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
+  ADAS_KEEPALIVE_STEP = 100
+  CAMERA_KEEPALIVE_STEP = 100
+
+  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
+  # perform the closed loop control, and might need some
+  # to apply some more braking if we're on a downhill slope.
+  # Our controller should still keep the 2 second average above
+  # -3.5 m/s^2 as per planner limits
+  ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MIN = -4.  # m/s^2
+
+  def __init__(self, CP):
+    # Gas/brake lookups
+    self.ZERO_GAS = 2048  # Coasting
+    self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
+
+    if CP.carFingerprint in CAMERA_ACC_CAR:
+      self.MAX_GAS = 3400
+      self.MAX_ACC_REGEN = 1514
+      self.INACTIVE_REGEN = 1554
+      # 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 = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = 1404
+      # 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.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+
+    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
+    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
+
+
+class CAR(StrEnum):
+  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
+  VOLT = "CHEVROLET VOLT PREMIER 2017"
+  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
+  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
+  ACADIA = "GMC ACADIA DENALI 2018"
+  BUICK_LACROSSE = "BUICK LACROSSE 2017"
+  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
+  ESCALADE = "CADILLAC ESCALADE 2017"
+  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
+  ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
+  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
+  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
+  EQUINOX = "CHEVROLET EQUINOX 2019"
+  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
+
+
+class Footnote(Enum):
+  OBD_II = CarFootnote(
+    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
+    '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
+    Column.MODEL)
+
+
+@dataclass
+class GMCarInfo(CarInfo):
+  package: str = "Adaptive Cruise Control (ACC)"
+
+  def init_make(self, CP: car.CarParams):
+    if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
+      self.car_parts = CarParts.common([CarHarness.gm])
+    else:
+      self.car_parts = CarParts.common([CarHarness.obd_ii])
+      self.footnotes.append(Footnote.OBD_II)
+
+
+CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
+  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
+  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
+  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
+  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+  CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
+  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
+  CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
+  CAR.BOLT_EUV: [
+    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
+    GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+  ],
+  CAR.SILVERADO: [
+    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
+  ],
+  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
+  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
+}
+
+
+class CruiseButtons:
+  INIT = 0
+  UNPRESS = 1
+  RES_ACCEL = 2
+  DECEL_SET = 3
+  MAIN = 5
+  CANCEL = 6
+
+class AccState:
+  OFF = 0
+  ACTIVE = 1
+  FAULTED = 3
+  STANDSTILL = 4
+
+class CanBus:
+  POWERTRAIN = 0
+  OBSTACLE = 1
+  CAMERA = 2
+  CHASSIS = 2
+  LOOPBACK = 128
+  DROPPED = 192
+
+
+# In a Data Module, an identifier is a string used to recognize an object,
+# either by itself or together with the identifiers of parent objects.
+# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
+GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
+GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
+GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
+# This DID is for identifying the part number that reflects the mix of hardware,
+# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
+# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
+GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
+GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
+GM_FW_RESPONSE = b'\x5a'
+
+GM_FW_REQUESTS = [
+  GM_SOFTWARE_MODULE_1_REQUEST,
+  GM_SOFTWARE_MODULE_2_REQUEST,
+  GM_SOFTWARE_MODULE_3_REQUEST,
+  GM_END_MODEL_PART_NUMBER_REQUEST,
+  GM_BASE_MODEL_PART_NUMBER_REQUEST,
+]
+
+GM_RX_OFFSET = 0x400
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[request for req in GM_FW_REQUESTS for request in [
+    Request(
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
+      rx_offset=GM_RX_OFFSET,
+      bus=0,
+      logging=True,
+    ),
+  ]],
+  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
+)
+
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+
+EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+
+# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
+
+STEER_THRESHOLD = 1.0