commaai · sshane · Aug 12, 2022 · Jun 7, 2022 · Jun 7, 2022 · Jun 15, 2022
diff --git a/docs/CARS.md b/docs/CARS.md
diff --git a/panda b/panda
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
@@ -208,6 +208,14 @@ class Harness(Enum):
   hyundai_p = "Hyundai P"
   custom = "Developer"
   obd_ii = "OBD-II"
+  gm_cam = "GM Camera" 
+  # TODO: Submit PR for gm cam harness schematic(s), diagrams and board layout(s) to https://github.com/commaai/neo/tree/master/car_harness
+  # Note: GM cam harness _without low-speed GMLAN support_ is simple and similar to the others
+  #       JJS - I anticipate comma to be able to take over production easily
+  #       It also doesn't make sense for customers to get the Developer harness - they typically don't need the wires
+  # Note 2: JJS - I anticipate designing a camera harness with a low-speed GMLAN gateway (design borrowed from OBD2 harness),
+  #         unless comma plans to do so
+  # Note 3: JJS - I anticipate an eventual 
   nissan_a = "Nissan A"
   nissan_b = "Nissan B"
   mazda = "Mazda"

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -20,6 +20,9 @@ def __init__(self, dbc_name, CP, VM):
     self.apply_brake = 0
     self.frame = 0
 
+    self.lka_last_rc_val = -1
+    self.lka_same_rc_cnt = 0
+
     self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
 
@@ -46,18 +49,26 @@ def update(self, CC, CS):
     if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
       self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
     elif (self.frame % self.params.STEER_STEP) == 0:
-      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
+      # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
+      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
+      idx = (CS.lka_steering_cmd_counter + 1) % 4
+      # Start counting number of resubmits - this should only happen when the panda drops an LKA frame
+      # If we reach 3 attempts to send the same frame, it's time to switch to inactive
+      #
+      if idx == self.lka_last_rc_val:
+        self.lka_same_rc_cnt += 1
+      else:
+        self.lka_same_rc_cnt = 0
+      self.lka_last_rc_val = idx
+
+      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED and self.lka_same_rc_cnt < 3
       if lkas_enabled:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
       else:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
-      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
-      idx = (CS.lka_steering_cmd_counter + 1) % 4
-
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
     if self.CP.openpilotLongitudinalControl:
@@ -77,6 +88,7 @@ def update(self, CC, CS):
         near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
         # 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))
+        # Vehicles with factory camera-based ACC expect friction brake on PT
         can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
 
         # Send dashboard UI commands (ACC status)
@@ -110,6 +122,8 @@ def update(self, CC, CS):
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
+
+    # SW_GMLAN not yet on cam harness
     if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
@@ -140,6 +140,7 @@ def get_loopback_can_parser(CP):
     ]
 
     checks = [
+      # TODO: does this still need to be 0?
       ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms).
       #                             While active 50 Hz (every 20 ms) is normal
       #                             EPS will tolerate around 200ms when active before faulting

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from math import fabs
+from panda import Panda
 
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -22,6 +23,14 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
     params = CarControllerParams()
     return params.ACCEL_MIN, params.ACCEL_MAX
 
+  @staticmethod
+  def get_steer_feedforward_sigmoid(desired_angle: float, v_ego: float, ANGLE: float, ANGLE_OFFSET: float,
+                                    SIGMOID_SPEED: float, SIGMOID: float, SPEED: float) -> float:
+    # Apply sigmoid feedforward function on desired_angle & v_ego using supplied factors
+    x = ANGLE * (desired_angle + ANGLE_OFFSET)
+    sigmoid = x / (1 + fabs(x))
+    return (SIGMOID_SPEED * sigmoid * v_ego) + (SIGMOID * sigmoid) + (SPEED * v_ego)
+
   # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
   @staticmethod
   def get_steer_feedforward_volt(desired_angle, v_ego):
@@ -35,11 +44,22 @@ def get_steer_feedforward_acadia(desired_angle, v_ego):
     sigmoid = desired_angle / (1 + fabs(desired_angle))
     return 0.04689655 * sigmoid * (v_ego + 10.028217)
 
+  @staticmethod
+  def get_steer_feedforward_silverado(desired_angle, v_ego):
+    ANGLE = 0.06539361463056717
+    ANGLE_OFFSET = -0.#8390269362439537
+    SIGMOID_SPEED = 0.023681877712247515
+    SIGMOID = 0.5709779025308087
+    SPEED = -0.0016656455765509301
+    return CarInterface.get_steer_feedforward_sigmoid(desired_angle, v_ego, ANGLE, ANGLE_OFFSET, SIGMOID_SPEED, SIGMOID, SPEED)
+
   def get_steer_feedforward_function(self):
     if self.CP.carFingerprint == CAR.VOLT:
       return self.get_steer_feedforward_volt
     elif self.CP.carFingerprint == CAR.ACADIA:
       return self.get_steer_feedforward_acadia
+    elif self.CP.carFingerprint == CAR.SILVERADO:
+      return self.get_steer_feedforward_silverado
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
@@ -49,10 +69,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
-    ret.radarOffCan = False  # For ASCM, radar exists
-    ret.transmissionType = TransmissionType.automatic
+    ret.radarOffCan = False  # For ASCM, radar is present
+    ret.transmissionType = TransmissionType.automatic  # EV is direct
     # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
-    ret.networkLocation = NetworkLocation.gateway
+    ret.networkLocation = NetworkLocation.gateway # or fwdCamera
 
     # 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
@@ -62,7 +82,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     # Presence of a camera on the object bus is ok.
     # Have to go to read_only if ASCM is online (ACC-enabled cars),
     # or camera is on powertrain bus (LKA cars without ACC).
-    ret.openpilotLongitudinalControl = True
+    ret.openpilotLongitudinalControl = True # For ASCM, OP performs long
     tire_stiffness_factor = 0.444  # not optimized yet
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
@@ -82,6 +102,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
 
     # supports stop and go, but initial engage must (conservatively) be above 18mph
     ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+    # TODO: Should this be changed to -1?
+    #       Newer cars (that are still ASCM-based) use -1 for minEnableSpeed with the comment "engage speed is decided by pcm"
 
     if candidate == CAR.VOLT:
       ret.transmissionType = TransmissionType.direct
@@ -142,6 +164,51 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
       ret.lateralTuning.pid.kf = 0.000045
       tire_stiffness_factor = 1.0
 
+    elif candidate == CAR.SILVERADO:
+      ret.minEnableSpeed = -1.
+      ret.mass = 2400. + STD_CARGO_KG
+      ret.wheelbase = 3.745
+      ret.steerRatio = 16.3
+      ret.centerToFront = ret.wheelbase * .49
+      ret.networkLocation = NetworkLocation.fwdCamera # Uses Cam Harness
+      ret.radarOffCan = True # No Radar
+      ret.openpilotLongitudinalControl = False # Stock ACC
+      ret.pcmCruise = True # CC is on
+      # Tune (Thanks Skip)
+      ret.steerActuatorDelay = 0.11
+      ret.lateralTuning.pid.kpBP = [11.0, 15.5, 22.0, 31.0]
+      ret.lateralTuning.pid.kpV = [0.12, 0.14, 0.20, 0.25]
+      # kf value is based on the use of custom feedforward function
+      ret.lateralTuning.pid.kf = (0.55 + 0.4) / 2. # Averaging the right and left kf for now
+      # GM Trucks have weak right turning
+      #  Allowing for kf to be swapped depending on the curvature direction
+      #  seems to be improve the issue
+      # ret.lateralTuning.pid.kf = 0.55
+      # ret.lateralTuning.pid.kfLeft = 0.4
+
+    elif candidate == CAR.BOLT_EUV:
+      ret.transmissionType = TransmissionType.direct # EV (or hybrid)
+      ret.minEnableSpeed = -1
+      ret.mass = 1669. + STD_CARGO_KG
+      ret.wheelbase = 2.675
+      ret.steerRatio = 16.8 # Not measured
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.networkLocation = NetworkLocation.fwdCamera # Uses Cam Harness
+      ret.radarOffCan = True # No Radar
+      ret.openpilotLongitudinalControl = False # Stock ACC
+      ret.pcmCruise = True # CC is on
+      # Tune
+      ret.steerActuatorDelay = 0.
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[10., 41.0], [10., 41.0]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18, 0.275], [0.01, 0.021]]
+      ret.lateralTuning.pid.kf = 0.0002
+      tire_stiffness_factor = 1.0
+
+    # Set Panda to camera forwarding mode
+    if ret.networkLocation == NetworkLocation.fwdCamera:
+      # TODO: Depends on Panda PR #962 (Cam Harness forwarding, stock ACC)
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
@@ -10,6 +10,11 @@
 
 
 class CarControllerParams:
+  # TODO: Different cars have different min steer speed, usually around 3-5 mph
+  # TODO: Delta up and down limits may require adjustment based on excessive rate limiting
+  # TODO: Min steer speed seems to be about 3 MPH; may differ per car
+  # TODO: Unsure of driver values
+  # TODO: MAX_GAS, ZERO_GAS and MAX_BRAKE, MAX_ACC_REGEN are based on a specific volt year...
   STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
   STEER_STEP = 2  # Control frames per command (50hz)
   STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
@@ -55,6 +60,8 @@ class CAR:
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
+  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
+  BOLT_EUV = "CHEVROLET BOLT EUV PREMIER 2022"
 
 
 class Footnote(Enum):
@@ -63,6 +70,12 @@ class Footnote(Enum):
     '<a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
     '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
     Column.MODEL)
+  CAM_HARNESS = CarFootnote(
+    "Currently Requires a [harness box](https://comma.ai/shop/products/harness-box) and [community built GM camera harness]" +
+    "(https://github.com/commaai/openpilot/wiki/GMCamHarness)",
+    Column.MODEL)
+
+# TODO: Submit PR for gm cam harness schematic(s), diagrams and board layout(s) to https://github.com/commaai/neo/tree/master/car_harness
 
 
 @dataclass
@@ -80,6 +93,8 @@ class GMCarInfo(CarInfo):
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),  # TODO: can probably just be ACC?
+  CAR.SILVERADO: GMCarInfo("Chevrolet Silverado 1500 2020", "Driver Alert Package II", footnotes=[Footnote.CAM_HARNESS], harness=Harness.gm_cam),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV Premier 2022", "Chevy Safety Assist", footnotes=[Footnote.CAM_HARNESS], harness=Harness.gm_cam),
 }
 
 
@@ -145,8 +160,23 @@ class CanBus:
     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_ESV: [
+  # Note: This fingerprint is incomplete and causes false matches
   {
     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
+  },
+  # Escalade ESV
+  {
+    170: 8, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 300: 1, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 369: 8, 381: 5, 384: 4, 386: 5, 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, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 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, 573: 1, 577: 8, 578: 8, 579: 8, 587: 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, 789: 5, 800: 6, 801: 5, 803: 8, 804: 3, 805: 8, 810: 8, 821: 4, 823: 7, 832: 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, 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, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
+  }],
+  CAR.SILVERADO: [
+  # 2020 Chevrolet Silverado 1500 4WD Crew Cab 147" LTZ
+  {
+    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, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 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, 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, 1930: 7
+  }],
+  CAR.BOLT_EUV: [
+  # Chevy Bolt EUV 2019 (Stock VOACC, LKAS)
+  {
+    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, 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, 1930: 7
   }],
 }
 

diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
@@ -29,3 +29,7 @@ mock: [10.0, 10, 0.0]
 
 # Manually checked
 HONDA CIVIC 2022: [2.5, 1.2, 0.15]
+
+# New GM Cars
+CHEVROLET SILVERADO 1500 2020: [.nan, 1.5, .nan]
+CHEVROLET BOLT EUV PREMIER 2022: [.nan, 1.5, .nan]
+11 −0		board/comms_definitions.h
+12 −14		board/drivers/usb.h
+29 −35		board/flasher.h
+1 −1		board/main.c
+168 −72		board/main_comms.h
+0 −1		board/main_declarations.h
+1 −1		board/panda.h
+12 −13		board/pedal/main.c
+0 −1		board/pedal/main_declarations.h
+38 −11		board/safety/safety_gm.h
+1 −0		board/stm32fx/stm32fx_config.h
+1 −0		board/stm32h7/stm32h7_config.h
+0 −106		board/usb_protocol.h
+1 −1		crypto/rsa.h
+0 −4		crypto/stdint.h
+2 −0		python/__init__.py
+54 −16		tests/safety/test_gm.py