GM: Chevy Bolt EV 2022-23 (#25430)

* Chevy Bolt EV w ACC Port

* dashcam

* The website allows you to select the package without ACC

* fix Bolt E(U)V centerToFront

* Update selfdrive/car/gm/values.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

selfdrive/car/gm/interface.py

@@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
     # 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, CAR.EQUINOX}
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.minSteerSpeed = 10 * CV.KPH_TO_MS
@@ -138,23 +138,23 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1601. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
-      ret.centerToFront = ret.wheelbase * 0.49
+      ret.centerToFront = ret.wheelbase * 0.5
 
     elif candidate == CAR.ESCALADE_ESV:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.mass = 2739. + STD_CARGO_KG
       ret.wheelbase = 3.302
       ret.steerRatio = 17.3
-      ret.centerToFront = ret.wheelbase * 0.49
+      ret.centerToFront = ret.wheelbase * 0.5
       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
       tire_stiffness_factor = 1.0
 
-    elif candidate == CAR.BOLT_EUV:
+    elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
       ret.minEnableSpeed = -1
       ret.mass = 1669. + STD_CARGO_KG
-      ret.wheelbase = 2.675
+      ret.wheelbase = 2.63779
       ret.steerRatio = 16.8
       ret.centerToFront = 2.15  # measured
       tire_stiffness_factor = 1.0

selfdrive/car/gm/values.py

@@ -58,6 +58,7 @@ class CAR:
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
+  BOLT_EV = "CHEVROLET BOLT EV 2022"
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
   EQUINOX = "CHEVROLET EQUINOX 2019"
@@ -85,6 +86,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   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"),
+  CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm),
   CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
   CAR.SILVERADO: [
     GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
@@ -176,9 +178,9 @@ FINGERPRINTS = {
 
 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}
+EV_CAR = {CAR.VOLT, CAR.BOLT_EV, 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}
+CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
 
 STEER_THRESHOLD = 1.0

selfdrive/car/tests/routes.py

@@ -22,6 +22,7 @@ non_tested_cars = [
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
   GM.EQUINOX,
+  GM.BOLT_EV,
   HYUNDAI.ELANTRA_GT_I30,
   HYUNDAI.GENESIS_G90,
   HYUNDAI.KIA_OPTIMA_H,

selfdrive/car/torque_data/override.yaml

@@ -25,6 +25,7 @@ KIA EV6 2022: [3.5, 3.0, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]