From cfe294dde07815cf949b9ecc3efc84987db07b6d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 27 Jun 2023 00:36:53 -0700
Subject: [PATCH] GM: allow enabling down to a stop for Silverado/Sierra
 (#28708)

* Silverado: allow enable down to 0 without user brake

* update docs

* firmly

* better comments, fix docs

* revert docs
old-commit-hash: 82f2f9448b9c7905d6dd9ff088d9d6605ab7ef06
---
 selfdrive/car/gm/interface.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index ff578da986..d348f12722 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -224,6 +224,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.3
       ret.centerToFront = ret.wheelbase * 0.5
       tire_stiffness_factor = 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: