From 031de6d90b35768a8f0b5bb64e4f8f53dc719ec1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 18 Oct 2022 13:07:09 -0700
Subject: [PATCH] only send our values

---
 selfdrive/car/gm/carstate.py |  6 +-----
 selfdrive/car/gm/gmcan.py    | 16 ++++++++++++----
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 424822fc62..9183991113 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -27,6 +27,7 @@ class CarState(CarStateBase):
     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_counter = pt_cp.vl["PSCMStatus"]["RollingCounter"]
 
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0
@@ -75,7 +76,6 @@ class CarState(CarStateBase):
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
 
     # 0 inactive, 1 active, 2 temporarily limited, 3 failed
-    self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
@@ -149,10 +149,6 @@ class CarState(CarStateBase):
       ("LKADriverAppldTrq", "PSCMStatus"),
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
-      ("HandsOffSWlDetectionStatus", "PSCMStatus"),
-      ("HandsOffSWDetectionMode", "PSCMStatus"),
-      ("LKATotalTorqueDelivered", "PSCMStatus"),
-      ("PSCMStatusChecksum", "PSCMStatus"),
       ("RollingCounter", "PSCMStatus"),
       ("TractionControlOn", "ESPStatus"),
       ("ParkBrake", "VehicleIgnitionAlt"),
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 2ed293dda4..76b9b99a70 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -8,10 +8,18 @@ def create_buttons(packer, bus, idx, button):
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 def create_pscm_status(packer, pscm_status):
-  checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
-  pscm_status["HandsOffSWlDetectionStatus"] = 1
-  pscm_status["PSCMStatusChecksum"] += checksum_mod
-  return packer.make_can_msg("PSCMStatus", 2, pscm_status)
+  values = {
+    "HandsOffSWDetectionMode": 1,
+    "HandsOffSWlDetectionStatus": 1,
+    "LKATorqueDeliveredStatus": 0,
+    "RollingCounter": int(pscm_status["RollingCounter"] + 1) & 0xf,
+  }
+  values["PSCMStatusChecksum"] = (0x30 + (values['HandsOffSWlDetectionStatus'] << 5) +
+                                  (values['LKATorqueDeliveredStatus'] << 3) +
+                                  (values['HandsOffSWDetectionMode'] << 3) +
+                                  values['RollingCounter'])
+
+  return packer.make_can_msg("PSCMStatus", 2, values)
 
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):