Merge branch 'gm-new-gears' into gm-silverado-wip

selfdrive/car/gm/carstate.py

@@ -12,7 +12,7 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]
+    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
 
   def update(self, pt_cp, loopback_cp):
@@ -30,7 +30,10 @@ class CarState(CarStateBase):
     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)
     ret.standstill = ret.vEgoRaw < 0.01
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
+    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))
 
     # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
     ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
@@ -97,7 +100,8 @@ class CarState(CarStateBase):
       ("FRWheelSpd", "EBCMWheelSpdFront"),
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
-      ("PRNDL", "ECMPRDNL"),
+      ("PRNDL2", "ECMPRDNL2"),
+      ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
@@ -108,7 +112,7 @@ class CarState(CarStateBase):
 
     checks = [
       ("BCMTurnSignals", 1),
-      ("ECMPRDNL", 10),
+      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),