From b65f516cb8bf0111dc3d9ca93e8e407c234fd4fd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 19 Oct 2022 23:41:54 -0700
Subject: [PATCH] GM camera ACC: hide take steering alert (#26010)

* add all signals

* try to forward this PSCMStatus

* fixes

* see if this works

* modify checksum when bit flipped

* bump opendbc

* so i can test without restarting

* bump

* bump panda

* clean up

* comment

* also fix this

* bump

* bump

* every 5 seconds

* only send our values

* fix

* try sending everything again (+1 counter)

* revert

* revert, forward msg

* forward

* fix that

* bump panda

* bump panda

* fine to not copy

* after cancel, pass bus

* fix

* Revert "fine to not copy"

This reverts commit 654ac1a7dad4f7b9b0a3de52768522fb60cc55bd.
old-commit-hash: 63d552cafc6e4728cfe097e7a3f8e3f5cd98a566
---
 panda                             | 2 +-
 selfdrive/car/gm/carcontroller.py | 4 ++++
 selfdrive/car/gm/carstate.py      | 7 +++++++
 selfdrive/car/gm/gmcan.py         | 6 ++++++
 4 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/panda b/panda
index 723e60cb43..54f9390ff5 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 723e60cb435ad5d3b6a8e99080be46a6590259cd
+Subproject commit 54f9390ff51b4fb0c2b3a81b9cde8727acdd1977
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 7c883dacc0..dbad355c46 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -117,6 +117,10 @@ class CarController:
           self.last_button_frame = self.frame
           can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
+      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
+      if self.frame % 10 == 0:
+        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
+
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
     # If not sent again, LKA icon disappears in about 5 seconds.
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index b651606b79..de63f56eab 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,3 +1,4 @@
+import copy
 from cereal import car
 from common.conversions import Conversions as CV
 from common.numpy_fast import mean
@@ -26,6 +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 = copy.copy(pt_cp.vl["PSCMStatus"])
 
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@@ -147,6 +149,11 @@ class CarState(CarStateBase):
       ("LKADriverAppldTrq", "PSCMStatus"),
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
+      ("HandsOffSWlDetectionStatus", "PSCMStatus"),
+      ("HandsOffSWDetectionMode", "PSCMStatus"),
+      ("LKATotalTorqueDelivered", "PSCMStatus"),
+      ("PSCMStatusChecksum", "PSCMStatus"),
+      ("RollingCounter", "PSCMStatus"),
       ("TractionControlOn", "ESPStatus"),
       ("ParkBrake", "VehicleIgnitionAlt"),
       ("CruiseMainOn", "ECMEngineStatus"),
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 20e4c4ab6e..ec046dc3c2 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -7,6 +7,12 @@ def create_buttons(packer, bus, idx, button):
   }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
+def create_pscm_status(packer, bus, 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", bus, pscm_status)
+
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   values = {