From beba07f9fc5a9adfad1d240fb6a2d2aabdadd092 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 6 Oct 2022 17:37:50 -0700
Subject: [PATCH] try to forward this PSCMStatus

---
 panda                             | 2 +-
 selfdrive/car/gm/carcontroller.py | 3 +++
 selfdrive/car/gm/carstate.py      | 1 +
 selfdrive/car/gm/gmcan.py         | 8 ++++++++
 4 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/panda b/panda
index 3334dc21f5..b76f242955 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 3334dc21f5c55007c5a754dfd8ee5d642be3e2bb
+Subproject commit b76f242955c68eb7dbe683d362a61bd6948a93a2
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 977d20c5b3..08263be460 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -108,6 +108,9 @@ class CarController:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
     else:
+      if self.frame % 10 == 0:
+        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CS.pscm_status))
+
       # Stock longitudinal, integrated at camera
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if CC.cruiseControl.cancel:
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 9d1659b99d..b0ede2cd80 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -59,6 +59,7 @@ class CarState(CarStateBase):
     self.lka_steering_cmd_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     # 0 inactive, 1 active, 2 temporarily limited, 3 failed
+    self.pscm_status = pt_cp.vl["PSCMStatus"]
     self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 20e4c4ab6e..9f62c74bd6 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,5 +1,6 @@
 from selfdrive.car import make_can_msg
 
+
 def create_buttons(packer, bus, idx, button):
   values = {
     "ACCButtons": button,
@@ -7,6 +8,13 @@ def create_buttons(packer, bus, idx, button):
   }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
+
+def create_pscm_status(packer, pscm_status):
+  values = pscm_status.copy()
+  values["LKASteeringCmdActive"] = 0
+  values["LKASteeringCmd"] = 0
+  return packer.make_can_msg("PSCMStatus", 2, values)
+
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   values = {