From fcba2da255ba748ea00740a728c38a53ab2db88e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 19 Oct 2022 20:24:45 -0700
Subject: [PATCH] revert, forward msg

---
 panda                             |  2 +-
 selfdrive/car/gm/carcontroller.py |  2 +-
 selfdrive/car/gm/carstate.py      |  3 +--
 selfdrive/car/gm/gmcan.py         | 17 +----------------
 4 files changed, 4 insertions(+), 20 deletions(-)

diff --git a/panda b/panda
index 02b74fcfe1..55a1c08a90 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 02b74fcfe19cbb000e5fb696e028f6f67690c20c
+Subproject commit 55a1c08a90b04ba532eaa6a19b678ed6ebe6d642
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 86fc7e349d..6f82ae3b44 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -112,7 +112,7 @@ class CarController:
 
     else:
       # Silence "Take Steering" alert sent by camera, send PSCMStatus with HandsOffSWlDetectionStatus=1
-      if self.frame % 100 == 0:
+      if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CS.pscm_status, CS.pscm_status_counter))
 
       # Stock longitudinal, integrated at camera
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 7cb6aaea30..d5add34159 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -27,7 +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"]
+    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"]) > 0
@@ -76,7 +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
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 0a14425bb1..2ed293dda4 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -7,27 +7,12 @@ def create_buttons(packer, bus, idx, button):
   }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
-def create_pscm_status(packer, pscm_status, idx):
+def create_pscm_status(packer, pscm_status):
   checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
-  checksum_mod += ((pscm_status["RollingCounter"] + 1) & 0xf) - pscm_status["RollingCounter"]
   pscm_status["HandsOffSWlDetectionStatus"] = 1
-  pscm_status["RollingCounter"] += 1  # wraps around
   pscm_status["PSCMStatusChecksum"] += checksum_mod
   return packer.make_can_msg("PSCMStatus", 2, pscm_status)
 
-  # values = {
-  #   "HandsOffSWDetectionMode": 1,
-  #   "HandsOffSWlDetectionStatus": 1,
-  #   "LKATorqueDeliveredStatus": 0,
-  #   "RollingCounter": int(idx + 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):
 
   values = {