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GM: remove GMLAN dash msg (#30547) 

* remove GMLAN

* update refs
old-commit-hash: af137bac58
This commit is contained in:
Adeeb Shihadeh 2024-01-08 19:49:22 -08:00 committed by GitHub
parent 2b6bc47a6a
commit 422c8407f4
3 changed files with 1 additions and 17 deletions
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15
selfdrive/car/gm/carcontroller.py
View File

@ -154,21 +154,6 @@ class CarController:
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.
# Conveniently, sending camera message periodically also works as a keepalive.
lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
# SW_GMLAN not yet on cam harness, no HUD alerts
if self.CP.networkLocation != NetworkLocation.fwdCamera and \
(self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
self.lka_icon_status_last = lka_icon_status
new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last

1
selfdrive/car/gm/values.py
View File

@ -139,7 +139,6 @@ class CanBus:
OBSTACLE = 1
CAMERA = 2
CHASSIS = 2
SW_GMLAN = 3
LOOPBACK = 128
DROPPED = 192

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
94d2c0b18c2829b487fd23f079b08e9e3c75f4b4
80c700f9b87e069dcb5b7ec76cd6036667615f2e