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Add GM BSM

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Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent beb4faf213
commit d1bee2c971
3 changed files with 12 additions and 0 deletions
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4
selfdrive/car/gm/carstate.py
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@@ -35,6 +35,10 @@ class CarState(CarStateBase):
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
if self.CP.enableBsm:
ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
if self.loopback_lka_steering_cmd_updated: