Spoof LKAS No-Fault Status

panda/board/safety/safety_gm.h

@@ -291,7 +291,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
       // block lkas message and acc messages if gm_cam_long, forward all others
       bool is_lkas_msg = (addr == 0x180);
       bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long) || (addr == 0x184);
       if (!block_msg) {
         bus_fwd = 0;
       }

selfdrive/car/gm/carcontroller.py

@@ -451,7 +451,10 @@ class CarController(CarControllerBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 20 == 0:
-        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
+        pscm_status = CS.pscm_status.copy()
+        if pscm_status["LKATorqueDeliveredStatus"] == 3:
+          pscm_status["LKATorqueDeliveredStatus"] = 1
+        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, pscm_status))
 
     new_actuators = actuators.as_builder()
     new_actuators.accel = accel

selfdrive/car/gm/carstate.py

@@ -115,7 +115,7 @@ class CarState(CarStateBase):
     # 0 inactive, 1 active, 2 temporarily limited, 3 failed
     self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
     ret.steerFaultTemporary = self.lkas_status == 2
-    ret.steerFaultPermanent = self.lkas_status == 3
+    ret.steerFaultPermanent = False  # self.lkas_status == 3
 
     if self.CP.carFingerprint not in SDGM_CAR:
       # 1 - open, 0 - closed

selfdrive/car/gm/interface.py

@@ -361,6 +361,9 @@ class CarInterface(CarInterfaceBase):
       c.longActive:
       events.add(FrogPilotEventName.pedalInterceptorNoBrake)
 
+    if self.CS.lkas_status == 3:
+      events.add(EventName.steerUnavailable)
+
     ret.events = events.to_msg()
 
     return ret, fp_ret