From 3960a122e9cfd5a89532e4a24f2993328fffc07f Mon Sep 17 00:00:00 2001
From: lucky lin <8618993@qq.com>
Date: Fri, 21 Mar 2025 14:08:14 +0800
Subject: [PATCH] CT6 ADJUST

---
 selfdrive/car/gm/carstate.py  | 20 +++++++++++---------
 selfdrive/car/gm/interface.py | 12 ++++++++++--
 2 files changed, 21 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 910ea247..534578e0 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -197,10 +197,11 @@ class CarState(CarStateBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       if self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      if self.CP.carFingerprint not in SDGM_CAR:
-        ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      else:
-        ret.stockAeb = False
+      ##### CT6 ADJUST
+      ##### if self.CP.carFingerprint not in SDGM_CAR:
+      #####   ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      ##### else:
+      #####   ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
       if self.CP.pcmCruise:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
@@ -330,11 +331,12 @@ class CarState(CarStateBase):
 
         if CP.enableBsm:
           messages.append(("BCMBlindSpotMonitor", 10))
-      else:
-        messages += [
-          ("AEBCmd", 10),
-          # ("ECMPRDNL2", 10), #10Hz # ONSTAR_GPS_TEST
-        ]
+      ##### CT6 ADJUST
+      ##### else:
+      #####   messages += [
+      #####     ("AEBCmd", 10),
+      #####     # ("ECMPRDNL2", 10), #10Hz # ONSTAR_GPS_TEST
+      #####   ]
       if CP.carFingerprint not in CC_ONLY_CAR:
         messages += [
           ("ASCMActiveCruiseControlStatus", 25),
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index e0a79352..fb0536bd 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -132,7 +132,11 @@ class CarInterface(CarInterfaceBase):
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
       ret.pcmCruise = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ##### CT6 ADJUST
+      if params.get_bool("UseRedPanda"):
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM
+      else:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
@@ -150,7 +154,11 @@ class CarInterface(CarInterfaceBase):
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        ##### CT6 ADJUST
+        if params.get_bool("UseRedPanda"):
+          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        else:
+          ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
     elif candidate in SDGM_CAR:
       ret.experimentalLongitudinalAvailable = False