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2024-04-30 10:27:10 -05:00
parent 3733baa671
commit 0e229c0b6d
3 changed files with 24 additions and 10 deletions
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12
clearpilot_notes.txt
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@@ -1,3 +1,15 @@
example of using stdin and stdout as a message buffer: example of using stdin and stdout as a message buffer:
selfdrive/manager/build.py selfdrive/manager/build.py
pandacan: pandacan is a user space library for talking to your car over USB or Wi-Fi from Python. It allows full read/write access to all the CAN and LIN buses. “pip install pandacan”
SocketCAN: SocketCAN is the Linux standard for CAN interfaces. The included driver allows panda to work with all SocketCAN tools, including can-utils and Wireshark.
SunnyPilot lfa btn:
class HyundaiFlagsSP(IntFlag):
SP_ENHANCED_SCC = 1
SP_CAN_LFA_BTN = 2
SP_NAV_MSG = 4
LFA_Pressed
188,47: self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]

16
panda/board/safety/safety_hyundai.h
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@@ -283,16 +283,16 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
if ((addr == 0x4F1) && !hyundai_longitudinal) { if ((addr == 0x4F1) && !hyundai_longitudinal) {
int button = GET_BYTE(to_send, 0) & 0x7U; int button = GET_BYTE(to_send, 0) & 0x7U;
// bool allowed_resume = (button == 1) && controls_allowed; bool allowed_resume = (button == 1) && controls_allowed;
// bool allowed_cancel = (button == 4) && cruise_engaged_prev; bool allowed_cancel = (button == 4) && cruise_engaged_prev;
// if (!(allowed_resume || allowed_cancel)) { if (!(allowed_resume || allowed_cancel)) {
// tx = false;
// }
// CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
if (!(button == 1 || button == 2 || button == 3)) {
tx = false; tx = false;
} }
// CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
// if (!(button == 1 || button == 2 || button == 3)) {
// tx = false;
// }
} }
return tx; return tx;

4
selfdrive/car/hyundai/carcontroller.py
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@@ -121,7 +121,9 @@ class CarController(CarControllerBase):
# LFA and HDA icons # LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long): if self.frame % 5 == 0 and (not hda2 or hda2_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive)) # CLEARPILOT TEST self.CS.lkas_enabled
# can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
# blinkers # blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: