From 17fbb74695ee8c91a870715683ccdc46ea13187d Mon Sep 17 00:00:00 2001 From: Your Name Date: Mon, 20 May 2024 22:26:20 -0500 Subject: [PATCH] wip --- panda/board/safety/safety_hyundai_canfd.h | 3 --- selfdrive/car/hyundai/hyundaicanfd.py | 4 ++-- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/panda/board/safety/safety_hyundai_canfd.h b/panda/board/safety/safety_hyundai_canfd.h index 0949f3d..fbbc4e6 100755 --- a/panda/board/safety/safety_hyundai_canfd.h +++ b/panda/board/safety/safety_hyundai_canfd.h @@ -73,9 +73,6 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = { #define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \ {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \ -// #define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \ -// {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \ - // SCC_CONTROL (from ADAS unit or camera) #define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \ {.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \ diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 65d0704..7e9ffbc 100755 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -132,7 +132,7 @@ def create_acc_set_speed(packer, CP, CAN, cruise_info_copy, speed): def create_acc_cancel(packer, CP, CAN, cruise_info_copy): - # why are we executing this at all? + # This does nothing on the tucson # TODO: why do we copy different values here? if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: values = {s: cruise_info_copy[s] for s in [ @@ -156,7 +156,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy): "CRUISE_STANDSTILL", ]} values.update({ - "ACCMode": 0, # testing 1 instead of 4 + "ACCMode": 4, # testing 1 instead of 4 "aReqRaw": 0.0, "aReqValue": 0.0, })