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2024-05-20 22:26:20 -05:00
parent cb7eda64d9
commit 17fbb74695
2 changed files with 2 additions and 5 deletions
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3
panda/board/safety/safety_hyundai_canfd.h
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@@ -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 }}}, \

4
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -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,
})