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2024-05-04 02:27:40 -05:00
parent 0328d5737c
commit 28338468d3
3 changed files with 33 additions and 2 deletions
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2
selfdrive/car/hyundai/carcontroller.py
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@@ -198,7 +198,7 @@ class CarController(CarControllerBase):
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel
if CC.cruiseControl.cancel:
if False and self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame
CS.lkas_trigger_result = 1

10
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -83,6 +83,16 @@ def create_buttons(packer, CP, CAN, cnt, btn):
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
# def create_buttons_alt(packer, CP, CAN, cnt, btn):
# values = {
# "COUNTER": cnt,
# "SET_ME_1": 1,
# "CRUISE_BUTTONS": btn,
# }
# bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
# return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# TODO: why do we copy different values here?
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: