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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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23
panda/board/safety/safety_hyundai_canfd.h
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@@ -21,12 +21,14 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = { const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS {0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON {0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTON_ALT (clearpilot)
{0x2A4, 0, 24}, // CAM_0x2A4 {0x2A4, 0, 24}, // CAM_0x2A4
}; };
const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = { const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT {0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON {0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTONS_ALT (clearpilot)
{0x362, 0, 32}, // CAM_0x362 {0x362, 0, 32}, // CAM_0x362
}; };
@@ -249,7 +251,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
int button = GET_BYTE(to_send, 2) & 0x7U; int button = GET_BYTE(to_send, 2) & 0x7U;
bool is_cancel = (button == HYUNDAI_BTN_CANCEL); bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
bool is_resume = (button == HYUNDAI_BTN_RESUME); bool is_resume = (button == HYUNDAI_BTN_RESUME);
bool is_set_decel = (button == 2); bool is_set_decel = (button == HYUNDAI_BTN_SET);
// bool allowed = (is_cancel && cruise_engaged_prev) // bool allowed = (is_cancel && cruise_engaged_prev)
// Todo: allow is_cancel anytime speed > 0 on cruiseState // Todo: allow is_cancel anytime speed > 0 on cruiseState
@@ -262,6 +264,25 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
} }
} }
// CRUISE_BUTTONS_ALT
// if (addr == 426) {
// // this gets bit 16 we want bit 36
// int button = GET_BYTE(to_send, 2) & 0x7byteU;
// bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
// bool is_resume = (button == HYUNDAI_BTN_RESUME);
// bool is_set_decel = (button == HYUNDAI_BTN_SET);
// // Canfd doc says there is a value 4 button allowed for canfd too, which one is it?
// // bool allowed = (is_cancel && cruise_engaged_prev)
// // Todo: allow is_cancel anytime speed > 0 on cruiseState
// bool allowed = (is_cancel)
// || (is_resume && controls_allowed)
// || (is_set_decel && controls_allowed);
// if (!allowed) {
// tx = false;
// }
// }
// CLEARPILOT - Allow DRIVE_MODE2 // CLEARPILOT - Allow DRIVE_MODE2
// if (addr == 1144) { // if (addr == 1144) {
// } // }

2
selfdrive/car/hyundai/carcontroller.py
View File

@@ -198,7 +198,7 @@ class CarController(CarControllerBase):
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel # cruise cancel
if CC.cruiseControl.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)) can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame self.last_button_frame = self.frame
CS.lkas_trigger_result = 1 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 bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values) 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): def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# TODO: why do we copy different values here? # TODO: why do we copy different values here?
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: