From 2f9d425859c2a190ca69e5ba9fa2ee7adb32a33a Mon Sep 17 00:00:00 2001 From: Your Name Date: Tue, 21 May 2024 00:19:09 -0500 Subject: [PATCH] wip --- panda/board/safety/safety_hyundai_canfd.h | 6 ++++-- selfdrive/car/hyundai/carcontroller.py | 8 ++++---- selfdrive/car/hyundai/hyundaicanfd.py | 1 + 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/panda/board/safety/safety_hyundai_canfd.h b/panda/board/safety/safety_hyundai_canfd.h index e32f0ef..edcce2f 100755 --- a/panda/board/safety/safety_hyundai_canfd.h +++ b/panda/board/safety/safety_hyundai_canfd.h @@ -21,14 +21,16 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = { const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = { {0x50, 0, 16}, // LKAS {0x1CF, 1, 8}, // CRUISE_BUTTON - {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT + {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT + {0x1A0, 1, 32}, // CRUISE_INFO {0x2A4, 0, 24}, // CAM_0x2A4 }; const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = { {0x110, 0, 32}, // LKAS_ALT {0x1CF, 1, 8}, // CRUISE_BUTTON - {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT + {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT + {0x1A0, 1, 32}, // CRUISE_INFO {0x362, 0, 32}, // CAM_0x362 }; diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 8409a2c..5d54647 100755 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -134,12 +134,12 @@ class CarController(CarControllerBase): # params_memory = Params("/dev/shm/params") params_memory = Params("/dev/shm/params") if params_memory.get_bool("CPTLkasButtonAction"): - if self.frame % 10 == 0: - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL, CS.cruise_can_msg)) + # if self.frame % 10 == 0: + # for _ in range(20): + # can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL, CS.cruise_can_msg)) print("Decel") # can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) - # can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50)) + can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50)) # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) # print("Debug cancel executed") diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 1179cbc..dc37bc1 100755 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -129,6 +129,7 @@ def create_buttons(packer, CP, CAN, cnt, btn): def create_buttons_alt(packer, CP, CAN, cnt, btn, template): + return params_memory = Params("/dev/shm/params") CarCruiseDisplayActual = params_memory.get_float("CarCruiseDisplayActual")