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2024-05-14 03:17:23 -05:00
parent 9404ae4f1f
commit 6efe858dfc
28 changed files with 601 additions and 32 deletions
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4
selfdrive/car/hyundai/carcontroller.py
View File

@@ -200,9 +200,9 @@ class CarController(CarControllerBase):
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# pass
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# CS.lkas_trigger_result = 1
CS.lkas_trigger_result = 1
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))

19
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -88,15 +88,16 @@ 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,
# }
def create_buttons_alt(packer, CP, CAN, cnt, btn):
values = {
"COUNTER": cnt,
"SET_ME_1": 1,
"SET_ME_2": 2,
"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)
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):
# why are we executing this at all?
@@ -123,7 +124,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
"CRUISE_STANDSTILL",
]}
values.update({
"ACCMode": 1, # testing 1 instead of 4
"ACCMode": 4, # testing 1 instead of 4
"aReqRaw": 0.0,
"aReqValue": 0.0,
})