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2024-05-04 14:55:30 -05:00
parent 8174cf8c2e
commit a81a839092
55 changed files with 78 additions and 39 deletions
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5
selfdrive/car/hyundai/hyundaicanfd.py
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@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
ret = []
values = {
"LKA_MODE": 2, # CP: Whats this?
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1 if lat_active else 0, # right mode icon
"TORQUE_REQUEST": apply_steer,
"LKA_ASSIST": 0,
@@ -137,7 +137,8 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active):
# 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
# CP: Is this actually the wheel? Might this be the HDA2 thing?
"HDA_ICON": 0, # Intention is to have this represent stock HDA mode
"LFA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0,
"LFA_ICON": 0,
# "LFA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)