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2024-02-05 00:47:17 -06:00
parent 425594dd0c
commit 072ed7e50f
3 changed files with 44 additions and 26 deletions
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@@ -0,0 +1 @@
hyundai/interface ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)

5
selfdrive/car/hyundai/carcontroller.py
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@@ -208,4 +208,9 @@ class CarController:
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame self.last_button_frame = self.frame
if CS.custom_speed_up:
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
elif CS.custom_speed_down:
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.SET_DECEL, self.CP.carFingerprint)] * 25)
return can_sends return can_sends

64
selfdrive/car/hyundai/carstate.py
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@@ -167,36 +167,48 @@ class CarState(CarStateBase):
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0: if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled self.main_enabled = not self.main_enabled
# BBot functions for lfa and gap buttons - test speed up / down
self.custom_speed_up = False
self.custom_speed_down = False
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.custom_speed_down = True
lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if lkas_pressed and not self.lkas_previously_pressed:
self.custom_speed_up = True
self.lkas_previously_pressed = lkas_pressed
# Driving personalities function # Driving personalities function
if self.personalities_via_wheel and ret.cruiseState.available: # if self.personalities_via_wheel and ret.cruiseState.available:
# Sync with the onroad UI button # # Sync with the onroad UI button
if self.param_memory.get_bool("PersonalityChangedViaUI"): # if self.param_memory.get_bool("PersonalityChangedViaUI"):
self.personality_profile = self.param.get_int("LongitudinalPersonality") # self.personality_profile = self.param.get_int("LongitudinalPersonality")
self.param_memory.put_bool("PersonalityChangedViaUI", False) # self.param_memory.put_bool("PersonalityChangedViaUI", False)
# Change personality upon steering wheel button press # # Change personality upon steering wheel button press
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0: # if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.param_memory.put_bool("PersonalityChangedViaWheel", True) # self.param_memory.put_bool("PersonalityChangedViaWheel", True)
self.personality_profile = (self.previous_personality_profile + 2) % 3 # self.personality_profile = (self.previous_personality_profile + 2) % 3
if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0: # if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
self.param.put_int("LongitudinalPersonality", self.personality_profile) # self.param.put_int("LongitudinalPersonality", self.personality_profile)
self.previous_personality_profile = self.personality_profile # self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function # # Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_lkas and ret.cruiseState.available: # if self.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"] # lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if lkas_pressed and not self.lkas_previously_pressed: # if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode: # if self.conditional_experimental_mode:
# Set "CEStatus" to work with "Conditional Experimental Mode" # # Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = self.param_memory.get_int("CEStatus") # conditional_status = self.param_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4) else 1 if conditional_status >= 5 else 2 # override_value = 0 if conditional_status in (1, 2, 3, 4) else 1 if conditional_status >= 5 else 2
self.param_memory.put_int("CEStatus", override_value) # self.param_memory.put_int("CEStatus", override_value)
else: # else:
experimental_mode = self.param.get_bool("ExperimentalMode") # experimental_mode = self.param.get_bool("ExperimentalMode")
# Invert the value of "ExperimentalMode" # # Invert the value of "ExperimentalMode"
put_bool_nonblocking("ExperimentalMode", not experimental_mode) # put_bool_nonblocking("ExperimentalMode", not experimental_mode)
self.lkas_previously_pressed = lkas_pressed # self.lkas_previously_pressed = lkas_pressed
return ret return ret