brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Honda Clarity Port

Browse Source 
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent a684059f2e
commit 150422e322
9 changed files with 481 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
selfdrive/car/honda/hondacan.py
View File

@@ -33,8 +33,6 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
pcm_fault_cmd = False
values = {
"COMPUTER_BRAKE": apply_brake,
"BRAKE_PUMP_REQUEST": pump_on,
"CRUISE_OVERRIDE": pcm_override,
"CRUISE_FAULT_CMD": pcm_fault_cmd,
"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
@@ -47,6 +45,14 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
"AEB_REQ_2": 0,
"AEB_STATUS": 0,
}
if car_fingerprint == CAR.CLARITY:
values["COMPUTER_BRAKE_ALT"] = apply_brake
values["BRAKE_PUMP_REQUEST_ALT"] = apply_brake > 0
else:
values["COMPUTER_BRAKE"] = apply_brake
values["BRAKE_PUMP_REQUEST"] = pump_on
bus = get_pt_bus(car_fingerprint)
return packer.make_can_msg("BRAKE_COMMAND", bus, values)