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

wip

Browse Source
This commit is contained in:
Your Name
2024-03-09 10:33:28 -06:00
parent cd3bd61918
commit f6831761bf
16 changed files with 5259 additions and 643 deletions
Download Patch File Download Diff File Expand all files Collapse all files

408
selfdrive/car/hyundai/carstate.py
View File

@@ -27,32 +27,6 @@ class CarState(CarStateBase):
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_SHIFTER"
if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \
"ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \
"ACCELERATOR_BRAKE_ALT"
self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
"CRUISE_BUTTONS"
self.is_metric = False
self.buttons_counter = 0
self.cruise_info = {}
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
self.cluster_speed = 0
self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
self.params = CarControllerParams(CP)
def update(self, cp, cp_cam):
@@ -62,391 +36,15 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam)
ret = car.CarState.new_message()
cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
self.cluster_speed_counter += 1
if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
self.cluster_speed_counter = 0
# Mimic how dash converts to imperial.
# Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
# TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
ret.vEgoCluster = self.cluster_speed * speed_conv
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
# cruise state
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.available = self.main_enabled
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
ret.cruiseState.nonAdaptive = False
else:
ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
# TODO: Find brake pressure
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if self.CP.carFingerprint in HYBRID_CAR:
ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
else:
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
ret.gasPressed = ret.gas > 0
else:
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
gear = cp.vl["TCU12"]["CUR_GR"]
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if not self.CP.openpilotLongitudinalControl:
aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
ret.stockAeb = aeb_warning and aeb_braking
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.prev_main_buttons = self.main_buttons[-1]
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
# BBot functions for lfa and gap buttons - test speed up / down
self.oscar_lane_center_btn_pressed= False
self.oscar_slc_decel = False
self.oscar_slc_accel = False
self.param_memory.put("oscar_debug", "Hello World")
# if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
# self.oscar_lane_center_btn_pressed= 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
# if self.personalities_via_wheel and ret.cruiseState.available:
# # Sync with the onroad UI button
# if self.param_memory.get_bool("PersonalityChangedViaUI"):
# self.personality_profile = self.param.get_int("LongitudinalPersonality")
# self.param_memory.put_bool("PersonalityChangedViaUI", False)
# # Change personality upon steering wheel button press
# if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
# self.param_memory.put_bool("PersonalityChangedViaWheel", True)
# self.personality_profile = (self.previous_personality_profile + 2) % 3
# if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
# self.param.put_int("LongitudinalPersonality", self.personality_profile)
# self.previous_personality_profile = self.personality_profile
# # Toggle Experimental Mode from steering wheel function
# if self.experimental_mode_via_lkas and ret.cruiseState.available:
# lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
# if lkas_pressed and not self.lkas_previously_pressed:
# if self.conditional_experimental_mode:
# # Set "CEStatus" to work with "Conditional Experimental Mode"
# 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
# self.param_memory.put_int("CEStatus", override_value)
# else:
# experimental_mode = self.param.get_bool("ExperimentalMode")
# # Invert the value of "ExperimentalMode"
# put_bool_nonblocking("ExperimentalMode", not experimental_mode)
# self.lkas_previously_pressed = lkas_pressed
Watcher.log_watch("hyundai_carstate_update_self", self)
return ret
def update_canfd(self, cp, cp_cam):
Watcher.log_watch("hyundai_carstate_update_canfd_cp", cp)
Watcher.log_watch("hyundai_carstate_update_canfd_cp_cam", cp_cam)
ret = car.CarState.new_message()
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
offset = 255. if self.CP.carFingerprint in EV_CAR else 1023.
ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
ret.gasPressed = ret.gas > 1e-5
else:
ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
gear = cp.vl[self.gear_msg_canfd]["GEAR"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
# TODO: figure out positions
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
cp.vl["BLINKERS"][right_blinker_sig])
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
# cruise state
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
ret.cruiseState.available = self.main_enabled
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
else:
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
# Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
# It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
# The car will brake, but does not respect positive acceleration commands in this mode
# TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
if self.CP.carFingerprint in EV_CAR:
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.prev_main_buttons = self.main_buttons[-1]
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
else cp_cam.vl["CAM_0x2a4"])
SpeedLimitController.load_state()
SpeedLimitController.car_speed_limit = self.calculate_speed_limit_canfd(self.CP, cp, cp_cam) * speed_factor
SpeedLimitController.write_car_state()
# self.custom_speed_up = False
self.oscar_lane_center_btn_pressed = False
if ret.cruiseState.available:
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.oscar_lane_center_btn_pressed = True
lkas_pressed = False
try:
lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
except:
nothing = 0
# intentionally cause a failure
if lkas_pressed:
floog=norpdywoop
# if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
# self.oscar_lane_center_btn_pressed= True
# Driving personalities function
# if self.personalities_via_wheel and ret.cruiseState.available:
# # Sync with the onroad UI button
# if self.param_memory.get_bool("PersonalityChangedViaUI"):
# self.personality_profile = self.param.get_int("LongitudinalPersonality")
# self.param_memory.put_bool("PersonalityChangedViaUI", False)
# # Change personality upon steering wheel button press
# if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
# self.param_memory.put_bool("PersonalityChangedViaWheel", True)
# self.personality_profile = (self.previous_personality_profile + 2) % 3
# if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
# self.param.put_int("LongitudinalPersonality", self.personality_profile)
# self.previous_personality_profile = self.personality_profile
# # Toggle Experimental Mode from steering wheel function
# if self.experimental_mode_via_lkas and ret.cruiseState.available:
# lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
# if lkas_pressed and not self.lkas_previously_pressed:
# if self.conditional_experimental_mode:
# # Set "CEStatus" to work with "Conditional Experimental Mode"
# 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
# self.param_memory.put_int("CEStatus", override_value)
# else:
# experimental_mode = self.param.get_bool("ExperimentalMode")
# # Invert the value of "ExperimentalMode"
# put_bool_nonblocking("ExperimentalMode", not experimental_mode)
# self.lkas_previously_pressed = lkas_pressed
Watcher.log_watch("hyundai_carstate_update_canfd_self", self)
return ret
# BBOT does not work
def calculate_speed_limit_canfd(self, CP, cp, cp_cam):
try:
self._speed_limit_clu = cp.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
return self._speed_limit_clu if self._speed_limit_clu not in (0, 255) else 0
except:
return 0
def get_can_parser(self, CP):
if CP.carFingerprint in CANFD_CAR:
return self.get_can_parser_canfd(CP)
messages = [
# address, frequency
("MDPS12", 50),
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("CLU15", 5),
("ESP12", 100),
("CGW1", 10),
("CGW2", 5),
("CGW4", 5),
("WHL_SPD11", 50),
("SAS11", 100),
]
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
messages += [
("SCC11", 50),
("SCC12", 50),
]
if CP.flags & HyundaiFlags.USE_FCA.value:
messages.append(("FCA11", 50))
if CP.enableBsm:
messages.append(("LCA11", 50))
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
messages.append(("E_EMS11", 50))
else:
messages += [
("EMS12", 100),
("EMS16", 100),
]
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
messages.append(("ELECT_GEAR", 20))
elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
pass
elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
messages.append(("TCU12", 100))
else:
messages.append(("LVR12", 100))
messages.append(("BCM_PO_11", 50))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
@staticmethod
def get_cam_can_parser(CP):
if CP.carFingerprint in CANFD_CAR:
return CarState.get_cam_can_parser_canfd(CP)
messages = [
("LKAS11", 100)
]
if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
messages += [
("SCC11", 50),
("SCC12", 50),
]
if CP.flags & HyundaiFlags.USE_FCA.value:
messages.append(("FCA11", 50))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
def get_can_parser_canfd(self, CP):
messages = [
(self.gear_msg_canfd, 100),
(self.accelerator_msg_canfd, 100),
@@ -485,7 +83,7 @@ class CarState(CarStateBase):
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
@staticmethod
def get_cam_can_parser_canfd(CP):
def get_cam_can_parser(CP):
messages = []
if CP.flags & HyundaiFlags.CANFD_HDA2:
block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
@@ -495,6 +93,4 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)