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Hyundai: add corner radar FW query (#26143)

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* Hyundai: add corner radar FW query

* Add to both, and fix when we look at data

* add TODO

* comments

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Adeeb Shihadeh
2022-10-20 20:10:09 -07:00
committed by GitHub
parent c35e2b8e30
commit d828b69e14
1 changed files with 7 additions and 4 deletions
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selfdrive/car/hyundai/values.py
+7 -4
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@@ -292,6 +292,8 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
# CAN queries (OBD-II port)
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
@@ -302,22 +304,23 @@ FW_QUERY_CONFIG = FwQueryConfig(
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
),
# CAN-FD queries
# CAN-FD queries (camera)
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar],
whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
bus=4,
),
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.fwdCamera, Ecu.adas],
whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
bus=5,
),
],
extra_ecus=[
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
(Ecu.cornerRadar, 0x7b7, None),
],
)