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Hyundai longitudinal (CAN): display AEB indicator on non-FCA cars (#29484)

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* Hyundai longitudinal (CAN): display AEB indicator on dashboard on non-FCA cars

* clear up comment

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 3b01d99d3001034890f17aaf3834c92e7e689661
This commit is contained in:
Jason Wen
2023-08-23 18:22:52 -04:00
committed by GitHub
parent 5f4b422305
commit 7b99834975
1 changed files with 8 additions and 1 deletions
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selfdrive/car/hyundai/hyundaican.py
+8 -1
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@@ -148,6 +148,13 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
"aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
"CR_VSM_Alive": idx % 0xF,
}
# show AEB disabled indicator on dash with SCC12 if not sending FCA messages.
# these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal
if not use_fca:
scc12_values["CF_VSM_ConfMode"] = 1
scc12_values["AEB_Status"] = 1 # AEB disabled
scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
@@ -171,7 +178,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
"CR_FCA_Alive": idx % 0xF,
"PAINT1_Status": 1,
"FCA_DrvSetStatus": 1,
"FCA_Status": 1, # AEB disabled
"FCA_Status": 1, # AEB disabled
}
fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])