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Added the extra carstate reads

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This commit is contained in:
Ted Slesinski
2017-12-20 21:10:56 -05:00
parent 71057c586f
commit 8ff147de6d
1 changed files with 6 additions and 5 deletions
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selfdrive/car/honda/carstate.py
+6 -5
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@@ -297,7 +297,9 @@ def get_can_signals(CP):
("CRUISE_SETTING", 0x296, 0),
("LEFT_BLINKER", 0x326, 0),
("RIGHT_BLINKER", 0x326, 0),
("CRUISE_SPEED_OFFSET", 0x37c, 0)
("CRUISE_SPEED_OFFSET", 0x37c, 0),
("EPB_STATE", 0x1c2, 0),
("BRAKE_HOLD_ACTIVE", 0x1a4, 0),
]
checks = [
(0x156, 100),
@@ -306,6 +308,7 @@ def get_can_signals(CP):
(0x1a3, 50),
(0x1a4, 50),
(0x1b0, 50),
(0x1c2, 50),
(0x1d0, 50),
(0x296, 25),
(0x305, 10),
@@ -486,10 +489,8 @@ class CarState(object):
self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
# self.park_brake = cp.vl[0x1c2]['EPB_STATE'] != 0
self.park_brake = 0 # This should work but not in release dbc yet!
# self.brake_hold = cp.vl[0x1A4]['BRAKE_HOLD_ACTIVE']
self.brake_hold = 0 # This might work but not in release dbc yet!
self.park_brake = cp.vl[0x1c2]['EPB_STATE'] != 0
self.brake_hold = cp.vl[0x1a4]['BRAKE_HOLD_ACTIVE']
elif self.acura:
can_gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x156]['STEER_ANGLE']