mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-09 19:39:00 +08:00
Code Issues Packages Projects Releases Wiki Activity

hyundai: fix FCA11 checksum and counter (#25027)

Browse Source 
* hyundai: fix FCA11 checksum and counter

* update refs and comment about alt DBC definition we do not support
old-commit-hash: 5352006cbd00dc84262a4789b66cba47669d6d75
This commit is contained in:
Greg Hogan
2022-10-03 19:19:39 -07:00
committed by GitHub
parent 5c99e4ca39
commit 937ca9a946
2 changed files with 5 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc
+1 -1
Submodule opendbc updated: eaac172af9...9ddcdb22c4
selfdrive/car/hyundai/hyundaican.py
+4 -6
View File
@@ -132,18 +132,16 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
}
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
# note that some vehicles most likely have an alternate checksum/counter definition
# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
fca11_values = {
# seems to count 2,1,0,3,2,1,0,3,2,1,0,3,2,1,0,repeat...
# (where first value is aligned to Supplemental_Counter == 0)
# test: [(idx % 0xF, -((idx % 0xF) + 2) % 4) for idx in range(0x14)]
"CR_FCA_Alive": ((-((idx % 0xF) + 2) % 4) << 2) + 1,
"Supplemental_Counter": idx % 0xF,
"CR_FCA_Alive": idx % 0xF,
"PAINT1_Status": 1,
"FCA_DrvSetStatus": 1,
"FCA_Status": 1, # AEB disabled
}
fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
fca11_values["CR_FCA_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in fca11_dat) % 0x10
fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
return commands