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Add hondacan changes

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This commit is contained in:
Ted Slesinski
2017-11-28 17:14:40 -05:00
committed by Ted Slesinski
parent 8eebd19884
commit e9c477dcf2
1 changed files with 7 additions and 4 deletions
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selfdrive/car/honda/hondacan.py
+7 -4
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@@ -79,7 +79,7 @@ def create_steering_control(apply_steer, crv, idx):
commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
return commands
def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
def create_ui_commands(pcm_speed, hud, civic, accord, crv, odyssey, idx):
"""Creates an iterable of CAN messages for the UIs."""
commands = []
pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
@@ -90,17 +90,17 @@ def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
msg_0x33d = chr(hud.X5) + chr(hud.lanes) + chr(hud.beep) + chr(hud.X8)
commands.append(make_can_msg(0x33d, msg_0x33d, idx, 0))
if civic: # 2 more msgs
if civic or odyssey: # 2 more msgs
msg_0x35e = chr(0) * 7
commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
if civic or accord:
if civic or accord or odyssey:
msg_0x39f = (
chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0)
)
commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
return commands
def create_radar_commands(v_ego, civic, accord, crv, idx):
def create_radar_commands(v_ego, civic, accord, crv, odyssey, idx):
"""Creates an iterable of CAN messages for the radar system."""
commands = []
v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
@@ -122,6 +122,9 @@ def create_radar_commands(v_ego, civic, accord, crv, idx):
elif crv:
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
elif odyssey:
msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
else:
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))