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firestar5683
2026-02-16 13:07:55 -06:00
parent 5fbaebc91c
commit f4da6a3e3b
2 changed files with 5 additions and 3 deletions
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selfdrive/car/gm/carcontroller.py
+2 -1
View File
@@ -483,7 +483,8 @@ class CarController(CarControllerBase):
acc_engaged = CC.enabled
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop,
include_always_one3=self.CP.carFingerprint in kaofui_cars))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
idx, CC.enabled, near_stop, at_full_stop, self.CP))
selfdrive/car/gm/gmcan.py
+3 -2
View File
@@ -118,7 +118,7 @@ def create_adas_keepalive(bus):
return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False):
values = {
"GasRegenCmdActive": enabled,
"RollingCounter": idx,
@@ -127,8 +127,9 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
"GasRegenFullStopActive": at_full_stop,
"GasRegenAlwaysOne": 1,
"GasRegenAlwaysOne2": 1,
"GasRegenAlwaysOne3": 1,
}
if include_always_one3:
values["GasRegenAlwaysOne3"] = 1
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \