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Hyundai: Longitudinal support for Camera SCC cars (CAN for now)

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This commit is contained in:
Jason Wen
2022-10-15 16:24:54 -04:00
parent 553068f8c3
commit 1553900777
3 changed files with 5 additions and 5 deletions
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panda
+1 -1
Submodule panda updated: 62868c36a8...c22894274b
selfdrive/car/hyundai/carcontroller.py
+2 -2
View File
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -84,7 +84,7 @@ class CarController:
# *** common hyundai stuff ***
# tester present - w/ no response (keeps relevant ECU disabled)
if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in CAMERA_SCC_CAR:
addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5
selfdrive/car/hyundai/interface.py
+2 -2
View File
@@ -296,7 +296,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiV = [0.0]
ret.longitudinalActuatorDelayLowerBound = 0.5
ret.longitudinalActuatorDelayUpperBound = 0.5
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
ret.experimentalLongitudinalAvailable = candidate not in LEGACY_SAFETY_MODE_CAR
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
@@ -347,7 +347,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def init(CP, logcan, sendcan):
if CP.openpilotLongitudinalControl:
if CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5