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no more lkas11

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This commit is contained in:
Jason Wen
2024-04-23 20:30:26 -04:00
parent 0782e41f6f
commit 4747cd88ad
2 changed files with 14 additions and 31 deletions
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selfdrive/car/hyundai/carcontroller.py
+1 -1
View File
@@ -112,7 +112,7 @@ class CarController(CarControllerBase):
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer,
self.frame, torque_fault, CS.lkas11,
self.frame, torque_fault,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))
selfdrive/car/hyundai/hyundaicanfd.py
+13 -30
View File
@@ -37,7 +37,7 @@ class CanBus(CanBusBase):
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer,
frame, torque_fault, lkas11,
frame, torque_fault,
left_lane, right_lane,
left_lane_depart, right_lane_depart):
@@ -60,7 +60,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer,
if CP.openpilotLongitudinalControl:
if CP.flags & HyundaiFlags.CAN_CANFD:
ret.append(create_lkas11_can_canfd(packer, CAN, frame, apply_steer, lat_active,
torque_fault, lkas11, enabled,
torque_fault, enabled,
left_lane, right_lane,
left_lane_depart, right_lane_depart))
else:
@@ -84,37 +84,20 @@ def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
def create_lkas11_can_canfd(packer, CAN, frame, apply_steer, steer_req,
torque_fault, lkas11, enabled,
torque_fault, enabled,
left_lane, right_lane,
left_lane_depart, right_lane_depart):
values = {s: lkas11[s] for s in [
"CF_Lkas_LdwsActivemode",
#"CF_Lkas_LdwsSysState",
#"CF_Lkas_SysWarning",
"CF_Lkas_LdwsLHWarning",
"CF_Lkas_LdwsRHWarning",
#"CF_Lkas_HbaLamp",
#"CF_Lkas_FcwBasReq",
#"CF_Lkas_HbaSysState",
#"CF_Lkas_FcwOpt",
#"CF_Lkas_HbaOpt",
#"CF_Lkas_FcwSysState",
#"CF_Lkas_FcwCollisionWarning",
#"CF_Lkas_FusionState",
"CF_Lkas_FcwOpt_USM",
#"CF_Lkas_LdwsOpt_USM",
]}
#values["CF_Lkas_LdwsSysState"] = sys_state
#values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
values["CR_Lkas_StrToqReq"] = apply_steer
values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10
values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values = {
"CF_Lkas_LdwsLHWarning": left_lane_depart,
"CF_Lkas_LdwsRHWarning": right_lane_depart,
"CR_Lkas_StrToqReq": apply_steer,
"CF_Lkas_ActToi": steer_req,
"CF_Lkas_ToiFlt": torque_fault, # seems to allow actuation on CR_Lkas_StrToqReq
"CF_Lkas_MsgCount": frame % 0x10,
"CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
"CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
}
dat = packer.make_can_msg("LKAS11", CAN.ECAN, values)[2]