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keep more things happy

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This commit is contained in:
Jason Wen
2024-04-24 11:34:43 -04:00
parent c5d530000d
commit 4e10353203
2 changed files with 54 additions and 0 deletions
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selfdrive/car/hyundai/carcontroller.py
+2
View File
@@ -132,6 +132,8 @@ class CarController(CarControllerBase):
if self.CP.openpilotLongitudinalControl:
if hda2:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
if can_canfd:
can_sends.extend(hyundaicanfd.create_radar_aux_messages(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
if can_canfd:
can_sends.extend(hyundaicanfd.create_acc_commands_can_canfd(self.packer, self.CAN, CC.enabled, accel,
selfdrive/car/hyundai/hyundaicanfd.py
+52
View File
@@ -324,3 +324,55 @@ def create_adrv_messages(packer, CAN, frame):
ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
return ret
def create_radar_aux_messages(packer, CAN, frame):
ret = []
if frame % 2 == 0:
values = {
"COUNTER": frame % 0xF,
"FCA_ESA": 1,
}
ret.append(packer.make_can_msg("RADAR_0x363", CAN.ECAN, values))
if frame % 5 == 0:
values = {
"COUNTER": frame % 0xF,
"BYTE4": 0x80,
"BYTE5": 0x5D,
}
ret.append(packer.make_can_msg("RADAR_0x398", CAN.ECAN, values))
values = {
"COUNTER": frame % 0xF,
"BYTE2": 0x02,
}
ret.append(packer.make_can_msg("RADAR_0x399", CAN.ECAN, values))
values = {
"COUNTER": frame % 0xF,
"BYTE7": 0xFF,
}
ret.append(packer.make_can_msg("RADAR_0x39a", CAN.ECAN, values))
values = {
"COUNTER": frame % 0xF,
}
ret.append(packer.make_can_msg("RADAR_0x39b", CAN.ECAN, values))
values = {
"COUNTER": frame % 0xF,
"BYTE5": 0xE0,
"BYTE6": 0x79,
}
ret.append(packer.make_can_msg("RADAR_0x39c", CAN.ECAN, values))
if frame % 20 == 0:
values = {
"COUNTER": frame % 0xF,
"BYTE2": 0x07,
}
ret.append(packer.make_can_msg("RADAR_0x43a", CAN.ECAN, values))
return ret