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Hyundai: radar interface fixups (#303)

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This commit is contained in:
Jason Wen
2023-09-27 02:10:44 -04:00
committed by GitHub
parent 67208ee372
commit 5dbecc7d38
1 changed files with 3 additions and 2 deletions
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selfdrive/car/hyundai/radar_interface.py
+3 -2
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@@ -12,10 +12,11 @@ RADAR_MSG_COUNT = 32
def get_radar_can_parser(CP):
if DBC[CP.carFingerprint]['radar'] is None:
if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
messages = ("ESCC", 50)
return CANParser(DBC[CP.carFingerprint]['pt'], messages, 0)
lead_src, bus = "ESCC", 0
else:
return None
messages = [(lead_src, 50)]
return CANParser(DBC[CP.carFingerprint]['pt'], messages, bus)
messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1)