From 5dbecc7d38038b0f84f4cf6fee7b8a0718bcadfc Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 27 Sep 2023 02:10:44 -0400 Subject: [PATCH] Hyundai: radar interface fixups (#303) --- selfdrive/car/hyundai/radar_interface.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index d8d0f6c9b4..05d368b817 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -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)