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This commit is contained in:
Jason Wen
2023-06-03 11:16:29 -04:00
parent ed82ff82fd
commit 9c83051ec0
1 changed files with 2 additions and 1 deletions
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selfdrive/car/hyundai/hyundaicanfd.py
+2 -1
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@@ -11,13 +11,14 @@ class CanBus:
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
else:
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
can_canfd_hda2 = CP.flags & HyundaiFlags.CAN_CANFD_HDA2
num = len(CP.safetyConfigs)
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split
# a different bus, since the steering is done by different ECUs.
self._a, self._e = 1, 0
if hda2:
if hda2 or can_canfd_hda2:
self._a, self._e = 0, 1
offset = 4*(num - 1)