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This commit is contained in:
Jason Wen
2023-02-18 22:09:51 -05:00
parent 5cf9bab8b5
commit d97c8de5a0
1 changed files with 5 additions and 5 deletions
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selfdrive/car/hyundai/interface.py
+5 -5
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@@ -27,7 +27,11 @@ class CarInterface(CarInterfaceBase):
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
if candidate in CANFD_CAR:
# detect platforms with HKG CAN and CAN-FD definitions
if 0x50 in fingerprint[5] and 0x420 in fingerprint[4]:
ret.flags |= HyundaiFlags.CAN_CANFD.value
if candidate in CANFD_CAR and not (ret.flags & HyundaiFlags.CAN_CANFD.value):
# detect HDA2 with ADAS Driving ECU
if Ecu.adas in [fw.ecu for fw in car_fw]:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
@@ -44,10 +48,6 @@ class CarInterface(CarInterfaceBase):
if candidate not in CANFD_RADAR_SCC_CAR:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
else:
# detect platforms with HKG CAN and CAN-FD definitions
if 0x50 in fingerprint[5]:
ret.flags |= HyundaiFlags.CAN_CANFD.value
# Send LFA message on cars with HDA
lfahda_bus = 6 if ret.flags & HyundaiFlags.CAN_CANFD.value else 2
if 0x485 in fingerprint[lfahda_bus]: