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simplify

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This commit is contained in:
Jason Wen
2024-04-24 11:48:52 -04:00
parent 4e10353203
commit dff2aae17f
1 changed files with 13 additions and 44 deletions
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selfdrive/car/hyundai/hyundaicanfd.py
+13 -44
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@@ -329,50 +329,19 @@ def create_adrv_messages(packer, CAN, frame):
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))
msg_values = [
("RADAR_0x363", 2, {"FCA_ESA": 1}),
("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x5D}),
("RADAR_0x399", 5, {"BYTE2": 0x02}),
("RADAR_0x39a", 5, {"BYTE7": 0xFF}),
("RADAR_0x39b", 5, {}),
("RADAR_0x39c", 5, {"BYTE5": 0xE0, "BYTE6": 0x79}),
("RADAR_0x43a", 20, {"BYTE2": 0x07}),
]
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))
for addr, freq, value in msg_values:
if frame % freq == 0:
value["COUNTER"] = frame % 0xF
ret.append(packer.make_can_msg(addr, CAN.ECAN, value))
return ret