From ed9bdd949fc520984d7f31c4ec36480aefc07548 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 24 Apr 2024 00:18:20 -0400 Subject: [PATCH] don't forget lfahda_cluster checksum --- selfdrive/car/hyundai/hyundaicanfd.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 185432827b..83a70eecd2 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -158,6 +158,12 @@ def create_lfahda_cluster(packer, CAN, enabled, can_canfd): } msg = "LFAHDA_MFC" if can_canfd else "LFAHDA_CLUSTER" + if can_canfd: + lfahda_mfc_dat = packer.make_can_msg(msg, CAN.ECAN, values)[2] + lfahda_mfc_dat = lfahda_mfc_dat[1:8] + lfahda_mfc_checksum = hyundai_checksum(lfahda_mfc_dat) + values["_CHECKSUM"] = lfahda_mfc_checksum + return packer.make_can_msg(msg, CAN.ECAN, values)