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lfahda cluster

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This commit is contained in:
Jason Wen
2024-04-22 22:53:42 -04:00
parent a97cda2dd6
commit faaaf9bbc5
2 changed files with 10 additions and 5 deletions
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selfdrive/car/hyundai/carcontroller.py
+1 -1
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@@ -123,7 +123,7 @@ class CarController(CarControllerBase):
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, can_canfd))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
selfdrive/car/hyundai/hyundaicanfd.py
+9 -4
View File
@@ -165,12 +165,17 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_lfahda_cluster(packer, CAN, enabled):
def create_lfahda_cluster(packer, CAN, enabled, can_canfd):
hda_icon = "HDA_Icon_State" if can_canfd else "HDA_ICON"
lfa_icon = "LFA_Icon_State" if can_canfd else "LFA_ICON"
values = {
"HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 2 if enabled else 0,
hda_icon: 1 if enabled else 0,
lfa_icon: 2 if enabled else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
msg = "LFAHDA_MFC" if can_canfd else "LFAHDA_CLUSTER"
return packer.make_can_msg(msg, CAN.ECAN, values)
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):