hyundai: support for controlling cruise speed via HDA (#19635)
parent
cef469cbed
commit
f205f97be0
2
opendbc
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opendbc
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@ -1 +1 @@
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Subproject commit b54a68d14075a64a4c70a677518bfff2d7cfa3be
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Subproject commit 4e8914f0c22eb4a7754e80b229b2eeec3ac22ec6
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@ -1,7 +1,7 @@
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from cereal import car
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from cereal import car
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from common.realtime import DT_CTRL
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from common.realtime import DT_CTRL
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc
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from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
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from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
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from opendbc.can.packer import CANPacker
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from opendbc.can.packer import CANPacker
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@ -82,6 +82,6 @@ class CarController():
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# 20 Hz LFA MFA message
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020]:
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020]:
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can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
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can_sends.append(create_lfahda_mfc(self.packer, enabled))
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return can_sends
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return can_sends
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@ -294,7 +294,7 @@ class CarState(CarStateBase):
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("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
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("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
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("CF_Lkas_FusionState", "LKAS11", 0),
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("CF_Lkas_FusionState", "LKAS11", 0),
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("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
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("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
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("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
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("CF_Lkas_LdwsOpt_USM", "LKAS11", 0),
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]
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]
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checks = [
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checks = [
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@ -67,21 +67,11 @@ def create_clu11(packer, frame, clu11, button):
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return packer.make_can_msg("CLU11", 0, values)
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return packer.make_can_msg("CLU11", 0, values)
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def create_lfa_mfa(packer, frame, enabled):
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def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
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values = {
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values = {
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"ACTIVE": enabled,
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"LFA_Icon_State": 2 if enabled else 0,
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"HDA_Active": 1 if hda_set_speed else 0,
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"HDA_Icon_State": 2 if hda_set_speed else 0,
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"HDA_VSetReq": hda_set_speed,
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}
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}
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# ACTIVE 1 = Green steering wheel icon
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# LFA_USM 2 & 3 = LFA cancelled, fast loud beeping
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# LFA_USM 0 & 1 = No mesage
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# LFA_SysWarning 1 = "Switching to HDA", short beep
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# LFA_SysWarning 2 = "Switching to Smart Cruise control", short beep
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# LFA_SysWarning 3 = LFA error
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# ACTIVE2: nothing
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# HDA_USM: nothing
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return packer.make_can_msg("LFAHDA_MFC", 0, values)
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return packer.make_can_msg("LFAHDA_MFC", 0, values)
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