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Radar tracks for Santa Fe (#22270) 

* Radar tracks for Santa Fe

* add radar DBC

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/22303/head
Cruise Brantley 2021-09-21 17:04:14 -05:00 committed by GitHub
parent 96c3bd85cf
commit 75730c28ca
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 7 additions and 2 deletions
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2
selfdrive/car/hyundai/interface.py
View File

@ -25,7 +25,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE]
ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE]
ret.safetyParam = 0
# Most Hyundai car ports are community features for now

2
selfdrive/car/hyundai/values.py
View File

@ -776,7 +776,7 @@ DBC = {
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),

5
selfdrive/debug/hyundai_enable_radar_points.py
View File

@ -38,6 +38,11 @@ SUPPORTED_FW_VERSIONS = {
"default_config": b"\x00\x00\x00\x01\x00\x00",
"tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
},
# 2020 SANTA FE
b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": {
"default config": b"\x00\x00\x00\x01\x00\x00",
"tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
}
}
if __name__ == "__main__":