mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 18:53:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

Hyundai: common CAN-FD brake pressed signal (#26170)

Browse Source 
* Hyundai: common CAN-FD brake pressed signal

* new name

* bump panda

* bump opendbc to master

* bump opendbc

* bump panda

* bump panda

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Adeeb Shihadeh
2022-10-20 19:55:04 -07:00
committed by GitHub
parent 63035e535b
commit c35e2b8e30
4 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
opendbc

Submodule opendbc updated: 8f245e6ef5...7bd94e3ff4

2
panda

Submodule panda updated: 54f9390ff5...fcb1a5a8e2

8
selfdrive/car/hyundai/carstate.py
View File

@@ -159,7 +159,7 @@ class CarState(CarStateBase):
elif self.CP.carFingerprint in HYBRID_CAR:
ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
ret.gasPressed = ret.gas > 1e-5
ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
@@ -415,7 +415,6 @@ class CarState(CarStateBase):
("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
("GEAR", "GEAR_SHIFTER"),
("BRAKE_PRESSED", "BRAKE"),
("STEERING_RATE", "STEERING_SENSORS"),
("STEERING_ANGLE", "STEERING_SENSORS"),
@@ -423,7 +422,8 @@ class CarState(CarStateBase):
("STEERING_OUT_TORQUE", "MDPS"),
("LKA_FAULT", "MDPS"),
("CRUISE_ACTIVE", "SCC1"),
("DriverBraking", "TCS"),
("COUNTER", cruise_btn_msg),
("CRUISE_BUTTONS", cruise_btn_msg),
("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
@@ -443,7 +443,7 @@ class CarState(CarStateBase):
("BRAKE", 100),
("STEERING_SENSORS", 100),
("MDPS", 100),
("SCC1", 50),
("TCS", 50),
(cruise_btn_msg, 50),
("CLUSTER_INFO", 4),
("BLINKERS", 4),

8
selfdrive/debug/can_print_changes.py
View File

@@ -54,6 +54,7 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False):
update(new_msgs, bus, dat, low_to_high, high_to_low)
else:
# Live mode
print(f"Waiting for messages on bus {bus}")
try:
while 1:
can_recv = messaging.drain_sock(logcan)
@@ -89,14 +90,17 @@ if __name__ == "__main__":
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
parser.add_argument("--table", action="store_true", help="Print a cabana-like table")
parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with")
parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.")
parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init")
args = parser.parse_args()
init_lr, new_lr = None, None
if args.init:
init_lr = logreader_from_route_or_segment(args.init)
if args.init == '':
init_lr = []
else:
init_lr = logreader_from_route_or_segment(args.init)
if args.comp:
new_lr = logreader_from_route_or_segment(args.comp)