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can do this

This commit is contained in:
Shane Smiskol 2024-05-21 16:59:07 -07:00
parent 75c01fb4c5
commit c3d311b2ff
1 changed files with 8 additions and 7 deletions
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15
selfdrive/car/ford/interface.py
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@ -42,14 +42,15 @@ class CarInterface(CarInterfaceBase):
else:
# Lock out if the car does not have needed lateral and longitudinal control APIs.
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
pscm_config = next((fw.response for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
if pscm_config is None or len(pscm_config) != 24:
ret.dashcamOnly = True
else:
config_tja = pscm_config[7] # Traffic Jam Assist
config_lca = pscm_config[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
pscm_config = next((fw.response for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), b"")
if not docs:
if len(pscm_config) != 24:
ret.dashcamOnly = True
else:
config_tja = pscm_config[7] # Traffic Jam Assist
config_lca = pscm_config[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
ret.dashcamOnly = True
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]