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Hyundai CAN-FD HDA2: specify signals to suppress LFA (#29658)

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* Hyundai CAN-FD HDA2: specify signals to suppress LFA

* bump opendbc

* Fix

* Update comment

* fix

* closer to original

* preserve behavior

* Revert "preserve behavior"

This reverts commit 6549c085ab6bdd093f7668e7df79cd85350bc028.

* preserve behavior

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 67177b2ca393f51a45a97fcdac14be454b224c8c
This commit is contained in:
Jason Wen
2023-08-29 01:58:43 -04:00
committed by GitHub
parent dfe6c4729e
commit 4f6347d5b1
3 changed files with 8 additions and 5 deletions
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2
opendbc

Submodule opendbc updated: 25dd2b50fc...814763889d

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

@@ -110,7 +110,7 @@ class CarController:
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
# disable LFA on HDA2
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and hda2:
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))

9
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -61,9 +61,12 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
return ret
def create_cam_0x2a4(packer, CAN, cam_0x2a4):
values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)}
values['COUNTER'] = cam_0x2a4['COUNTER']
values["BYTE7"] = 0
values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24) if i != 7}
values["COUNTER"] = cam_0x2a4["COUNTER"]
values["SET_ME_0"] = 0
values["SET_ME_0_2"] = 0
values["LEFT_LANE_LINE"] = 0
values["RIGHT_LANE_LINE"] = 0
return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
def create_buttons(packer, CP, CAN, cnt, btn):