diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index b7203eb8c1..552359f334 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -47,10 +47,10 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.powertrain)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.powertrain)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 215900fef6..4746da3312 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -196,7 +196,7 @@ class CarState(CarStateBase): ("Side_Detect_R_Stat", 5), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.powertrain) @staticmethod def get_cam_can_parser(CP): diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index af80894ff8..4bd4dca96f 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -22,7 +22,7 @@ def create_lka_msg(packer): "LdwActvStats_D_Req": 0, # LDW status [0|7] "LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength } - return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values) + return packer.make_can_msg("Lane_Assist_Data1", CANBUS.powertrain, values) def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, @@ -60,7 +60,7 @@ def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } - return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) + return packer.make_can_msg("LateralMotionControl", CANBUS.powertrain, values) def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): @@ -112,7 +112,7 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed } - return packer.make_can_msg("IPMA_Data", CANBUS.main, values) + return packer.make_can_msg("IPMA_Data", CANBUS.powertrain, values) def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): @@ -146,7 +146,7 @@ def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_v **stock_values, "Tja_D_Stat": status, } - return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) + return packer.make_can_msg("ACCDATA_3", CANBUS.powertrain, values) def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 87cb98878d..42c0ab1bb1 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -34,7 +34,7 @@ class CarControllerParams: class CANBUS: - main = 0 + powertrain = 0 radar = 1 camera = 2