From 141bbf79792bcde9cfadbc0680654acf61d8d16f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 18 Oct 2022 21:01:29 -0400 Subject: [PATCH] Check 0x1a0 after safety config is set --- selfdrive/car/hyundai/interface.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index efc8bdeaa5..8dd9e79181 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -43,8 +43,6 @@ class CarInterface(CarInterfaceBase): # 2021 Santa Cruz does not have 0x130; GEARS message on 0x40 if 0x130 not in fingerprint[4]: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value - if 0x1a0 in fingerprint[6]: - ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 @@ -334,6 +332,9 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + # check which bus of 0x1a0 is broadcasting after safety config is set + if 0x1a0 in fingerprint[6]: + ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value else: ret.enableBsm = 0x58b in fingerprint[0]