From 3b01d99d3001034890f17aaf3834c92e7e689661 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 23 Aug 2023 18:22:52 -0400 Subject: [PATCH] Hyundai longitudinal (CAN): display AEB indicator on non-FCA cars (#29484) * Hyundai longitudinal (CAN): display AEB indicator on dashboard on non-FCA cars * clear up comment --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/hyundaican.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 64fc241273..0083974020 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -148,6 +148,13 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s "aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw "CR_VSM_Alive": idx % 0xF, } + + # show AEB disabled indicator on dash with SCC12 if not sending FCA messages. + # these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal + if not use_fca: + scc12_values["CF_VSM_ConfMode"] = 1 + scc12_values["AEB_Status"] = 1 # AEB disabled + scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2] scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10 @@ -171,7 +178,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s "CR_FCA_Alive": idx % 0xF, "PAINT1_Status": 1, "FCA_DrvSetStatus": 1, - "FCA_Status": 1, # AEB disabled + "FCA_Status": 1, # AEB disabled } fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])