add queries

3 years ago · 61515e3233
parent 97ef84a33f
commit 61515e3233
2 changed files with 9 additions and 1 deletions
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -12,7 +12,7 @@ from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from system.swaglog import cloudlog

 Ecu = car.CarParams.Ecu
-ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa, Ecu.adas]
+ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]

 FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -284,9 +284,17 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4

 FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
+    # CAN-FD queries
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
+      [Ecu.fwdRadar],
+      bus=4,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      [Ecu.fwdCamera, Ecu.adas],
      bus=5,
    ),
    Request(