From 75efad52eabf008ad87337b1e5fadadaaf21756c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 7 May 2022 01:00:43 -0700 Subject: [PATCH] Chrysler: add ACC fault signal (#24398) * add accFaulted event for Chrysler * add the signal * no class variables * available when not 1 * revert * bump opendbc to master * if not 0 --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index e19ba095c3..919154efe2 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e19ba095c3ee288d629284e24ec7e0deaf645f3f +Subproject commit 919154efe2bd07c4dd124d7e6a11a4afc8685f9d diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 5f83bbde8b..6dcd2cea62 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -53,6 +53,7 @@ class CarState(CarStateBase): ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) + ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0 ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] @@ -93,6 +94,7 @@ class CarState(CarStateBase): ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), ("ACC_STATUS_2", "ACC_2"), + ("ACC_FAULTED", "ACC_2"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), ("CRUISE_STATE", "DASHBOARD"),