From eaedfb9a66012b82091c4b602184a0078d7f0c25 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 23:31:24 -0700 Subject: [PATCH] Hyundai CAN-FD: use cruise signals from SCC ECU (#26171) * Hyundai CAN-FD: use cruise signals from SCC ECU * bump panda * bumppanda * update refs --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index dd751862c3..723e60cb43 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit dd751862c34f6a9c9c95748acaf31b8534b42497 +Subproject commit 723e60cb435ad5d3b6a8e99080be46a6590259cd diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 5da1dd72c8..60d434a603 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -189,13 +189,13 @@ class CarState(CarStateBase): cp.vl["BLINKERS"]["RIGHT_LAMP"]) ret.cruiseState.available = True - ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1 self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1 if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 + ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0 self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" @@ -452,6 +452,7 @@ class CarState(CarStateBase): if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ + ("CRUISE_STATUS", "CRUISE_INFO"), ("SET_SPEED", "CRUISE_INFO"), ("CRUISE_STANDSTILL", "CRUISE_INFO"), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b0613393ad..84658effee 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a87455caf93e91fae0f3704aa476e0732d066b77 \ No newline at end of file +1f41cd8bbf2431ae89c489a81698120d14a44145 \ No newline at end of file