diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 347c16c86f..8132d765c7 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -229,7 +229,7 @@ class CarController: pcm_override = True can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw_display, - self.CP.carFingerprint, CS.stock_brake)) + self.CP.carFingerprint, CS.stock_brake_chime)) self.apply_brake_last = apply_brake self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index bcc239c2df..c7df6bba15 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -294,7 +294,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint not in HONDA_BOSCH: ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0 self.acc_hud = cp_cam.vl["ACC_HUD"] - self.stock_brake = cp_cam.vl["BRAKE_COMMAND"] + self.stock_brake_chime = cp_cam.vl["BRAKE_COMMAND"]["CHIME"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: self.lkas_hud = cp_cam.vl["LKAS_HUD"] diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 1fe0a13767..4c6276b338 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -26,7 +26,7 @@ def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float: return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS -def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): +def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake_chime): # TODO: do we loose pressure if we keep pump off for long? brakelights = apply_brake > 0 brake_rq = apply_brake > 0 @@ -41,7 +41,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_ "COMPUTER_BRAKE_REQUEST": brake_rq, "SET_ME_1": 1, "BRAKE_LIGHTS": brakelights, - "CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw + "CHIME": stock_brake_chime if fcw else 0, # send the chime for stock fcw "FCW": fcw << 1, # TODO: Why are there two bits for fcw? "AEB_REQ_1": 0, "AEB_REQ_2": 0,