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Hyundai CAN-FD: Use ACCELERATOR for EV gear shifter positions #1280

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merged 3 commits into from
Sep 26, 2024
Merged

Hyundai CAN-FD: Use ACCELERATOR for EV gear shifter positions #1280

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91033ea
Hyundai CAN-FD: Use `ACCELERATOR` for EV gear shifter positions
sunnyhaibin Sep 25, 2024
ade2ddc
revert
sunnyhaibin Sep 25, 2024
74714ba
duplicated message checks
sunnyhaibin Sep 25, 2024
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11 changes: 8 additions & 3 deletions opendbc/car/hyundai/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,8 @@ def __init__(self, CP):
self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)

self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
self.gear_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_SHIFTER"
if CP.carFingerprint in CANFD_CAR:
Expand Down Expand Up @@ -333,8 +334,6 @@ def get_cam_can_parser(CP):

def get_can_parser_canfd(self, CP):
messages = [
(self.gear_msg_canfd, 100),
(self.accelerator_msg_canfd, 100),
("WHEEL_SPEEDS", 100),
("STEERING_SENSORS", 100),
("MDPS", 100),
Expand All @@ -346,8 +345,14 @@ def get_can_parser_canfd(self, CP):

if CP.flags & HyundaiFlags.EV:
messages += [
("ACCELERATOR", 100),
("MANUAL_SPEED_LIMIT_ASSIST", 10),
]
else:
messages += [
(self.gear_msg_canfd, 100),
(self.accelerator_msg_canfd, 100),
]

if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
messages += [
Expand Down
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