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Chrysler: resume from cruise standstill #25009

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merged 3 commits into from
Jul 7, 2022
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Chrysler: resume from cruise standstill #25009

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7e62ca2
Chrysler: resume from cruise standstill
adeebshihadeh Jul 7, 2022
c4afa15
bump panda
adeebshihadeh Jul 7, 2022
1ef52ba
resume isn't set yet
adeebshihadeh Jul 7, 2022
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2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 2 files
+4 −1 board/safety/safety_chrysler.h
+15 −5 tests/safety/test_chrysler.py
6 changes: 4 additions & 2 deletions selfdrive/car/chrysler/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,11 @@ def update(self, CC, CS, low_speed_alert):

# *** control msgs ***

das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
if CC.cruiseControl.cancel:
bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, bus, cancel=True))
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
elif CC.enabled and CS.out.cruiseState.standstill:
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))

# HUD alerts
if self.frame % 25 == 0:
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3 changes: 2 additions & 1 deletion selfdrive/car/chrysler/chryslercan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,9 @@ def create_lkas_command(packer, CP, apply_steer, lat_active, frame):
return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)


def create_cruise_buttons(packer, frame, bus, cancel=False):
def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
values = {
"ACC_Cancel": cancel,
"ACC_Resume": resume,
}
return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10)