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Hyundai CAN-FD: Universal gear checks #32732

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Hyundai CAN-FD: Universal gear checks #32732

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14 changes: 8 additions & 6 deletions selfdrive/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,14 +48,16 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
# non-HDA2
if 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
if candidate not in CANFD_RADAR_SCC_CAR:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value

# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
# Applies to both HDA2 and non-HDA2
if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
else:
# TODO: detect EV and hybrid
if candidate in HYBRID_CAR:
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