Fix cruise resume from standstill when ALT_BUTTONS are used.

This is needed for the Kia Caravan '25.
commaai · Dec 17, 2024 · 300e557 · 300e557
1 parent 6c1d1a4
commit 300e557
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Showing 2 changed files with 12 additions and 10 deletions.
diff --git a/opendbc/car/hyundai/carcontroller.py b/opendbc/car/hyundai/carcontroller.py
@@ -186,6 +186,7 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
         # cruise cancel
         if CC.cruiseControl.cancel:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+            # TODO: Any reason to not just send the button?
             can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
             self.last_button_frame = self.frame
           else:
@@ -195,12 +196,8 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            # TODO: resume for alt button cars
-            pass
-          else:
-            for _ in range(20):
-              can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
-            self.last_button_frame = self.frame
+          for _ in range(20):
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          self.last_button_frame = self.frame
 
     return can_sends
diff --git a/opendbc/car/hyundai/hyundaicanfd.py b/opendbc/car/hyundai/hyundaicanfd.py
@@ -73,14 +73,19 @@ def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
   return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):
+  canfd_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
+              "CRUISE_BUTTONS"
+  # If we discover cars use different values for this in the future, echoing back
+  # what's read from the car would also work.
+  SET_ME_2 = 6
   values = {
     "COUNTER": cnt,
-    "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
-  }
+    "SET_ME_1": 1,
+  } | {"SET_ME_2": SET_ME_2} if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else {}
 
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
+  return packer.make_can_msg(canfd_msg, bus, values)
 
 def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   # TODO: why do we copy different values here?