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2024-05-14 03:17:23 -05:00
parent 9404ae4f1f
commit 6efe858dfc
28 changed files with 601 additions and 32 deletions
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16
.vscode/settings.json vendored
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@@ -1,12 +1,20 @@
{
"files.exclude": {
"selfdrive/": true,
"openpilot/system/": true,
"tools/": true
"system/": true,
"tools/": true,
"openpilot/third_party": true,
"common/" true,
"opendbc/": true,
"panda/": true
},
"search.exclude": {
"selfdrive/": true,
"openpilot/system/": true,
"tools/": true
"system/": true,
"tools/": true,
"openpilot/third_party": true,
"common/" true,
"opendbc/": true,
"panda/": true
}
}

8
openpilot/.vscode/settings.json vendored Normal file
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@@ -0,0 +1,8 @@
{
"files.exclude": {
"third_party": true
},
"search.exclude": {
"third_party": true
}
}

0
clearpiliot_devqueue_zbacklog.txt → openpilot/clearpiliot_devqueue_zbacklog.txt
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0
clearpilot_design.txt → openpilot/clearpilot_design.txt
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33
clearpilot_devqueue_amain.txt → openpilot/clearpilot_devqueue_amain.txt
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@@ -1,3 +1,19 @@
- test that lkas button crashes controlsd, it should
- test that lkas button creates an alert, it should
- hyundai clsc https://github.com/garrettpall/openpilot/commit/5528198aa73d3d017d16ec4ca38306b11e5da0a8
- test tools/replay to get UI working offline
- add debug elements to ui with a boolean at top of onroad.cc to enable/disable:
- curviture
- current speed limit
- current cruise speed
- current experimental mode speed
- current distance to lead based on radar
- current distance to lead based on model draw distance
- current speed of lead
- make side lanes 10% wider and the disengage mode 10% brighter
- make 25% of side lanes 50% darker than base
@@ -7,12 +23,15 @@
- button stuff:
- read paddle left (for full nudgeless lane change + blinker, reset to drive)
- read paddle right ("")
- read current drive mode, reset paddle mode to drive
- write pause, res, accel, mode, drive
wishlist: read / write info switcher, hvac, windows
wishlist: allow lane assist (not lane keep) on disengage
test:
- disable all canbus
- set speed limit during stock long
-
OP -> Oscar
- oscar - global clearpilot state var
@@ -31,6 +50,8 @@ Oscar -> OP
- settings menu
- - branch selector - release, stage, dev. Stage is my personal release branch. Should always be able to easilly switch to stage while im in a development state.
- unfuck the directory structure. new structure:
-
-------
@@ -59,6 +80,7 @@ Oscar -> OP
- Create clearpilot process. manages behaviors.
- experiment with reduced jerk values
- test toggle stop all canbus output
- check if acc_cancel events are being made on idle in stock long, if so, its a bug.
- Warn if significantly slower traffic
@@ -104,3 +126,12 @@ behaviors:
- mark os version different than release, forcing a os reinstall
- no prompt on os reinstall
Test features wizard:
- read paddles
- read speed
- adjust speed
- cancel / resume
- reset drive mode
- read radar distance
- activate blinkers

0
clearpilot_feature_documentation.txt → openpilot/clearpilot_feature_documentation.txt
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0
clearpilot_notes.txt → openpilot/clearpilot_notes.txt
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0
clearpilot_settings.txt → openpilot/clearpilot_settings.txt
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0
clearpilot_testme.txt → openpilot/clearpilot_testme.txt
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1
openpilot/opendbc Symbolic link
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@@ -0,0 +1 @@
../opendbc/

1
openpilot/panda Symbolic link
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@@ -0,0 +1 @@
../panda/

160
panda/board/safety/safety_hyundai_canfd.h
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@@ -21,18 +21,21 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTONS_ALT
{0x2A4, 0, 24}, // CAM_0x2A4
};
const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTONS_ALT
{0x362, 0, 32}, // CAM_0x362
};
const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTONS_ALT
{0x2A4, 0, 24}, // CAM_0x2A4
{0x51, 0, 32}, // ADRV_0x51
{0x730, 1, 8}, // tester present for ADAS ECU disable
@@ -70,6 +73,9 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
// SCC_CONTROL (from ADAS unit or camera)
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
@@ -159,6 +165,74 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
// Todo: test:
// BO_ 1345 CGW1: 8 BCM
// SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX
// BO_ 68 DATC11: 8 DATC
// SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM
// SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU
// SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU
// BO_ 64 DATC14: 8 DATC
// SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU
// SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
// BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
// SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
// SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
// SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
// SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
// SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
// SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
// SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
// SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
// SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
// SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
// SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
// BO_ 304 GEAR_SHIFTER: 16 XXX
// SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
// SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
// SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
// SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
// SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
// BO_ 1322 CLU15: 8 CLU
// SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM
// SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
// SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD
// SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD
// SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS
// SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC
// SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
// BO_ 1292 CLU13: 8 CLU
// SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX
// SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX
// SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX
// SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC
// SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX
// SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU
// SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX
// SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS
// SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC
// SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC
// SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS
// SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU
// SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX
// SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS
// SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS
// SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS
// SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS
if (bus == pt_bus) {
// driver torque
if (addr == 0xea) {
@@ -168,6 +242,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
}
// cruise buttons
// todo: allow paddle shifter presses through
const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
if (addr == button_addr) {
bool main_button = false;
@@ -243,16 +318,83 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
}
// cruise buttons check
if (addr == 0x1cf) {
int button = GET_BYTE(to_send, 2) & 0x7U;
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
bool is_resume = (button == HYUNDAI_BTN_RESUME);
/*
BO_ 463 CRUISE_BUTTONS: 8 XXX
SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
*/
bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
if (!allowed) {
tx = false;
}
}
// Pass all desired buttons for now
// if (addr == 0x1cf) {
// int button = GET_BYTE(to_send, 2) & 0x7U;
// bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
// bool is_resume = (button == HYUNDAI_BTN_RESUME);
// bool is_set = (button == HYUNDAI_BTN_SET);
// bool allowed =
// (is_cancel && cruise_engaged_prev) ||
// (is_resume && controls_allowed);
// (is_set && controls_allowed)
// ;
// if (!allowed) {
// tx = false;
// }
// }
// 'alt' buttons check
/*
BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX
SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
*/
// HVAC
/*
BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
*/
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if ((addr == 0x730) && hyundai_canfd_hda2) {

360
panda/board/safety/safety_hyundai_canfd.org Normal file
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@@ -0,0 +1,360 @@
#include "safety_hyundai_common.h"
const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
.max_steer = 270,
.max_rt_delta = 112,
.max_rt_interval = 250000,
.max_rate_up = 2,
.max_rate_down = 3,
.driver_torque_allowance = 250,
.driver_torque_factor = 2,
.type = TorqueDriverLimited,
// the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
// we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
.min_valid_request_frames = 89,
.max_invalid_request_frames = 2,
.min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames
.has_steer_req_tolerance = true,
};
const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x2A4, 0, 24}, // CAM_0x2A4
};
const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x362, 0, 32}, // CAM_0x362
};
const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x2A4, 0, 24}, // CAM_0x2A4
{0x51, 0, 32}, // ADRV_0x51
{0x730, 1, 8}, // tester present for ADAS ECU disable
{0x12A, 1, 16}, // LFA
{0x160, 1, 16}, // ADRV_0x160
{0x1E0, 1, 16}, // LFAHDA_CLUSTER
{0x1A0, 1, 32}, // CRUISE_INFO
{0x1EA, 1, 32}, // ADRV_0x1ea
{0x200, 1, 8}, // ADRV_0x200
{0x345, 1, 8}, // ADRV_0x345
{0x1DA, 1, 32}, // ADRV_0x1da
};
const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
{0x12A, 0, 16}, // LFA
{0x1A0, 0, 32}, // CRUISE_INFO
{0x1CF, 2, 8}, // CRUISE_BUTTON
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
};
// *** Addresses checked in rx hook ***
// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
{.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
{0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
{0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}}, \
{.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, { 0 }, { 0 }}}, \
#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
// SCC_CONTROL (from ADAS unit or camera)
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
// *** Non-HDA2 checks ***
// Camera sends SCC messages on HDA1.
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
RxCheck hyundai_canfd_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
// Longitudinal checks for HDA1
RxCheck hyundai_canfd_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
};
RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
};
// Radar sends SCC messages on these cars instead of camera
RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
// *** HDA2 checks ***
// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
// Does not use the alt buttons message
RxCheck hyundai_canfd_hda2_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
};
const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
bool hyundai_canfd_alt_buttons = false;
bool hyundai_canfd_hda2_alt_steering = false;
int hyundai_canfd_hda2_get_lkas_addr(void) {
return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
}
static uint8_t hyundai_canfd_get_counter(const CANPacket_t *to_push) {
uint8_t ret = 0;
if (GET_LEN(to_push) == 8U) {
ret = GET_BYTE(to_push, 1) >> 4;
} else {
ret = GET_BYTE(to_push, 2);
}
return ret;
}
static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) {
uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8);
return chksum;
}
static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
if (bus == pt_bus) {
// driver torque
if (addr == 0xea) {
int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
torque_driver_new -= 4095;
update_sample(&torque_driver, torque_driver_new);
}
// cruise buttons
const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
if (addr == button_addr) {
bool main_button = false;
int cruise_button = 0;
if (addr == 0x1cf) {
cruise_button = GET_BYTE(to_push, 2) & 0x7U;
main_button = GET_BIT(to_push, 19U);
} else {
cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
main_button = GET_BIT(to_push, 34U);
}
hyundai_common_cruise_buttons_check(cruise_button, main_button);
}
// gas press, different for EV, hybrid, and ICE models
if ((addr == 0x35) && hyundai_ev_gas_signal) {
gas_pressed = GET_BYTE(to_push, 5) != 0U;
} else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U);
} else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
gas_pressed = GET_BIT(to_push, 176U);
} else {
}
// brake press
if (addr == 0x175) {
brake_pressed = GET_BIT(to_push, 81U);
}
// vehicle moving
if (addr == 0xa0) {
uint32_t front_left_speed = GET_BYTES(to_push, 8, 2);
uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2);
vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
}
}
if (bus == scc_bus) {
// cruise state
if ((addr == 0x1a0) && !hyundai_longitudinal) {
// 1=enabled, 2=driver override
int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U);
bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
hyundai_common_cruise_state_check(cruise_engaged);
}
}
const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
if (hyundai_longitudinal) {
// on HDA2, ensure ADRV ECU is still knocked out
// on others, ensure accel msg is blocked from camera
const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
}
generic_rx_checks(stock_ecu_detected);
}
static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
bool tx = true;
int addr = GET_ADDR(to_send);
// steering
const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
if (addr == steer_addr) {
int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
bool steer_req = GET_BIT(to_send, 52U);
if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
tx = false;
}
}
// cruise buttons check
if (addr == 0x1cf) {
int button = GET_BYTE(to_send, 2) & 0x7U;
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
bool is_resume = (button == HYUNDAI_BTN_RESUME);
bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
if (!allowed) {
tx = false;
}
}
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if ((addr == 0x730) && hyundai_canfd_hda2) {
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
tx = false;
}
}
// ACCEL: safety check
if (addr == 0x1a0) {
int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U;
int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U;
bool violation = false;
if (hyundai_longitudinal) {
violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
} else {
// only used to cancel on here
if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
violation = true;
}
}
if (violation) {
tx = false;
}
}
return tx;
}
static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1;
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
// LKAS for HDA2, LFA for HDA1
int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;
bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2;
bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
// HUD icons
bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
// CRUISE_INFO for non-HDA2, we send our own longitudinal commands
bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
if (!block_msg) {
bus_fwd = 0;
}
}
return bus_fwd;
}
static safety_config hyundai_canfd_init(uint16_t param) {
hyundai_common_init(param);
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);
// no long for radar-SCC HDA1 yet
if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
hyundai_longitudinal = false;
}
safety_config ret;
if (hyundai_longitudinal) {
if (hyundai_canfd_hda2) {
ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
} else {
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
}
} else {
if (hyundai_canfd_hda2) {
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
} else if (!hyundai_camera_scc) {
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
} else {
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
}
}
return ret;
}
const safety_hooks hyundai_canfd_hooks = {
.init = hyundai_canfd_init,
.rx = hyundai_canfd_rx_hook,
.tx = hyundai_canfd_tx_hook,
.fwd = hyundai_canfd_fwd_hook,
.get_counter = hyundai_canfd_get_counter,
.get_checksum = hyundai_canfd_get_checksum,
.compute_checksum = hyundai_common_canfd_compute_checksum,
};

4
selfdrive/car/hyundai/carcontroller.py
View File

@@ -200,9 +200,9 @@ class CarController(CarControllerBase):
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# pass
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# CS.lkas_trigger_result = 1
CS.lkas_trigger_result = 1
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))

19
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -88,15 +88,16 @@ def create_buttons(packer, CP, CAN, cnt, btn):
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
# def create_buttons_alt(packer, CP, CAN, cnt, btn):
# values = {
# "COUNTER": cnt,
# "SET_ME_1": 1,
# "CRUISE_BUTTONS": btn,
# }
def create_buttons_alt(packer, CP, CAN, cnt, btn):
values = {
"COUNTER": cnt,
"SET_ME_1": 1,
"SET_ME_2": 2,
"CRUISE_BUTTONS": btn,
}
# bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
# return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
bus = CAN.ECAN # if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# why are we executing this at all?
@@ -123,7 +124,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
"CRUISE_STANDSTILL",
]}
values.update({
"ACCMode": 1, # testing 1 instead of 4
"ACCMode": 4, # testing 1 instead of 4
"aReqRaw": 0.0,
"aReqValue": 0.0,
})

0
openpilot/update.sh → selfdrive/clearpilot/behavior/_abstract.py
View File

0
selfdrive/clearpilot/behavior/lanechange.py → selfdrive/clearpilot/behavior/conditional_experimental.py
View File

0
selfdrive/clearpilot/behavior/lane_change_no_lateral.py Normal file
View File

0
selfdrive/clearpilot/behavior/lane_change_nudge.py Normal file
View File

0
selfdrive/clearpilot/behavior/lane_change_nudgeless.py Normal file
View File

0
selfdrive/clearpilot/behavior/long_control_button_spam.py Normal file
View File

0
selfdrive/clearpilot/behavior/long_control_openpilot.py Normal file
View File

0
selfdrive/clearpilot/behavior/stock_lateral.py Normal file
View File

1
selfdrive/clearpilot/readme.txt
View File

@@ -0,0 +1 @@
This is a nodejs service

12
selfdrive/manager/process_config.py
View File

@@ -66,8 +66,8 @@ procs = [
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
#PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None), always_watchdog=only_offroad),
PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -78,13 +78,13 @@ procs = [
PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
PythonProcess("deleter", "system.loggerd.deleter", always_run),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
#PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
#PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
#NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
#PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),

0
system/clearpilot/configure/defaults.sh → system/clearpilot/install/defaults.sh
View File

14
system/clearpilot/install/plan.txt Normal file
View File

@@ -0,0 +1,14 @@
- test - does wiping the device also wipe installed apt packages?
if yes, then no uninstaller needed.
- installer will download models and support packages as part of its install process.
- if that isn't possible on first init, it will prompt for wifi and then get the support packages.
- startup wizard:
- verify this is a tested car
- describe system is extremely experimental and use at your own risk
- describe that the use of certain options may be illegal in your jursdiction and you accept all risk
and liability for use of options which are against local regulations and any consequences of their use
- walk through the features and prompt if each one should be enabled / disabled

4
system/clearpilot/configure/provision.sh → system/clearpilot/install/provision.sh
View File

@@ -19,7 +19,9 @@
# Todo: Detect if provisioned for current version. If not, start qt_shell subshell for provision.
apt-get update
apt-get install -y nodejs npm imagemagick ccrypt qtwebengine5-dev
apt-get install -y nodejs npm imagemagick ccrypt qtwebengine5-dev libqt5serialbus5 \
libqt5serialbus5-bin libqt5serialbus5-plugins libqt5serialbus5-dev libqt5charts5-dev
# python3-pyqt5 pywayland imagemagick qtwebengine5-dev
# python3-dev python3-pyqt5.qtwebengine pybind11-dev