openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
0
selfdrive/car/hyundai/__init__.py
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0
selfdrive/car/hyundai/__init__.py
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207
selfdrive/car/hyundai/carcontroller.py
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selfdrive/car/hyundai/carcontroller.py
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.numpy_fast import clip
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from openpilot.common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
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from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
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from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
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from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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LongCtrlState = car.CarControl.Actuators.LongControlState
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# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
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# All slightly below EPS thresholds to avoid fault
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MAX_ANGLE = 85
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MAX_ANGLE_FRAMES = 89
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MAX_ANGLE_CONSECUTIVE_FRAMES = 2
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def process_hud_alert(enabled, fingerprint, hud_control):
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sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
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# initialize to no line visible
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# TODO: this is not accurate for all cars
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sys_state = 1
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if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active
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sys_state = 3 if enabled or sys_warning else 4
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elif hud_control.leftLaneVisible:
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sys_state = 5
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elif hud_control.rightLaneVisible:
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sys_state = 6
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# initialize to no warnings
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left_lane_warning = 0
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right_lane_warning = 0
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if hud_control.leftLaneDepart:
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left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
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if hud_control.rightLaneDepart:
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right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
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return sys_warning, sys_state, left_lane_warning, right_lane_warning
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.CAN = CanBus(CP)
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self.params = CarControllerParams(CP)
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self.packer = CANPacker(dbc_name)
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self.angle_limit_counter = 0
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self.frame = 0
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self.accel_last = 0
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self.apply_steer_last = 0
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self.car_fingerprint = CP.carFingerprint
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self.last_button_frame = 0
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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hud_control = CC.hudControl
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# steering torque
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new_steer = int(round(actuators.steer * self.params.STEER_MAX))
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apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
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# >90 degree steering fault prevention
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self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
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self.angle_limit_counter, MAX_ANGLE_FRAMES,
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MAX_ANGLE_CONSECUTIVE_FRAMES)
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if not CC.latActive:
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apply_steer = 0
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# Hold torque with induced temporary fault when cutting the actuation bit
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torque_fault = CC.latActive and not apply_steer_req
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self.apply_steer_last = apply_steer
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# accel + longitudinal
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accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
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stopping = actuators.longControlState == LongCtrlState.stopping
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set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
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# HUD messages
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sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
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hud_control)
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can_sends = []
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# *** common hyundai stuff ***
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# tester present - w/ no response (keeps relevant ECU disabled)
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if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
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# for longitudinal control, either radar or ADAS driving ECU
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addr, bus = 0x7d0, 0
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if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
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addr, bus = 0x730, self.CAN.ECAN
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can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
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# for blinkers
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if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
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# CAN-FD platforms
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if self.CP.carFingerprint in CANFD_CAR:
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hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
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hda2_long = hda2 and self.CP.openpilotLongitudinalControl
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# steering control
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can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
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# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
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if self.frame % 5 == 0 and hda2:
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can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
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self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
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# LFA and HDA icons
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if self.frame % 5 == 0 and (not hda2 or hda2_long):
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can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
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# blinkers
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if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
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if self.CP.openpilotLongitudinalControl:
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if hda2:
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can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
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if self.frame % 2 == 0:
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can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
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set_speed_in_units))
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self.accel_last = accel
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else:
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# button presses
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can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
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else:
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can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
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torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
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hud_control.leftLaneVisible, hud_control.rightLaneVisible,
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left_lane_warning, right_lane_warning))
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if not self.CP.openpilotLongitudinalControl:
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can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
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if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
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# TODO: unclear if this is needed
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jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
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use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
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can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
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hud_control.leadVisible, set_speed_in_units, stopping,
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CC.cruiseControl.override, use_fca))
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# 20 Hz LFA MFA message
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if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
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can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
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# 5 Hz ACC options
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if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
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can_sends.extend(hyundaican.create_acc_opt(self.packer))
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# 2 Hz front radar options
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if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
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can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
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new_actuators = actuators.copy()
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new_actuators.steer = apply_steer / self.params.STEER_MAX
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new_actuators.steerOutputCan = apply_steer
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new_actuators.accel = accel
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self.frame += 1
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return new_actuators, can_sends
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def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
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can_sends = []
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if use_clu11:
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if CC.cruiseControl.cancel:
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can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
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elif CC.cruiseControl.resume:
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# send resume at a max freq of 10Hz
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if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
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# send 25 messages at a time to increases the likelihood of resume being accepted
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can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
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if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
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self.last_button_frame = self.frame
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else:
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if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
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# cruise cancel
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if CC.cruiseControl.cancel:
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if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
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self.last_button_frame = self.frame
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else:
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for _ in range(20):
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can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
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self.last_button_frame = self.frame
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# cruise standstill resume
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elif CC.cruiseControl.resume:
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if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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# TODO: resume for alt button cars
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pass
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else:
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for _ in range(20):
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can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
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self.last_button_frame = self.frame
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return can_sends
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366
selfdrive/car/hyundai/carstate.py
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366
selfdrive/car/hyundai/carstate.py
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from collections import deque
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import copy
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import math
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
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from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
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CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
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from openpilot.selfdrive.car.interfaces import CarStateBase
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PREV_BUTTON_SAMPLES = 8
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CLUSTER_SAMPLE_RATE = 20 # frames
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STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
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self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
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self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
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self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
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"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
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"GEAR_SHIFTER"
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if CP.carFingerprint in CANFD_CAR:
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self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
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elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
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self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
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elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
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self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
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else: # preferred and elect gear methods use same definition
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self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
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self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \
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"ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \
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"ACCELERATOR_BRAKE_ALT"
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self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
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"CRUISE_BUTTONS"
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self.is_metric = False
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self.buttons_counter = 0
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self.cruise_info = {}
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# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
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self.cluster_speed = 0
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self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
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self.params = CarControllerParams(CP)
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def update(self, cp, cp_cam):
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if self.CP.carFingerprint in CANFD_CAR:
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return self.update_canfd(cp, cp_cam)
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ret = car.CarState.new_message()
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cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
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self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
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speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
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ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
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cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
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ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
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cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
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cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
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cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
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)
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
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self.cluster_speed_counter += 1
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if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
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self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
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self.cluster_speed_counter = 0
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# Mimic how dash converts to imperial.
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# Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
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# TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
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if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
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self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
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ret.vEgoCluster = self.cluster_speed * speed_conv
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ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
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ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
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ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
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50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
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ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
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ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
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ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
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# cruise state
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if self.CP.openpilotLongitudinalControl:
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# These are not used for engage/disengage since openpilot keeps track of state using the buttons
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ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
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ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
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ret.cruiseState.standstill = False
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ret.cruiseState.nonAdaptive = False
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else:
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ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
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ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
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ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
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ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
|
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ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
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# TODO: Find brake pressure
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ret.brake = 0
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ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV
|
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ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
|
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ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
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ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
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if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
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if self.CP.carFingerprint in HYBRID_CAR:
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ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
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else:
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ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
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ret.gasPressed = ret.gas > 0
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||||
else:
|
||||
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
|
||||
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
|
||||
|
||||
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
|
||||
# as this seems to be standard over all cars, but is not the preferred method.
|
||||
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
|
||||
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
|
||||
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
|
||||
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
|
||||
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
|
||||
gear = cp.vl["TCU12"]["CUR_GR"]
|
||||
else:
|
||||
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
|
||||
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
|
||||
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
|
||||
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
|
||||
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
|
||||
scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW
|
||||
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
|
||||
ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
|
||||
ret.stockAeb = aeb_warning and aeb_braking
|
||||
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
|
||||
ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
|
||||
|
||||
# save the entire LKAS11 and CLU11
|
||||
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
|
||||
self.clu11 = copy.copy(cp.vl["CLU11"])
|
||||
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
|
||||
self.prev_cruise_buttons = self.cruise_buttons[-1]
|
||||
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
|
||||
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
|
||||
|
||||
return ret
|
||||
|
||||
def update_canfd(self, cp, cp_cam):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
|
||||
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
|
||||
if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
|
||||
offset = 255. if self.CP.carFingerprint in EV_CAR else 1023.
|
||||
ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
|
||||
ret.gasPressed = ret.gas > 1e-5
|
||||
else:
|
||||
ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
|
||||
|
||||
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
|
||||
|
||||
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
|
||||
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
|
||||
|
||||
gear = cp.vl[self.gear_msg_canfd]["GEAR"]
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
|
||||
|
||||
# TODO: figure out positions
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
|
||||
)
|
||||
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
|
||||
|
||||
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
|
||||
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
|
||||
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
|
||||
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
|
||||
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
|
||||
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
|
||||
|
||||
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
|
||||
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
|
||||
if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
|
||||
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
|
||||
cp.vl["BLINKERS"][right_blinker_sig])
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
|
||||
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
|
||||
|
||||
# cruise state
|
||||
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
|
||||
ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
|
||||
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
|
||||
ret.cruiseState.standstill = False
|
||||
else:
|
||||
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
|
||||
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
|
||||
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
|
||||
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
|
||||
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
|
||||
|
||||
# Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
|
||||
# It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
|
||||
# The car will brake, but does not respect positive acceleration commands in this mode
|
||||
# TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
|
||||
if self.CP.carFingerprint in EV_CAR:
|
||||
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons[-1]
|
||||
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
|
||||
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
|
||||
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
|
||||
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
||||
|
||||
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
|
||||
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
|
||||
else cp_cam.vl["CAM_0x2a4"])
|
||||
|
||||
return ret
|
||||
|
||||
def get_can_parser(self, CP):
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
return self.get_can_parser_canfd(CP)
|
||||
|
||||
messages = [
|
||||
# address, frequency
|
||||
("MDPS12", 50),
|
||||
("TCS13", 50),
|
||||
("TCS15", 10),
|
||||
("CLU11", 50),
|
||||
("CLU15", 5),
|
||||
("ESP12", 100),
|
||||
("CGW1", 10),
|
||||
("CGW2", 5),
|
||||
("CGW4", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SAS11", 100),
|
||||
]
|
||||
|
||||
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
|
||||
messages += [
|
||||
("SCC11", 50),
|
||||
("SCC12", 50),
|
||||
]
|
||||
if CP.flags & HyundaiFlags.USE_FCA.value:
|
||||
messages.append(("FCA11", 50))
|
||||
|
||||
if CP.enableBsm:
|
||||
messages.append(("LCA11", 50))
|
||||
|
||||
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
|
||||
messages.append(("E_EMS11", 50))
|
||||
else:
|
||||
messages += [
|
||||
("EMS12", 100),
|
||||
("EMS16", 100),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
|
||||
messages.append(("ELECT_GEAR", 20))
|
||||
elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
|
||||
pass
|
||||
elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
|
||||
messages.append(("TCU12", 100))
|
||||
else:
|
||||
messages.append(("LVR12", 100))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
return CarState.get_cam_can_parser_canfd(CP)
|
||||
|
||||
messages = [
|
||||
("LKAS11", 100)
|
||||
]
|
||||
|
||||
if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
|
||||
messages += [
|
||||
("SCC11", 50),
|
||||
("SCC12", 50),
|
||||
]
|
||||
|
||||
if CP.flags & HyundaiFlags.USE_FCA.value:
|
||||
messages.append(("FCA11", 50))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
|
||||
|
||||
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),
|
||||
("TCS", 50),
|
||||
("CRUISE_BUTTONS_ALT", 50),
|
||||
("BLINKERS", 4),
|
||||
("DOORS_SEATBELTS", 4),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in EV_CAR:
|
||||
messages += [
|
||||
("MANUAL_SPEED_LIMIT_ASSIST", 10),
|
||||
]
|
||||
|
||||
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
||||
messages += [
|
||||
("CRUISE_BUTTONS", 50)
|
||||
]
|
||||
|
||||
if CP.enableBsm:
|
||||
messages += [
|
||||
("BLINDSPOTS_REAR_CORNERS", 20),
|
||||
]
|
||||
|
||||
if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
|
||||
messages += [
|
||||
("SCC_CONTROL", 50),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser_canfd(CP):
|
||||
messages = []
|
||||
if CP.flags & HyundaiFlags.CANFD_HDA2:
|
||||
block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
|
||||
messages += [(block_lfa_msg, 20)]
|
||||
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
||||
messages += [
|
||||
("SCC_CONTROL", 50),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)
|
||||
1710
selfdrive/car/hyundai/fingerprints.py
Normal file
1710
selfdrive/car/hyundai/fingerprints.py
Normal file
File diff suppressed because it is too large
Load Diff
213
selfdrive/car/hyundai/hyundaican.py
Normal file
213
selfdrive/car/hyundai/hyundaican.py
Normal file
@@ -0,0 +1,213 @@
|
||||
import crcmod
|
||||
from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
|
||||
|
||||
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
|
||||
|
||||
def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
|
||||
torque_fault, lkas11, sys_warning, sys_state, enabled,
|
||||
left_lane, right_lane,
|
||||
left_lane_depart, right_lane_depart):
|
||||
values = {s: lkas11[s] for s in [
|
||||
"CF_Lkas_LdwsActivemode",
|
||||
"CF_Lkas_LdwsSysState",
|
||||
"CF_Lkas_SysWarning",
|
||||
"CF_Lkas_LdwsLHWarning",
|
||||
"CF_Lkas_LdwsRHWarning",
|
||||
"CF_Lkas_HbaLamp",
|
||||
"CF_Lkas_FcwBasReq",
|
||||
"CF_Lkas_HbaSysState",
|
||||
"CF_Lkas_FcwOpt",
|
||||
"CF_Lkas_HbaOpt",
|
||||
"CF_Lkas_FcwSysState",
|
||||
"CF_Lkas_FcwCollisionWarning",
|
||||
"CF_Lkas_FusionState",
|
||||
"CF_Lkas_FcwOpt_USM",
|
||||
"CF_Lkas_LdwsOpt_USM",
|
||||
]}
|
||||
values["CF_Lkas_LdwsSysState"] = sys_state
|
||||
values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
|
||||
values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
|
||||
values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
|
||||
values["CR_Lkas_StrToqReq"] = apply_steer
|
||||
values["CF_Lkas_ActToi"] = steer_req
|
||||
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
|
||||
values["CF_Lkas_MsgCount"] = frame % 0x10
|
||||
|
||||
if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
|
||||
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
|
||||
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
|
||||
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
|
||||
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
|
||||
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
|
||||
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
|
||||
values["CF_Lkas_LdwsOpt_USM"] = 2
|
||||
|
||||
# FcwOpt_USM 5 = Orange blinking car + lanes
|
||||
# FcwOpt_USM 4 = Orange car + lanes
|
||||
# FcwOpt_USM 3 = Green blinking car + lanes
|
||||
# FcwOpt_USM 2 = Green car + lanes
|
||||
# FcwOpt_USM 1 = White car + lanes
|
||||
# FcwOpt_USM 0 = No car + lanes
|
||||
values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
|
||||
|
||||
# SysWarning 4 = keep hands on wheel
|
||||
# SysWarning 5 = keep hands on wheel (red)
|
||||
# SysWarning 6 = keep hands on wheel (red) + beep
|
||||
# Note: the warning is hidden while the blinkers are on
|
||||
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
|
||||
|
||||
# Likely cars lacking the ability to show individual lane lines in the dash
|
||||
elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
|
||||
# SysWarning 4 = keep hands on wheel + beep
|
||||
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
|
||||
|
||||
# SysState 0 = no icons
|
||||
# SysState 1-2 = white car + lanes
|
||||
# SysState 3 = green car + lanes, green steering wheel
|
||||
# SysState 4 = green car + lanes
|
||||
values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1
|
||||
values["CF_Lkas_LdwsOpt_USM"] = 2 # non-2 changes above SysState definition
|
||||
|
||||
# these have no effect
|
||||
values["CF_Lkas_LdwsActivemode"] = 0
|
||||
values["CF_Lkas_FcwOpt_USM"] = 0
|
||||
|
||||
elif car_fingerprint == CAR.HYUNDAI_GENESIS:
|
||||
# This field is actually LdwsActivemode
|
||||
# Genesis and Optima fault when forwarding while engaged
|
||||
values["CF_Lkas_LdwsActivemode"] = 2
|
||||
|
||||
dat = packer.make_can_msg("LKAS11", 0, values)[2]
|
||||
|
||||
if car_fingerprint in CHECKSUM["crc8"]:
|
||||
# CRC Checksum as seen on 2019 Hyundai Santa Fe
|
||||
dat = dat[:6] + dat[7:8]
|
||||
checksum = hyundai_checksum(dat)
|
||||
elif car_fingerprint in CHECKSUM["6B"]:
|
||||
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
|
||||
checksum = sum(dat[:6]) % 256
|
||||
else:
|
||||
# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
|
||||
checksum = (sum(dat[:6]) + dat[7]) % 256
|
||||
|
||||
values["CF_Lkas_Chksum"] = checksum
|
||||
|
||||
return packer.make_can_msg("LKAS11", 0, values)
|
||||
|
||||
|
||||
def create_clu11(packer, frame, clu11, button, car_fingerprint):
|
||||
values = {s: clu11[s] for s in [
|
||||
"CF_Clu_CruiseSwState",
|
||||
"CF_Clu_CruiseSwMain",
|
||||
"CF_Clu_SldMainSW",
|
||||
"CF_Clu_ParityBit1",
|
||||
"CF_Clu_VanzDecimal",
|
||||
"CF_Clu_Vanz",
|
||||
"CF_Clu_SPEED_UNIT",
|
||||
"CF_Clu_DetentOut",
|
||||
"CF_Clu_RheostatLevel",
|
||||
"CF_Clu_CluInfo",
|
||||
"CF_Clu_AmpInfo",
|
||||
"CF_Clu_AliveCnt1",
|
||||
]}
|
||||
values["CF_Clu_CruiseSwState"] = button
|
||||
values["CF_Clu_AliveCnt1"] = frame % 0x10
|
||||
# send buttons to camera on camera-scc based cars
|
||||
bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
|
||||
return packer.make_can_msg("CLU11", bus, values)
|
||||
|
||||
|
||||
def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
|
||||
values = {
|
||||
"LFA_Icon_State": 2 if enabled else 0,
|
||||
"HDA_Active": 1 if hda_set_speed else 0,
|
||||
"HDA_Icon_State": 2 if hda_set_speed else 0,
|
||||
"HDA_VSetReq": hda_set_speed,
|
||||
}
|
||||
return packer.make_can_msg("LFAHDA_MFC", 0, values)
|
||||
|
||||
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
|
||||
commands = []
|
||||
|
||||
scc11_values = {
|
||||
"MainMode_ACC": 1,
|
||||
"TauGapSet": 4,
|
||||
"VSetDis": set_speed if enabled else 0,
|
||||
"AliveCounterACC": idx % 0x10,
|
||||
"ObjValid": 1, # close lead makes controls tighter
|
||||
"ACC_ObjStatus": 1, # close lead makes controls tighter
|
||||
"ACC_ObjLatPos": 0,
|
||||
"ACC_ObjRelSpd": 0,
|
||||
"ACC_ObjDist": 1, # close lead makes controls tighter
|
||||
}
|
||||
commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
|
||||
|
||||
scc12_values = {
|
||||
"ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
|
||||
"StopReq": 1 if stopping else 0,
|
||||
"aReqRaw": accel,
|
||||
"aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
|
||||
"CR_VSM_Alive": idx % 0xF,
|
||||
}
|
||||
|
||||
# show AEB disabled indicator on dash with SCC12 if not sending FCA messages.
|
||||
# these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal
|
||||
if not use_fca:
|
||||
scc12_values["CF_VSM_ConfMode"] = 1
|
||||
scc12_values["AEB_Status"] = 1 # AEB disabled
|
||||
|
||||
scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
|
||||
scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
|
||||
|
||||
commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
|
||||
|
||||
scc14_values = {
|
||||
"ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
|
||||
"ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
|
||||
"JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
|
||||
"JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
|
||||
"ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
|
||||
"ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
|
||||
}
|
||||
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
|
||||
|
||||
# Only send FCA11 on cars where it exists on the bus
|
||||
if use_fca:
|
||||
# note that some vehicles most likely have an alternate checksum/counter definition
|
||||
# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
|
||||
fca11_values = {
|
||||
"CR_FCA_Alive": idx % 0xF,
|
||||
"PAINT1_Status": 1,
|
||||
"FCA_DrvSetStatus": 1,
|
||||
"FCA_Status": 1, # AEB disabled
|
||||
}
|
||||
fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
|
||||
fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
|
||||
commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
|
||||
|
||||
return commands
|
||||
|
||||
def create_acc_opt(packer):
|
||||
commands = []
|
||||
|
||||
scc13_values = {
|
||||
"SCCDrvModeRValue": 2,
|
||||
"SCC_Equip": 1,
|
||||
"Lead_Veh_Dep_Alert_USM": 2,
|
||||
}
|
||||
commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
|
||||
|
||||
# TODO: this needs to be detected and conditionally sent on unsupported long cars
|
||||
fca12_values = {
|
||||
"FCA_DrvSetState": 2,
|
||||
"FCA_USM": 1, # AEB disabled
|
||||
}
|
||||
commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
|
||||
|
||||
return commands
|
||||
|
||||
def create_frt_radar_opt(packer):
|
||||
frt_radar11_values = {
|
||||
"CF_FCA_Equip_Front_Radar": 1,
|
||||
}
|
||||
return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)
|
||||
223
selfdrive/car/hyundai/hyundaicanfd.py
Normal file
223
selfdrive/car/hyundai/hyundaicanfd.py
Normal file
@@ -0,0 +1,223 @@
|
||||
from openpilot.common.numpy_fast import clip
|
||||
from openpilot.selfdrive.car import CanBusBase
|
||||
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
|
||||
|
||||
|
||||
class CanBus(CanBusBase):
|
||||
def __init__(self, CP, hda2=None, fingerprint=None) -> None:
|
||||
super().__init__(CP, fingerprint)
|
||||
|
||||
if hda2 is None:
|
||||
assert CP is not None
|
||||
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
|
||||
|
||||
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
|
||||
# have a different harness than the HDA1 and non-HDA variants in order to split
|
||||
# a different bus, since the steering is done by different ECUs.
|
||||
self._a, self._e = 1, 0
|
||||
if hda2:
|
||||
self._a, self._e = 0, 1
|
||||
|
||||
self._a += self.offset
|
||||
self._e += self.offset
|
||||
self._cam = 2 + self.offset
|
||||
|
||||
@property
|
||||
def ECAN(self):
|
||||
return self._e
|
||||
|
||||
@property
|
||||
def ACAN(self):
|
||||
return self._a
|
||||
|
||||
@property
|
||||
def CAM(self):
|
||||
return self._cam
|
||||
|
||||
|
||||
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
|
||||
|
||||
ret = []
|
||||
|
||||
values = {
|
||||
"LKA_MODE": 2,
|
||||
"LKA_ICON": 2 if enabled else 1,
|
||||
"TORQUE_REQUEST": apply_steer,
|
||||
"LKA_ASSIST": 0,
|
||||
"STEER_REQ": 1 if lat_active else 0,
|
||||
"STEER_MODE": 0,
|
||||
"HAS_LANE_SAFETY": 0, # hide LKAS settings
|
||||
"NEW_SIGNAL_1": 0,
|
||||
"NEW_SIGNAL_2": 0,
|
||||
}
|
||||
|
||||
if CP.flags & HyundaiFlags.CANFD_HDA2:
|
||||
hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
|
||||
if CP.openpilotLongitudinalControl:
|
||||
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
|
||||
ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
|
||||
else:
|
||||
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
|
||||
|
||||
return ret
|
||||
|
||||
def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
|
||||
suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
|
||||
msg_bytes = 32 if hda2_alt_steering else 24
|
||||
|
||||
values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
|
||||
values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
|
||||
values["SET_ME_0"] = 0
|
||||
values["SET_ME_0_2"] = 0
|
||||
values["LEFT_LANE_LINE"] = 0
|
||||
values["RIGHT_LANE_LINE"] = 0
|
||||
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
|
||||
|
||||
def create_buttons(packer, CP, CAN, cnt, btn):
|
||||
values = {
|
||||
"COUNTER": cnt,
|
||||
"SET_ME_1": 1,
|
||||
"CRUISE_BUTTONS": btn,
|
||||
}
|
||||
|
||||
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
|
||||
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
|
||||
|
||||
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
|
||||
# TODO: why do we copy different values here?
|
||||
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
|
||||
values = {s: cruise_info_copy[s] for s in [
|
||||
"COUNTER",
|
||||
"CHECKSUM",
|
||||
"NEW_SIGNAL_1",
|
||||
"MainMode_ACC",
|
||||
"ACCMode",
|
||||
"ZEROS_9",
|
||||
"CRUISE_STANDSTILL",
|
||||
"ZEROS_5",
|
||||
"DISTANCE_SETTING",
|
||||
"VSetDis",
|
||||
]}
|
||||
else:
|
||||
values = {s: cruise_info_copy[s] for s in [
|
||||
"COUNTER",
|
||||
"CHECKSUM",
|
||||
"ACCMode",
|
||||
"VSetDis",
|
||||
"CRUISE_STANDSTILL",
|
||||
]}
|
||||
values.update({
|
||||
"ACCMode": 4,
|
||||
"aReqRaw": 0.0,
|
||||
"aReqValue": 0.0,
|
||||
})
|
||||
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
|
||||
|
||||
def create_lfahda_cluster(packer, CAN, enabled):
|
||||
values = {
|
||||
"HDA_ICON": 1 if enabled else 0,
|
||||
"LFA_ICON": 2 if enabled else 0,
|
||||
}
|
||||
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
|
||||
|
||||
|
||||
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
|
||||
jerk = 5
|
||||
jn = jerk / 50
|
||||
if not enabled or gas_override:
|
||||
a_val, a_raw = 0, 0
|
||||
else:
|
||||
a_raw = accel
|
||||
a_val = clip(accel, accel_last - jn, accel_last + jn)
|
||||
|
||||
values = {
|
||||
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
|
||||
"MainMode_ACC": 1,
|
||||
"StopReq": 1 if stopping else 0,
|
||||
"aReqValue": a_val,
|
||||
"aReqRaw": a_raw,
|
||||
"VSetDis": set_speed,
|
||||
"JerkLowerLimit": jerk if enabled else 1,
|
||||
"JerkUpperLimit": 3.0,
|
||||
|
||||
"ACC_ObjDist": 1,
|
||||
"ObjValid": 0,
|
||||
"OBJ_STATUS": 2,
|
||||
"SET_ME_2": 0x4,
|
||||
"SET_ME_3": 0x3,
|
||||
"SET_ME_TMP_64": 0x64,
|
||||
"DISTANCE_SETTING": 4,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
|
||||
|
||||
|
||||
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
|
||||
ret = []
|
||||
|
||||
values = {
|
||||
}
|
||||
ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
|
||||
|
||||
blink = 0
|
||||
if left_blink:
|
||||
blink = 3
|
||||
elif right_blink:
|
||||
blink = 4
|
||||
values = {
|
||||
"BLINKER_CONTROL": blink,
|
||||
}
|
||||
ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
|
||||
|
||||
return ret
|
||||
|
||||
|
||||
def create_adrv_messages(packer, CAN, frame):
|
||||
# messages needed to car happy after disabling
|
||||
# the ADAS Driving ECU to do longitudinal control
|
||||
|
||||
ret = []
|
||||
|
||||
values = {
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
|
||||
|
||||
if frame % 2 == 0:
|
||||
values = {
|
||||
'AEB_SETTING': 0x1, # show AEB disabled icon
|
||||
'SET_ME_2': 0x2,
|
||||
'SET_ME_FF': 0xff,
|
||||
'SET_ME_FC': 0xfc,
|
||||
'SET_ME_9': 0x9,
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
|
||||
|
||||
if frame % 5 == 0:
|
||||
values = {
|
||||
'SET_ME_1C': 0x1c,
|
||||
'SET_ME_FF': 0xff,
|
||||
'SET_ME_TMP_F': 0xf,
|
||||
'SET_ME_TMP_F_2': 0xf,
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
|
||||
|
||||
values = {
|
||||
'SET_ME_E1': 0xe1,
|
||||
'SET_ME_3A': 0x3a,
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
|
||||
|
||||
if frame % 20 == 0:
|
||||
values = {
|
||||
'SET_ME_15': 0x15,
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
|
||||
|
||||
if frame % 100 == 0:
|
||||
values = {
|
||||
'SET_ME_22': 0x22,
|
||||
'SET_ME_41': 0x41,
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
|
||||
|
||||
return ret
|
||||
366
selfdrive/car/hyundai/interface.py
Normal file
366
selfdrive/car/hyundai/interface.py
Normal file
@@ -0,0 +1,366 @@
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
|
||||
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
|
||||
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
|
||||
UNSUPPORTED_LONGITUDINAL_CAR, Buttons
|
||||
from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
from openpilot.selfdrive.car.disable_ecu import disable_ecu
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
SafetyModel = car.CarParams.SafetyModel
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
|
||||
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
|
||||
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
|
||||
|
||||
|
||||
def set_safety_config_hyundai(candidate, CAN, can_fd=False):
|
||||
platform = SafetyModel.hyundaiCanfd if can_fd else \
|
||||
SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \
|
||||
SafetyModel.hyundai
|
||||
cfgs = [get_safety_config(platform), ]
|
||||
if CAN.ECAN >= 4:
|
||||
cfgs.insert(0, get_safety_config(SafetyModel.noOutput))
|
||||
|
||||
return cfgs
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
||||
ret.carName = "hyundai"
|
||||
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
|
||||
|
||||
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
||||
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
||||
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
||||
# FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
|
||||
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
|
||||
|
||||
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
|
||||
CAN = CanBus(None, hda2, fingerprint)
|
||||
|
||||
if candidate in CANFD_CAR:
|
||||
# detect HDA2 with ADAS Driving ECU
|
||||
if hda2:
|
||||
if 0x110 in fingerprint[CAN.CAM]:
|
||||
ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
|
||||
else:
|
||||
# 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
|
||||
else:
|
||||
# Send LFA message on cars with HDA
|
||||
if 0x485 in fingerprint[2]:
|
||||
ret.flags |= HyundaiFlags.SEND_LFA.value
|
||||
|
||||
# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
|
||||
if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
|
||||
ret.flags |= HyundaiFlags.USE_FCA.value
|
||||
|
||||
ret.steerActuatorDelay = 0.1 # Default delay
|
||||
ret.steerLimitTimer = 0.4
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
|
||||
ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675. # ICE is ~average of 2.5L and 3.5L
|
||||
ret.wheelbase = 2.885
|
||||
ret.steerRatio = 14.5
|
||||
elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
|
||||
ret.mass = 3982. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.766
|
||||
# Values from optimizer
|
||||
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
|
||||
ret.tireStiffnessFactor = 0.82
|
||||
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
|
||||
ret.mass = 1513.
|
||||
ret.wheelbase = 2.84
|
||||
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
|
||||
ret.tireStiffnessFactor = 0.65
|
||||
elif candidate == CAR.SONATA_LF:
|
||||
ret.mass = 1536.
|
||||
ret.wheelbase = 2.804
|
||||
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
|
||||
elif candidate == CAR.PALISADE:
|
||||
ret.mass = 1999.
|
||||
ret.wheelbase = 2.90
|
||||
ret.steerRatio = 15.6 * 1.15
|
||||
ret.tireStiffnessFactor = 0.63
|
||||
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
|
||||
ret.mass = 1275.
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
|
||||
ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.ELANTRA_2021:
|
||||
ret.mass = 2800. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.72
|
||||
ret.steerRatio = 12.9
|
||||
ret.tireStiffnessFactor = 0.65
|
||||
elif candidate == CAR.ELANTRA_HEV_2021:
|
||||
ret.mass = 3017. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.72
|
||||
ret.steerRatio = 12.9
|
||||
ret.tireStiffnessFactor = 0.65
|
||||
elif candidate == CAR.HYUNDAI_GENESIS:
|
||||
ret.mass = 2060.
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
|
||||
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN):
|
||||
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.)
|
||||
ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6)
|
||||
ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42) # Spec
|
||||
ret.tireStiffnessFactor = 0.385
|
||||
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
|
||||
ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.73 # Spec
|
||||
ret.tireStiffnessFactor = 0.385
|
||||
if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
|
||||
ret.mass = 1948
|
||||
ret.wheelbase = 2.97
|
||||
ret.steerRatio = 14.26
|
||||
ret.tireStiffnessFactor = 0.65
|
||||
elif candidate == CAR.VELOSTER:
|
||||
ret.mass = 2917. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.80
|
||||
ret.steerRatio = 13.75 * 1.15
|
||||
ret.tireStiffnessFactor = 0.5
|
||||
elif candidate == CAR.TUCSON:
|
||||
ret.mass = 3520. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.67
|
||||
ret.steerRatio = 14.00 * 1.15
|
||||
ret.tireStiffnessFactor = 0.385
|
||||
elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
|
||||
ret.mass = 1630. # average
|
||||
ret.wheelbase = 2.756
|
||||
ret.steerRatio = 16.
|
||||
ret.tireStiffnessFactor = 0.385
|
||||
elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
|
||||
ret.mass = 1870. # weight from Limited trim - the only supported trim
|
||||
ret.wheelbase = 3.000
|
||||
# steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
|
||||
ret.steerRatio = 14.2
|
||||
elif candidate == CAR.CUSTIN_1ST_GEN:
|
||||
ret.mass = 1690. # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
|
||||
ret.wheelbase = 3.055
|
||||
ret.steerRatio = 17.0 # from learner
|
||||
elif candidate == CAR.STARIA_4TH_GEN:
|
||||
ret.mass = 2205.
|
||||
ret.wheelbase = 3.273
|
||||
ret.steerRatio = 11.94 # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
|
||||
|
||||
# Kia
|
||||
elif candidate == CAR.KIA_SORENTO:
|
||||
ret.mass = 1985.
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
|
||||
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022):
|
||||
ret.mass = 3543. * CV.LB_TO_KG # average of all the cars
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.6 # average of all the cars
|
||||
ret.tireStiffnessFactor = 0.385
|
||||
if candidate == CAR.KIA_NIRO_PHEV:
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.KIA_SELTOS:
|
||||
ret.mass = 1337.
|
||||
ret.wheelbase = 2.63
|
||||
ret.steerRatio = 14.56
|
||||
elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
|
||||
ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions
|
||||
ret.wheelbase = 2.756
|
||||
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
|
||||
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
|
||||
ret.mass = 3558. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.80
|
||||
ret.steerRatio = 13.75
|
||||
ret.tireStiffnessFactor = 0.5
|
||||
if candidate == CAR.KIA_OPTIMA_G4:
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
|
||||
ret.mass = 1825.
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
|
||||
elif candidate == CAR.KIA_FORTE:
|
||||
ret.mass = 2878. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.80
|
||||
ret.steerRatio = 13.75
|
||||
ret.tireStiffnessFactor = 0.5
|
||||
elif candidate == CAR.KIA_CEED:
|
||||
ret.mass = 1450.
|
||||
ret.wheelbase = 2.65
|
||||
ret.steerRatio = 13.75
|
||||
ret.tireStiffnessFactor = 0.5
|
||||
elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
|
||||
ret.mass = 3381. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.85
|
||||
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
|
||||
ret.tireStiffnessFactor = 0.5
|
||||
elif candidate == CAR.KIA_EV6:
|
||||
ret.mass = 2055
|
||||
ret.wheelbase = 2.9
|
||||
ret.steerRatio = 16.
|
||||
ret.tireStiffnessFactor = 0.65
|
||||
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
|
||||
ret.mass = 1767. # SX Prestige trim support only
|
||||
ret.wheelbase = 2.756
|
||||
ret.steerRatio = 13.6
|
||||
elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
|
||||
ret.wheelbase = 2.81
|
||||
ret.steerRatio = 13.5 # average of the platforms
|
||||
if candidate == CAR.KIA_SORENTO_4TH_GEN:
|
||||
ret.mass = 3957 * CV.LB_TO_KG
|
||||
elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN:
|
||||
ret.mass = 4255 * CV.LB_TO_KG
|
||||
else:
|
||||
ret.mass = 4537 * CV.LB_TO_KG
|
||||
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
|
||||
ret.mass = 2087.
|
||||
ret.wheelbase = 3.09
|
||||
ret.steerRatio = 14.23
|
||||
elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
|
||||
ret.mass = 1630. # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
|
||||
ret.wheelbase = 2.895
|
||||
ret.steerRatio = 13.27 # guesstimate from K5 platform
|
||||
|
||||
# Genesis
|
||||
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
|
||||
ret.mass = 2205
|
||||
ret.wheelbase = 2.9
|
||||
# https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
|
||||
ret.steerRatio = 12.6
|
||||
elif candidate == CAR.GENESIS_G70:
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.mass = 1640.0
|
||||
ret.wheelbase = 2.84
|
||||
ret.steerRatio = 13.56
|
||||
elif candidate == CAR.GENESIS_G70_2020:
|
||||
ret.mass = 3673.0 * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.83
|
||||
ret.steerRatio = 12.9
|
||||
elif candidate == CAR.GENESIS_GV70_1ST_GEN:
|
||||
ret.mass = 1950.
|
||||
ret.wheelbase = 2.87
|
||||
ret.steerRatio = 14.6
|
||||
elif candidate == CAR.GENESIS_G80:
|
||||
ret.mass = 2060.
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
elif candidate == CAR.GENESIS_G90:
|
||||
ret.mass = 2200.
|
||||
ret.wheelbase = 3.15
|
||||
ret.steerRatio = 12.069
|
||||
elif candidate == CAR.GENESIS_GV80:
|
||||
ret.mass = 2258.
|
||||
ret.wheelbase = 2.95
|
||||
ret.steerRatio = 14.14
|
||||
|
||||
# *** longitudinal control ***
|
||||
if candidate in CANFD_CAR:
|
||||
ret.longitudinalTuning.kpV = [0.1]
|
||||
ret.longitudinalTuning.kiV = [0.0]
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
|
||||
else:
|
||||
ret.longitudinalTuning.kpV = [0.5]
|
||||
ret.longitudinalTuning.kiV = [0.0]
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
|
||||
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
|
||||
ret.stoppingControl = True
|
||||
ret.startingState = True
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.startAccel = 1.0
|
||||
ret.longitudinalActuatorDelayLowerBound = 0.5
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.5
|
||||
|
||||
# *** feature detection ***
|
||||
if candidate in CANFD_CAR:
|
||||
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
|
||||
else:
|
||||
ret.enableBsm = 0x58b in fingerprint[0]
|
||||
|
||||
# *** panda safety config ***
|
||||
ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR))
|
||||
|
||||
if hda2:
|
||||
ret.flags |= HyundaiFlags.CANFD_HDA2.value
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
|
||||
|
||||
if candidate in CANFD_CAR:
|
||||
if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
|
||||
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
|
||||
|
||||
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
|
||||
if candidate in HYBRID_CAR:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
|
||||
elif candidate in EV_CAR:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
|
||||
|
||||
if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
|
||||
ret.flags |= HyundaiFlags.ALT_LIMITS.value
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def init(CP, logcan, sendcan):
|
||||
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
|
||||
addr, bus = 0x7d0, 0
|
||||
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
|
||||
addr, bus = 0x730, CanBus(CP).ECAN
|
||||
disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
|
||||
|
||||
# for blinkers
|
||||
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
||||
disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
|
||||
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
|
||||
if self.CS.CP.openpilotLongitudinalControl:
|
||||
ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
|
||||
|
||||
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
|
||||
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
|
||||
# Main button also can trigger an engagement on these cars
|
||||
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
|
||||
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
self.low_speed_alert = True
|
||||
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
||||
|
||||
ret.events = events.to_msg()
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c, now_nanos):
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
79
selfdrive/car/hyundai/radar_interface.py
Normal file
79
selfdrive/car/hyundai/radar_interface.py
Normal file
@@ -0,0 +1,79 @@
|
||||
import math
|
||||
|
||||
from cereal import car
|
||||
from opendbc.can.parser import CANParser
|
||||
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
|
||||
from openpilot.selfdrive.car.hyundai.values import DBC
|
||||
|
||||
RADAR_START_ADDR = 0x500
|
||||
RADAR_MSG_COUNT = 32
|
||||
|
||||
# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
|
||||
|
||||
def get_radar_can_parser(CP):
|
||||
if DBC[CP.carFingerprint]['radar'] is None:
|
||||
return None
|
||||
|
||||
messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
|
||||
return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.updated_messages = set()
|
||||
self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
|
||||
self.track_id = 0
|
||||
|
||||
self.radar_off_can = CP.radarUnavailable
|
||||
self.rcp = get_radar_can_parser(CP)
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.radar_off_can or (self.rcp is None):
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update_strings(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
|
||||
rr = self._update(self.updated_messages)
|
||||
self.updated_messages.clear()
|
||||
|
||||
return rr
|
||||
|
||||
def _update(self, updated_messages):
|
||||
ret = car.RadarData.new_message()
|
||||
if self.rcp is None:
|
||||
return ret
|
||||
|
||||
errors = []
|
||||
|
||||
if not self.rcp.can_valid:
|
||||
errors.append("canError")
|
||||
ret.errors = errors
|
||||
|
||||
for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
|
||||
msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
|
||||
|
||||
if addr not in self.pts:
|
||||
self.pts[addr] = car.RadarData.RadarPoint.new_message()
|
||||
self.pts[addr].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
|
||||
valid = msg['STATE'] in (3, 4)
|
||||
if valid:
|
||||
azimuth = math.radians(msg['AZIMUTH'])
|
||||
self.pts[addr].measured = True
|
||||
self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
|
||||
self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
|
||||
self.pts[addr].vRel = msg['REL_SPEED']
|
||||
self.pts[addr].aRel = msg['REL_ACCEL']
|
||||
self.pts[addr].yvRel = float('nan')
|
||||
|
||||
else:
|
||||
del self.pts[addr]
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
return ret
|
||||
590
selfdrive/car/hyundai/values.py
Normal file
590
selfdrive/car/hyundai/values.py
Normal file
@@ -0,0 +1,590 @@
|
||||
import re
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum, IntFlag, StrEnum
|
||||
from typing import Dict, List, Optional, Set, Tuple, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
ACCEL_MIN = -3.5 # m/s
|
||||
ACCEL_MAX = 2.0 # m/s
|
||||
|
||||
def __init__(self, CP):
|
||||
self.STEER_DELTA_UP = 3
|
||||
self.STEER_DELTA_DOWN = 7
|
||||
self.STEER_DRIVER_ALLOWANCE = 50
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
self.STEER_DRIVER_FACTOR = 1
|
||||
self.STEER_THRESHOLD = 150
|
||||
self.STEER_STEP = 1 # 100 Hz
|
||||
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
self.STEER_MAX = 270
|
||||
self.STEER_DRIVER_ALLOWANCE = 250
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
self.STEER_THRESHOLD = 250
|
||||
self.STEER_DELTA_UP = 2
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
|
||||
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
|
||||
# If the max stock LKAS request is <384, add your car to this list.
|
||||
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
|
||||
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
|
||||
CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
|
||||
self.STEER_MAX = 255
|
||||
|
||||
# these cars have significantly more torque than most HKG; limit to 70% of max
|
||||
elif CP.flags & HyundaiFlags.ALT_LIMITS:
|
||||
self.STEER_MAX = 270
|
||||
self.STEER_DELTA_UP = 2
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
|
||||
# Default for most HKG
|
||||
else:
|
||||
self.STEER_MAX = 384
|
||||
|
||||
|
||||
class HyundaiFlags(IntFlag):
|
||||
CANFD_HDA2 = 1
|
||||
CANFD_ALT_BUTTONS = 2
|
||||
CANFD_ALT_GEARS = 4
|
||||
CANFD_CAMERA_SCC = 8
|
||||
|
||||
ALT_LIMITS = 16
|
||||
ENABLE_BLINKERS = 32
|
||||
CANFD_ALT_GEARS_2 = 64
|
||||
SEND_LFA = 128
|
||||
USE_FCA = 256
|
||||
CANFD_HDA2_ALT_STEERING = 512
|
||||
|
||||
|
||||
class CAR(StrEnum):
|
||||
# Hyundai
|
||||
AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
|
||||
AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
|
||||
ELANTRA = "HYUNDAI ELANTRA 2017"
|
||||
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
|
||||
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
|
||||
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
|
||||
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
|
||||
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
|
||||
IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
|
||||
IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
|
||||
IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
|
||||
IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
|
||||
IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
|
||||
KONA = "HYUNDAI KONA 2020"
|
||||
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
|
||||
KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
|
||||
KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
|
||||
KONA_HEV = "HYUNDAI KONA HYBRID 2020"
|
||||
SANTA_FE = "HYUNDAI SANTA FE 2019"
|
||||
SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
|
||||
SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
|
||||
SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
|
||||
SONATA = "HYUNDAI SONATA 2020"
|
||||
SONATA_LF = "HYUNDAI SONATA 2019"
|
||||
STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN"
|
||||
TUCSON = "HYUNDAI TUCSON 2019"
|
||||
PALISADE = "HYUNDAI PALISADE 2020"
|
||||
VELOSTER = "HYUNDAI VELOSTER 2019"
|
||||
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
|
||||
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
|
||||
IONIQ_6 = "HYUNDAI IONIQ 6 2023"
|
||||
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
|
||||
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
|
||||
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
|
||||
CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
|
||||
|
||||
# Kia
|
||||
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
|
||||
KIA_K5_2021 = "KIA K5 2021"
|
||||
KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
|
||||
KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
|
||||
KIA_NIRO_EV = "KIA NIRO EV 2020"
|
||||
KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
|
||||
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
|
||||
KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022"
|
||||
KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
|
||||
KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
|
||||
KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
|
||||
KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
|
||||
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
|
||||
KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
|
||||
KIA_SELTOS = "KIA SELTOS 2021"
|
||||
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
|
||||
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
|
||||
KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
|
||||
KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
|
||||
KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
|
||||
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
|
||||
KIA_STINGER = "KIA STINGER GT2 2018"
|
||||
KIA_STINGER_2022 = "KIA STINGER 2022"
|
||||
KIA_CEED = "KIA CEED INTRO ED 2019"
|
||||
KIA_EV6 = "KIA EV6 2022"
|
||||
KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
|
||||
|
||||
# Genesis
|
||||
GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
|
||||
GENESIS_G70 = "GENESIS G70 2018"
|
||||
GENESIS_G70_2020 = "GENESIS G70 2020"
|
||||
GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
|
||||
GENESIS_G80 = "GENESIS G80 2017"
|
||||
GENESIS_G90 = "GENESIS G90 2017"
|
||||
GENESIS_GV80 = "GENESIS GV80 2023"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
CANFD = CarFootnote(
|
||||
"Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
|
||||
"comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
|
||||
Column.MODEL, shop_footnote=False)
|
||||
|
||||
|
||||
@dataclass
|
||||
class HyundaiCarInfo(CarInfo):
|
||||
package: str = "Smart Cruise Control (SCC)"
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
self.footnotes.insert(0, Footnote.CANFD)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.AZERA_HEV_6TH_GEN: [
|
||||
HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
],
|
||||
CAR.ELANTRA: [
|
||||
# TODO: 2017-18 could be Hyundai G
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
],
|
||||
CAR.ELANTRA_GT_I30: [
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.HYUNDAI_GENESIS: [
|
||||
# TODO: check 2015 packages
|
||||
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
|
||||
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
|
||||
],
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
|
||||
# TODO: this is the 2024 US MY, not yet released
|
||||
CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_r])),
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_d])),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.TUCSON: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
],
|
||||
CAR.PALISADE: [
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
],
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.IONIQ_5: [
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
],
|
||||
CAR.IONIQ_6: [
|
||||
HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
|
||||
],
|
||||
CAR.TUCSON_4TH_GEN: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
],
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
|
||||
# Kia
|
||||
CAR.KIA_FORTE: [
|
||||
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
CAR.KIA_NIRO_EV: [
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
],
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_NIRO_PHEV: [
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
||||
],
|
||||
CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
CAR.KIA_NIRO_HEV_2021: [
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
],
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
# TODO: may support adjacent years. may have a non-zero minimum steering speed
|
||||
CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.KIA_SORENTO: [
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.KIA_EV6: [
|
||||
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
|
||||
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
|
||||
],
|
||||
CAR.KIA_CARNIVAL_4TH_GEN: [
|
||||
HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
|
||||
],
|
||||
|
||||
# Genesis
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
],
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
CAR.GENESIS_GV70_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
],
|
||||
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
}
|
||||
|
||||
class Buttons:
|
||||
NONE = 0
|
||||
RES_ACCEL = 1
|
||||
SET_DECEL = 2
|
||||
GAP_DIST = 3
|
||||
CANCEL = 4 # on newer models, this is a pause/resume button
|
||||
|
||||
|
||||
def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
|
||||
# Returns unique, platform-specific identification codes for a set of versions
|
||||
codes = set() # (code-Optional[part], date)
|
||||
for fw in fw_versions:
|
||||
code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
|
||||
part_match = PART_NUMBER_FW_PATTERN.search(fw)
|
||||
date_match = DATE_FW_PATTERN.search(fw)
|
||||
if code_match is not None:
|
||||
code: bytes = code_match.group()
|
||||
part = part_match.group() if part_match else None
|
||||
date = date_match.group() if date_match else None
|
||||
if part is not None:
|
||||
# part number starts with generic ECU part type, add what is specific to platform
|
||||
code += b"-" + part[-5:]
|
||||
|
||||
codes.add((code, date))
|
||||
return codes
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
|
||||
# Non-electric CAN FD platforms often do not have platform code specifiers needed
|
||||
# to distinguish between hybrid and ICE. All EVs so far are either exclusively
|
||||
# electric or specify electric in the platform code.
|
||||
# TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
|
||||
fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)}
|
||||
candidates: Set[str] = set()
|
||||
|
||||
for candidate, fws in offline_fw_versions.items():
|
||||
# Keep track of ECUs which pass all checks (platform codes, within date range)
|
||||
valid_found_ecus = set()
|
||||
valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
|
||||
for ecu, expected_versions in fws.items():
|
||||
addr = ecu[1:]
|
||||
# Only check ECUs expected to have platform codes
|
||||
if ecu[0] not in PLATFORM_CODE_ECUS:
|
||||
continue
|
||||
|
||||
# Expected platform codes & dates
|
||||
codes = get_platform_codes(expected_versions)
|
||||
expected_platform_codes = {code for code, _ in codes}
|
||||
expected_dates = {date for _, date in codes if date is not None}
|
||||
|
||||
# Found platform codes & dates
|
||||
codes = get_platform_codes(live_fw_versions.get(addr, set()))
|
||||
found_platform_codes = {code for code, _ in codes}
|
||||
found_dates = {date for _, date in codes if date is not None}
|
||||
|
||||
# Check platform code + part number matches for any found versions
|
||||
if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
|
||||
break
|
||||
|
||||
if ecu[0] in DATE_FW_ECUS:
|
||||
# If ECU can have a FW date, require it to exist
|
||||
# (this excludes candidates in the database without dates)
|
||||
if not len(expected_dates) or not len(found_dates):
|
||||
break
|
||||
|
||||
# Check any date within range in the database, format is %y%m%d
|
||||
if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
|
||||
break
|
||||
|
||||
valid_found_ecus.add(addr)
|
||||
|
||||
# If all live ECUs pass all checks for candidate, add it as a match
|
||||
if valid_expected_ecus.issubset(valid_found_ecus):
|
||||
candidates.add(candidate)
|
||||
|
||||
return candidates - fuzzy_platform_blacklist
|
||||
|
||||
|
||||
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf100) # Long description
|
||||
|
||||
HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf110) # Alt long description
|
||||
|
||||
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
|
||||
p16(0xf100)
|
||||
|
||||
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
||||
|
||||
# Regex patterns for parsing platform code, FW date, and part number from FW versions
|
||||
PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
|
||||
b')[A-Z]{2}[A-Za-z0-9]{0,2})')
|
||||
DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
|
||||
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
|
||||
|
||||
# List of ECUs expected to have platform codes, camera and radar should exist on all cars
|
||||
# TODO: use abs, it has the platform code and part number on many platforms
|
||||
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
|
||||
# So far we've only seen dates in fwdCamera
|
||||
# TODO: there are date codes in the ABS firmware versions in hex
|
||||
DATE_FW_ECUS = [Ecu.fwdCamera]
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
# TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
|
||||
# CAN queries (OBD-II port)
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_LONG],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
|
||||
),
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_MULTI],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
|
||||
),
|
||||
|
||||
# CAN-FD queries (from camera)
|
||||
# TODO: combine shared whitelists with CAN requests
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_LONG],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
|
||||
bus=0,
|
||||
auxiliary=True,
|
||||
),
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_LONG],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
|
||||
bus=1,
|
||||
auxiliary=True,
|
||||
obd_multiplexing=False,
|
||||
),
|
||||
|
||||
# CAN-FD debugging queries
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_ALT],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
|
||||
bus=0,
|
||||
auxiliary=True,
|
||||
),
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_ALT],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
|
||||
bus=1,
|
||||
auxiliary=True,
|
||||
obd_multiplexing=False,
|
||||
),
|
||||
],
|
||||
extra_ecus=[
|
||||
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
|
||||
(Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms)
|
||||
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
|
||||
(Ecu.cornerRadar, 0x7b7, None),
|
||||
],
|
||||
# Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
|
||||
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
|
||||
)
|
||||
|
||||
|
||||
CHECKSUM = {
|
||||
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
|
||||
CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
|
||||
CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
|
||||
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
|
||||
}
|
||||
|
||||
CAN_GEARS = {
|
||||
# which message has the gear. hybrid and EV use ELECT_GEAR
|
||||
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
|
||||
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
|
||||
}
|
||||
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
|
||||
CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
|
||||
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
|
||||
CAR.STARIA_4TH_GEN}
|
||||
|
||||
# The radar does SCC on these cars when HDA I, rather than the camera
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
|
||||
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
|
||||
|
||||
# These CAN FD cars do not accept communication control to disable the ADAS ECU,
|
||||
# responds with 0x7F2822 - 'conditions not correct'
|
||||
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}
|
||||
|
||||
# The camera does SCC on these cars, rather than the radar
|
||||
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
|
||||
|
||||
# these cars use a different gas signal
|
||||
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
|
||||
CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
|
||||
CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
|
||||
|
||||
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
|
||||
CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
|
||||
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
|
||||
CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
|
||||
CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
|
||||
|
||||
# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
|
||||
UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
|
||||
CAR.KIA_OPTIMA_H_G4_FL}
|
||||
|
||||
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
|
||||
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
|
||||
DBC = {
|
||||
CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
|
||||
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
|
||||
CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
|
||||
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
|
||||
CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
}
|
||||
Reference in New Issue
Block a user