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This commit is contained in:
firestar5683
2026-05-25 23:57:56 -05:00
parent feba46db30
commit b78e44303d
15 changed files with 799 additions and 22 deletions
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opendbc_repo/opendbc/car/docs.py
+3 -1
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@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import argparse
import os
from types import SimpleNamespace
from typing import get_args
from collections import defaultdict
@@ -32,7 +33,8 @@ def get_params_for_docs(platform) -> CarParams:
cp_platform = platform if platform in interfaces else MOCK.MOCK
CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
alpha_long=True, is_release=False, docs=True)
alpha_long=True, is_release=False, docs=True,
starpilot_toggles=SimpleNamespace())
return CP
opendbc_repo/opendbc/car/docs_definitions.py
+1
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@@ -131,6 +131,7 @@ class CarHarness(EnumBase):
hyundai_p = BaseCarHarness("Hyundai P connector")
hyundai_q = BaseCarHarness("Hyundai Q connector")
hyundai_r = BaseCarHarness("Hyundai R connector")
hyundai_s = BaseCarHarness("Hyundai S connector")
custom = BaseCarHarness("Developer connector")
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
opendbc_repo/opendbc/car/fingerprints.py
+21
View File
@@ -193,29 +193,43 @@ MIGRATION = {
"HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
"HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
"HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
"HYUNDAI KONA 2ND GEN": HYUNDAI.HYUNDAI_KONA_2ND_GEN,
"HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
"HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
"HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
"HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
"HYUNDAI KONA HYBRID 2ND GEN": HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN,
"HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
"HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
"HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
"HYUNDAI SANTA FE HYBRID 5TH GEN": HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
"HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
"HYUNDAI SONATA 2024": HYUNDAI.HYUNDAI_SONATA_2024,
"HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
"HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
"HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
"HYUNDAI TUCSON 2025": HYUNDAI.HYUNDAI_TUCSON_2025,
"HYUNDAI TUCSON HYBRID 2025": HYUNDAI.HYUNDAI_TUCSON_HEV_2025,
"HYUNDAI TUCSON PLUG-IN HYBRID 2025": HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
"HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
"HYUNDAI PALISADE 2023": HYUNDAI.HYUNDAI_PALISADE_2023,
"HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
"HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
"HYUNDAI SONATA HYBRID 2024": HYUNDAI.HYUNDAI_SONATA_HEV_2024,
"HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
"HYUNDAI IONIQ 5 2025": HYUNDAI.HYUNDAI_IONIQ_5_PE,
"HYUNDAI IONIQ 5 N 2024": HYUNDAI.HYUNDAI_IONIQ_5_N,
"HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
"HYUNDAI IONIQ 9 2025": HYUNDAI.HYUNDAI_IONIQ_9,
"HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
"HYUNDAI SANTA CRUZ 2025": HYUNDAI.HYUNDAI_SANTA_CRUZ_2025,
"HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
"KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
"KIA K4 2025": HYUNDAI.KIA_K4_2025,
"KIA K5 2021": HYUNDAI.KIA_K5_2021,
"KIA K5 2025": HYUNDAI.KIA_K5_2025,
"KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
"KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
"KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
@@ -230,22 +244,29 @@ MIGRATION = {
"KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
"KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
"KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
"KIA SPORTAGE 2026": HYUNDAI.KIA_SPORTAGE_2026,
"KIA SPORTAGE HYBRID 2026": HYUNDAI.KIA_SPORTAGE_HEV_2026,
"KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
"KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
"KIA SORENTO 2024": HYUNDAI.KIA_SORENTO_2024,
"KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
"KIA SORENTO HYBRID 4TH GEN LFA2": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN_LFA2,
"KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
"KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
"KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
"KIA EV6 2022": HYUNDAI.KIA_EV6,
"KIA EV6 2025": HYUNDAI.KIA_EV6_2025,
"KIA EV9 2025": HYUNDAI.KIA_EV9,
"KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
"GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
"GENESIS G70 2018": HYUNDAI.GENESIS_G70,
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
"GENESIS GV70 ELECTRIFIED 2026": HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
"GENESIS G80 2017": HYUNDAI.GENESIS_G80,
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
"GENESIS GV80 2025": HYUNDAI.GENESIS_GV80_2025,
"MAZDA CX-5": MAZDA.MAZDA_CX5,
"MAZDA CX-9": MAZDA.MAZDA_CX9,
"MAZDA 3": MAZDA.MAZDA_3,
opendbc_repo/opendbc/car/hyundai/carcontroller.py
+11 -4
View File
@@ -527,6 +527,7 @@ class CarController(CarControllerBase):
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
lka_steering_long = lka_steering and self.long_active_ecu
ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
use_ioniq_6_dynamic_long_tuning = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and \
CC.actuators.longControlState == LongCtrlState.pid
use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel
@@ -546,8 +547,13 @@ class CarController(CarControllerBase):
# LFA and HDA icons
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CS.stock_lfahda_cluster_msg,
lfa_icon=lfa_icon))
if ccnc_non_hda2:
can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.long_active_ecu, CC.enabled, CC.hudControl,
CC.leftBlinker, CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5,
CS.is_metric, CS.out, CS.out.cruiseState.available, lfa_icon))
else:
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CS.stock_lfahda_cluster_msg,
lfa_icon=lfa_icon))
# blinkers
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -577,7 +583,7 @@ class CarController(CarControllerBase):
if self.long_active_ecu:
if lka_steering:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
else:
elif not ccnc_non_hda2:
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.frame % 5 == 0:
rear_stale = now_nanos - CS.blindspots_rear_corners_ts > CANFD_BLINDSPOT_STATUS_STALE_NS
@@ -612,7 +618,8 @@ class CarController(CarControllerBase):
acc_kwargs["jerk_lower"] = self._ioniq_6_long_tuning.jerk_lower
acc_kwargs["jerk_upper"] = self._ioniq_6_long_tuning.jerk_upper
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control, **acc_kwargs))
set_speed_in_units, hud_control, cruise_info=CS.cruise_info if ccnc_non_hda2 else None,
**acc_kwargs))
self.accel_last = accel
else:
# button presses
opendbc_repo/opendbc/car/hyundai/carstate.py
+23 -4
View File
@@ -7,7 +7,7 @@ from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, CAR, DBC, Buttons, CarControllerParams, \
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
hyundai_cancel_button_enables_cruise
from opendbc.car.interfaces import CarStateBase
@@ -108,6 +108,9 @@ class CarState(CarStateBase):
self.buttons_counter = 0
self.cruise_info = {}
self.msg_161 = {}
self.msg_162 = {}
self.msg_1b5 = {}
self.msg_364 = {}
self.stock_lkas_msg = {}
self.stock_lfa_msg = {}
@@ -306,7 +309,7 @@ class CarState(CarStateBase):
prev_lda_button = self.lda_button
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
if self.CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
if self.FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON:
self.lda_button = cp.vl["BCM_PO_11"]["LDA_BTN"]
ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
@@ -365,8 +368,16 @@ class CarState(CarStateBase):
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
left_blinker_sig, right_blinker_sig = self.get_canfd_blinker_sig_names(self.CP.carFingerprint,
cp.vl["BLINKERS"]["USE_ALT_LAMP"] == 1)
ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
if ccnc_non_hda2:
self.msg_161 = copy.copy(cp_cam.vl["CCNC_0x161"])
self.msg_162 = copy.copy(cp_cam.vl["CCNC_0x162"])
self.msg_1b5 = copy.copy(cp_cam.vl["FR_CMR_03_50ms"])
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
use_alt_lamp = cp.vl["BLINKERS"]["USE_ALT_LAMP"] == 1 or bool(self.CP.flags & HyundaiFlags.CCNC)
left_blinker_sig, right_blinker_sig = self.get_canfd_blinker_sig_names(self.CP.carFingerprint, use_alt_lamp)
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
cp.vl["BLINKERS"][right_blinker_sig])
self.left_blindspot_from_radar = False
@@ -380,6 +391,9 @@ class CarState(CarStateBase):
self.left_blindspot_from_radar)
ret.rightBlindspot = (bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"]) or
self.right_blindspot_from_radar)
elif self.CP.flags & HyundaiFlags.CCNC:
ret.leftBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"])
ret.rightBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"])
else:
ret.leftBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"])
ret.rightBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"])
@@ -487,6 +501,11 @@ class CarState(CarStateBase):
else:
cam_msgs.append(("FR_CMR_02_100ms", 0)) # optional: not all non-LKA CANFD cars have this on CAM bus
cam_msgs.append(("FR_CMR_03_50ms", 0)) # optional: camera lead/cipv data is not present on every CAN-FD trim
if CP.flags & HyundaiFlags.CCNC:
cam_msgs += [
("CCNC_0x161", 0),
("CCNC_0x162", 0),
]
msgs += [
("LFA", 0), # optional: may stop once OP takes over, but preserve stock UI fields when present
("LFAHDA_CLUSTER", 0), # optional: carries cluster icon state on some variants
opendbc_repo/opendbc/car/hyundai/fingerprints.py
+201
View File
@@ -741,6 +741,27 @@ FW_VERSIONS = {
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410',
b'\xf1\x00SX2EMFC AT USA LHD 1.00 1.02 99211-BF000 230823',
],
},
CAR.HYUNDAI_KONA_2ND_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SX2 MFC AT USA LHD 1.00 1.03 99211-BE000 230517',
b'\xf1\x00SX2 MFC AT USA LHD 1.00 1.07 99211-BE000 240611',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE000 ',
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE500 ',
],
},
CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SX2HMFC AT AUS RHD 1.00 1.00 99211-BE001 241015',
b'\xf1\x00SX2HMFC AT EUR RHD 1.00 1.04 99211-BE000 231010',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE000 ',
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE500 ',
],
},
CAR.KIA_NIRO_EV: {
@@ -1159,6 +1180,186 @@ FW_VERSIONS = {
b'\xf1\x00NQ5__ 1.00 1.04 99110CH100 ',
],
},
CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MX5HMFC AT CAN LHD 1.00 1.07 99211-P6000 231218',
b'\xf1\x00MX5HMFC AT KOR LHD 1.00 1.07 99211-P6000 231218',
b'\xf1\x00MX5HMFC AT USA LHD 1.00 1.06 99211-R6000 231218',
b'\xf1\x00MX5HMFC AT USA LHD 1.00 1.09 99211-R6200 250519',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MX5_ RDR ----- 1.00 1.01 99110-P6000 ',
b'\xf1\x00MX5_ RDR ----- 1.00 1.01 99110-R6000 ',
],
},
CAR.HYUNDAI_SONATA_2024: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.01 99211-L1800 230512',
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L1800 230512',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DN8_ RDR ----- 1.00 1.00 99110-L1800 ',
],
},
CAR.HYUNDAI_SONATA_HEV_2024: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8HMFC AT KOR LHD 1.00 1.01 99211-L1800 230512',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.01 99211-L1800 230512',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DN8_ RDR ----- 1.00 1.00 99110-L1800 ',
],
},
CAR.HYUNDAI_IONIQ_5_PE: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NE__ RDR ----- 1.00 1.00 99110-PI000 ',
b'\xf1\x00NE__ RDR ----- 1.00 1.01 99110-GI500 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NE MFC AT USA LHD 1.00 1.01 99211-PI000 240905',
b'\xf1\x00NE MFC AT EUR LHD 1.00 1.03 99211-GI500 240809',
b'\xf1\x00NE MFC AT USA LHD 1.00 1.00 99211-PI010 250407',
b'\xf1\x00NE MFC AT EUR LHD 1.00 1.00 99211-GI510 250513',
],
},
CAR.HYUNDAI_IONIQ_5_N: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NE1N RDR ----- 1.00 1.00 99110-NI000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NE1NMFC AT KOR LHD 1.00 1.04 99211-NI000 231219',
b'\xf1\x00NE1NMFC AT KOR LHD 1.00 1.00 99211-NI010 240712',
b'\xf1\x00NE1NMFC AT USA LHD 1.00 1.04 99211-NI000 231219',
],
},
CAR.HYUNDAI_IONIQ_9: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MEev RDR ----- 1.00 1.00 99110-GO000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00ME MFC AT KOR LHD 1.00 1.00 99211-GO000 241007',
b'\xf1\x00ME MFC AT KOR LHD 1.00 1.01 99211-GO000 250103',
],
},
CAR.HYUNDAI_TUCSON_2025: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.03 99110N7100 ',
],
},
CAR.HYUNDAI_TUCSON_HEV_2025: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.02 99110N7000 ',
b'\xf1\x00NX4__ 1.00 1.02 99110N7100 ',
b'\xf1\x00NX4__ 1.00 1.03 99110N7100 ',
],
},
CAR.HYUNDAI_TUCSON_PHEV_2025: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.02 99110N7100 ',
],
},
CAR.HYUNDAI_SANTA_CRUZ_2025: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110K5500 ',
],
},
CAR.KIA_K4_2025: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CL4 MFC AT CAN LHD 1.00 1.02 99210-GG000 240708',
b'\xf1\x00CL4 MFC AT USA LHD 1.00 1.02 99210-GG000 240708',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CL4_ RDR ----- 1.00 1.01 99110-GG000 ',
b'\xf1\x00CL4_ RDR ----- 1.00 1.01 99110-GG100 ',
],
},
CAR.KIA_K5_2025: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L2500 240117',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DL3_ RDR ----- 1.00 1.01 99110-L2500 ',
],
},
CAR.KIA_SPORTAGE_2026: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ51.011.021.012551000HKP_NQ524_50509099211P1110',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.00 1.04 99110P1100 ',
],
},
CAR.KIA_SORENTO_2024: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4 MFC AT AUS RHD 1.01 1.04 99210-P2550 231127',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQ4_ RDR ----- 1.00 1.01 99110-P2500 ',
],
},
CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.00 99210-P2600 250617',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQ4_ RDR ----- 1.00 1.01 99110-P2500 ',
],
},
CAR.KIA_EV6_2025: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CV__ RDR ----- 1.00 1.00 99110-XG500 ',
b'\xf1\x00CV__ RDR ----- 1.00 1.01 99110-CV500 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CV MFC AT KOR LHD 1.00 1.01 99210-CV500 240405',
b'\xf1\x00CV MFC AT USA LHD 1.00 1.02 99210-XG500 241223',
],
},
CAR.KIA_EV9: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MV__ RDR ----- 1.00 1.02 99110-DO000 ',
b'\xf1\x00MV__ RDR ----- 1.00 1.03 99110-DO000 ',
b'\xf1\x00MV__ RDR ----- 1.00 1.04 99110-DO000 ',
b'\xf1\x00MV__ RDR ----- 1.00 1.02 99110-DO700 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MV MFC AT KOR LHD 1.00 1.01 99211-DO000 230419',
b'\xf1\x00MV MFC AT USA LHD 1.00 1.02 99211-DO000 230616',
b'\xf1\x00MV MFC AT EUR LHD 1.00 1.02 99211-DO000 230616',
b'\xf1\x00MV MFC AT CAN LHD 1.00 1.00 99211-DO100 240403',
b'\xf1\x00MV MFC AT USA LHD 1.00 1.01 99211-XA000 241023',
b'\xf1\x00MV MFC AT CAN LHD 1.00 1.01 99211-DO100 241023',
],
},
CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JK MFC AT USA LHD 1.00 1.03 99211-DS600 241125',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JK__ RDR ----- 1.00 1.01 99110-DS500 ',
],
},
CAR.GENESIS_GV80_2025: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JX__ RDR ----- 1.00 1.03 99110-T6500 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JX MFC AT USA LHD 1.00 1.03 99211-T6510 240124',
],
},
CAR.GENESIS_GV70_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JK1 MFC AT CAN LHD 1.00 1.02 99211-IY000 230627',
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+100 -1
View File
@@ -1,6 +1,7 @@
import copy
import numpy as np
from opendbc.car import CanBusBase, CanData
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.crc import CRC16_XMODEM
from opendbc.car.hyundai.values import HyundaiFlags
@@ -219,6 +220,102 @@ def create_lfahda_cluster(packer, CAN, enabled, base_values=None, lfa_icon=None)
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_ccnc(packer, CAN, openpilot_longitudinal, enabled, hud, left_blinker, right_blinker, msg_161, msg_162, msg_1b5,
is_metric, out, main_cruise_enabled, lfa_icon):
for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"):
msg_162[fault] = 0
if msg_161["ALERTS_2"] == 5:
msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
if msg_161["ALERTS_3"] == 17:
msg_161["ALERTS_3"] = 0
if msg_161["ALERTS_5"] in (2, 5):
msg_161["ALERTS_5"] = 0
if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (3, 0):
msg_161["SOUNDS_4"] = 0
lane_change_speed_min = 8.9408
any_blinker = left_blinker or right_blinker
curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
msg_161.update({
"DAW_ICON": 0,
"LKA_ICON": 0,
"LFA_ICON": 2 if lfa_icon else 0,
"CENTERLINE": 1 if lfa_icon else 0,
"LANELINE_CURVATURE": curvature.get(max(-15, min(int(out.steeringAngleDeg / 4.5), 15)), 14) if lfa_icon and not any_blinker else 15,
"LANELINE_LEFT": 0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if any_blinker else 2,
"LANELINE_RIGHT": 0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if any_blinker else 2,
"LCA_LEFT_ICON": 0 if not lfa_icon or out.vEgo < lane_change_speed_min else 1 if out.leftBlindspot else 2 if any_blinker else 4,
"LCA_RIGHT_ICON": 0 if not lfa_icon or out.vEgo < lane_change_speed_min else 1 if out.rightBlindspot else 2 if any_blinker else 4,
"LCA_LEFT_ARROW": 2 if left_blinker else 0,
"LCA_RIGHT_ARROW": 2 if right_blinker else 0,
})
if lfa_icon and any_blinker:
left_lane_raw = msg_1b5["Info_LftLnPosVal"]
right_lane_raw = msg_1b5["Info_RtLnPosVal"]
scale_per_m = 15 / 1.7
left_lane = abs(int(round(15 + (left_lane_raw - 1.7) * scale_per_m)))
right_lane = abs(int(round(15 + (right_lane_raw - 1.7) * scale_per_m)))
if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
left_lane = 0
if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
right_lane = 0
if left_lane_raw == -2.0248375:
left_lane = 30 - right_lane
if right_lane_raw == 2.0248375:
right_lane = 30 - left_lane
if left_lane_raw == right_lane_raw == 0:
left_lane = right_lane = 15
elif left_lane_raw == 0:
left_lane = 30 - right_lane
elif right_lane_raw == 0:
right_lane = 30 - left_lane
total = left_lane + right_lane
if total == 0:
left_lane = right_lane = 15
else:
left_lane = round((left_lane / total) * 30)
right_lane = 30 - left_lane
msg_161["LANELINE_LEFT_POSITION"] = left_lane
msg_161["LANELINE_RIGHT_POSITION"] = right_lane
if hud.leftLaneDepart or hud.rightLaneDepart:
msg_162["VIBRATE"] = 1
if openpilot_longitudinal:
if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
msg_161["ALERTS_3"] = 0
if msg_161["ALERTS_5"] == 4:
msg_161["ALERTS_5"] = 0
if msg_161["SOUNDS_3"] == 5:
msg_161["SOUNDS_3"] = 0
cruise_speed = round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))
msg_161.update({
"SETSPEED": 3 if enabled else 1,
"SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
"SETSPEED_SPEED": 255 if not main_cruise_enabled else (40 if is_metric else 25) if cruise_speed > (145 if is_metric else 90) else cruise_speed,
"DISTANCE": hud.leadDistanceBars,
"DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
"DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
"DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
"SLA_ICON": 0,
"NAV_ICON": 0,
"TARGET": 0,
})
msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
return [packer.make_can_msg(msg, CAN.ECAN, values) for msg, values in (("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162))]
def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values,
left_blindspot=False, right_blindspot=False,
left_blinker=False, right_blinker=False):
@@ -463,7 +560,7 @@ def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None):
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
main_mode_acc=1, jerk_lower=None, jerk_upper=None, direct_accel=False,
lead_distance=None, lead_rel_speed=None, lead_visible=None):
lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
@@ -506,6 +603,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
"SET_ME_TMP_64": 0x64,
"DISTANCE_SETTING": hud_control.leadDistanceBars,
}
if cruise_info:
values.update({s: cruise_info[s] for s in ("ACC_ObjDist", "ACC_ObjRelSpd")})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
opendbc_repo/opendbc/car/hyundai/interface.py
+5 -2
View File
@@ -70,6 +70,9 @@ class CarInterface(CarInterfaceBase):
# this needs to be figured out for cars without an ADAS ECU
# Cars in CANFD_SECURITYACCESS_CAR are known to have ADAS ECUs that work with SecurityAccess
ret.alphaLongitudinalAvailable = False
if lka_steering and ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
# Angle-steering LKA platforms still need stock longitudinal validation.
ret.alphaLongitudinalAvailable = False
ret.enableBsm = 0x1ba in fingerprint[CAN.ECAN]
@@ -115,6 +118,8 @@ class CarInterface(CarInterfaceBase):
if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
ret.steerControlType = structs.CarParams.SteerControlType.angle
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
else:
# Shared configuration for non CAN-FD cars
@@ -139,8 +144,6 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
# These cars have the LFA button on the steering wheel
if 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_CANFD_BLENDED.value
if hyundai_cancel_button_enables_cruise(candidate):
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+185 -1
View File
@@ -32,7 +32,12 @@ NO_DATES_PLATFORMS = {
CAR.KIA_SPORTAGE_5TH_GEN,
CAR.KIA_SPORTAGE_HEV_2026,
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
CAR.HYUNDAI_SANTA_CRUZ_2025,
CAR.HYUNDAI_TUCSON_4TH_GEN,
CAR.HYUNDAI_TUCSON_2025,
CAR.HYUNDAI_TUCSON_HEV_2025,
CAR.HYUNDAI_TUCSON_PHEV_2025,
CAR.KIA_SPORTAGE_2026,
# CAN
CAR.HYUNDAI_ELANTRA,
CAR.HYUNDAI_ELANTRA_GT_I30,
@@ -65,6 +70,37 @@ HYUNDAI_NON_SCC_CARS = (
)
HYUNDAI_NON_SCC_FW_CARS = tuple(car_model for car_model in HYUNDAI_NON_SCC_CARS if car_model in FW_VERSIONS)
CCNC_NON_HDA2_CARS = (
CAR.HYUNDAI_KONA_2ND_GEN,
CAR.HYUNDAI_KONA_HEV_2ND_GEN,
CAR.HYUNDAI_KONA_EV_2ND_GEN,
CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
CAR.HYUNDAI_SONATA_2024,
CAR.HYUNDAI_SONATA_HEV_2024,
CAR.HYUNDAI_IONIQ_5_N,
CAR.HYUNDAI_TUCSON_2025,
CAR.HYUNDAI_TUCSON_HEV_2025,
CAR.HYUNDAI_TUCSON_PHEV_2025,
CAR.HYUNDAI_SANTA_CRUZ_2025,
CAR.KIA_K4_2025,
CAR.KIA_K5_2025,
CAR.KIA_SPORTAGE_2026,
CAR.KIA_SORENTO_2024,
)
ANGLE_STEERING_CARS = (
CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
CAR.HYUNDAI_IONIQ_5_PE,
CAR.HYUNDAI_IONIQ_9,
CAR.KIA_SPORTAGE_2026,
CAR.KIA_SPORTAGE_HEV_2026,
CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2,
CAR.KIA_EV6_2025,
CAR.KIA_EV9,
CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
CAR.GENESIS_GV80_2025,
)
def get_test_toggles() -> SimpleNamespace:
return SimpleNamespace(always_on_lateral_lkas=False, force_torque_controller=False, nnff=False, nnff_lite=False)
@@ -106,12 +142,42 @@ class TestHyundaiFingerprint:
CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
assert CP.flags & HyundaiFlags.SEND_LFA
@pytest.mark.parametrize("candidate", CCNC_NON_HDA2_CARS)
def test_ccnc_non_hda2_platforms_set_ccnc_safety(self, candidate):
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
assert CP.flags & HyundaiFlags.CCNC
assert CP.flags & HyundaiFlags.CANFD_CAMERA_SCC
assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CCNC
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAMERA_SCC
@pytest.mark.parametrize("candidate", ANGLE_STEERING_CARS)
def test_angle_steering_platforms_use_angle_control(self, candidate):
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
assert CP.steerControlType == CarParams.SteerControlType.angle
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ANGLE_STEERING
def test_ccnc_hda2_lka_layout_does_not_set_ccnc_safety_param(self):
fingerprint = gen_empty_fingerprint()
cam_can = CanBus(None, fingerprint).CAM
fingerprint[cam_can] = {0x50: 16}
CP = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
assert CP.flags & HyundaiFlags.CCNC
assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CCNC)
def test_ioniq_6_hda1_layout_stays_non_lka(self):
fingerprint = gen_empty_fingerprint()
fingerprint[1] = {0x100: 8, 0x110: 8}
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
assert not (CP.flags & HyundaiFlags.CCNC)
assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
@@ -604,6 +670,124 @@ class TestHyundaiFingerprint:
assert parser.vl["SCC_CONTROL"]["ObjValid"] == 1
assert parser.vl["SCC_CONTROL"]["OBJ_STATUS"] == 0
def test_canfd_acc_control_preserves_stock_ccnc_object_fields(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC_CONTROL", 0)], can_bus.ECAN)
msg = hyundaicanfd.create_acc_control(packer, can_bus, enabled=True, accel_last=0.0, accel=0.1, stopping=False,
gas_override=False, set_speed=42, hud_control=SimpleNamespace(leadDistanceBars=3),
direct_accel=True, lead_distance=27.5, lead_rel_speed=-1.2, lead_visible=True,
cruise_info={"ACC_ObjDist": 13.5, "ACC_ObjRelSpd": -0.4})
parser.update([(1, [msg])])
assert parser.can_valid
assert parser.vl["SCC_CONTROL"]["ACC_ObjDist"] == pytest.approx(13.5)
assert parser.vl["SCC_CONTROL"]["ACC_ObjRelSpd"] == pytest.approx(-0.4)
def test_ccnc_hud_helper_clears_faults_and_generates_ui_fields(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
CP.openpilotLongitudinalControl = True
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CCNC_0x161", 0), ("CCNC_0x162", 0)], can_bus.ECAN)
msg_161 = {
"ALERTS_2": 5,
"ALERTS_3": 17,
"ALERTS_5": 5,
"SOUNDS_3": 5,
"SOUNDS_4": 2,
"LFA_ICON": 3,
}
msg_162 = {fault: 1 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS")}
msg_162["VIBRATE"] = 0
msg_1b5 = {
"Info_LftLnPosVal": 1.4,
"Info_RtLnPosVal": 1.9,
"Info_LftLnQualSta": 3,
"Info_RtLnQualSta": 3,
"Longitudinal_Distance": 42.0,
}
hud = SimpleNamespace(leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=True, rightLaneDepart=False,
leadDistanceBars=3, leadVisible=True)
out = SimpleNamespace(steeringAngleDeg=22.5, vEgo=15.0, leftBlindspot=True, rightBlindspot=False,
vCruiseCluster=88.0)
msgs = hyundaicanfd.create_ccnc(packer, can_bus, openpilot_longitudinal=True, enabled=True, hud=hud,
left_blinker=False, right_blinker=False, msg_161=msg_161, msg_162=msg_162,
msg_1b5=msg_1b5, is_metric=False, out=out, main_cruise_enabled=True, lfa_icon=2)
parser.update([(1, msgs)])
assert parser.can_valid
assert parser.vl["CCNC_0x161"]["DAW_ICON"] == 0
assert parser.vl["CCNC_0x161"]["LKA_ICON"] == 0
assert parser.vl["CCNC_0x161"]["LFA_ICON"] == 2
assert parser.vl["CCNC_0x161"]["CENTERLINE"] == 1
assert parser.vl["CCNC_0x161"]["LANELINE_CURVATURE"] == 20
assert parser.vl["CCNC_0x161"]["LANELINE_LEFT"] == 4
assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT"] == 2
assert parser.vl["CCNC_0x161"]["LCA_LEFT_ICON"] == 1
assert parser.vl["CCNC_0x161"]["LCA_RIGHT_ICON"] == 4
assert parser.vl["CCNC_0x161"]["ALERTS_2"] == 0
assert parser.vl["CCNC_0x161"]["ALERTS_3"] == 0
assert parser.vl["CCNC_0x161"]["ALERTS_5"] == 0
assert parser.vl["CCNC_0x161"]["SOUNDS_3"] == 0
assert parser.vl["CCNC_0x161"]["SOUNDS_4"] == 0
assert parser.vl["CCNC_0x161"]["SETSPEED"] == 3
assert parser.vl["CCNC_0x161"]["SETSPEED_HUD"] == 2
assert parser.vl["CCNC_0x161"]["SETSPEED_SPEED"] == 55
assert parser.vl["CCNC_0x161"]["DISTANCE"] == 3
assert parser.vl["CCNC_0x161"]["DISTANCE_LEAD"] == 2
assert all(parser.vl["CCNC_0x162"][fault] == 0 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"))
assert parser.vl["CCNC_0x162"]["VIBRATE"] == 1
assert parser.vl["CCNC_0x162"]["LEAD"] == 2
assert parser.vl["CCNC_0x162"]["LEAD_DISTANCE"] == pytest.approx(42.0)
def test_ccnc_hud_helper_generates_lane_position_animation_and_lca_arrows(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CCNC_0x161", 0), ("CCNC_0x162", 0)], can_bus.ECAN)
hud = SimpleNamespace(leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=False, rightLaneDepart=False,
leadDistanceBars=1, leadVisible=False)
out = SimpleNamespace(steeringAngleDeg=0.0, vEgo=15.0, leftBlindspot=False, rightBlindspot=False,
vCruiseCluster=55.0)
msg_1b5 = {
"Info_LftLnPosVal": 1.4,
"Info_RtLnPosVal": 1.9,
"Info_LftLnQualSta": 3,
"Info_RtLnQualSta": 3,
"Longitudinal_Distance": 0.0,
}
msgs = hyundaicanfd.create_ccnc(packer, can_bus, openpilot_longitudinal=False, enabled=True, hud=hud,
left_blinker=True, right_blinker=False,
msg_161={"ALERTS_2": 0, "ALERTS_3": 0, "ALERTS_5": 0, "SOUNDS_4": 0, "LFA_ICON": 2},
msg_162={fault: 0 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS")},
msg_1b5=msg_1b5, is_metric=True, out=out, main_cruise_enabled=True, lfa_icon=2)
parser.update([(1, msgs)])
assert parser.can_valid
assert parser.vl["CCNC_0x161"]["LANELINE_CURVATURE"] == 15
assert parser.vl["CCNC_0x161"]["LANELINE_LEFT"] == 6
assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT"] == 6
assert parser.vl["CCNC_0x161"]["LCA_LEFT_ICON"] == 2
assert parser.vl["CCNC_0x161"]["LCA_LEFT_ARROW"] == 2
assert parser.vl["CCNC_0x161"]["LCA_RIGHT_ARROW"] == 0
assert parser.vl["CCNC_0x161"]["LANELINE_LEFT_POSITION"] == 12
assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT_POSITION"] == 18
def test_canfd_scc_lead_state_prefers_openpilot_lead_distance(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV6
@@ -1196,7 +1380,7 @@ class TestHyundaiFingerprint:
# Hyundai places the ECU part number in their FW versions, assert all parsable
# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
if car_model != CAR.KIA_SPORTAGE_HEV_2026:
if car_model not in (CAR.KIA_SPORTAGE_2026, CAR.KIA_SPORTAGE_HEV_2026):
assert all(b"-" in code for code, _ in codes), \
f"FW does not have part number: {fw}"
opendbc_repo/opendbc/car/hyundai/values.py
+145 -6
View File
@@ -121,6 +121,7 @@ class HyundaiSafetyFlags(IntFlag):
NON_SCC = 4096
CAN_CANFD_BLENDED = 8192
CANCEL_BTN_ENABLE = 16384
CCNC = 32768
class HyundaiStarPilotSafetyFlags(IntFlag):
@@ -184,8 +185,6 @@ class HyundaiFlags(IntFlag):
MIN_STEER_32_MPH = 2 ** 23
HAS_LDA_BUTTON = 2 ** 24
FCEV = 2 ** 25
ALT_LIMITS_2 = 2 ** 26
@@ -203,6 +202,9 @@ class HyundaiFlags(IntFlag):
NON_SCC_NO_FCA = 2 ** 30
NON_SCC_RADAR_FCA = 2 ** 31
# Connected Car Navigation Cockpit CAN-FD platforms.
CCNC = 2 ** 24
@dataclass
class HyundaiCarDocs(CarDocs):
@@ -342,6 +344,16 @@ class CAR(Platforms):
CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
)
HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_l]))],
CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_KONA_EV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
@@ -353,10 +365,13 @@ class CAR(Platforms):
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
)
HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r]))],
[
HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r])),
HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
)
HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages,
@@ -390,12 +405,27 @@ class CAR(Platforms):
HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_SANTA_FE_HEV_5TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25", "Highway Driving Assist II & Lane Follow Assist 2",
car_parts=CarParts.common([CarHarness.hyundai_p])),
HyundaiCarDocs("Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26", "Lane Follow Assist 2",
car_parts=CarParts.common([CarHarness.hyundai_l])),
],
CarSpecs(mass=2035, wheelbase=2.81, steerRatio=13.72),
flags=HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CCNC,
)
HYUNDAI_SONATA = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
@@ -441,6 +471,11 @@ class CAR(Platforms):
HYUNDAI_SONATA.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
@@ -450,11 +485,32 @@ class CAR(Platforms):
CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV,
)
HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
car_parts=CarParts.common([CarHarness.hyundai_q]))
],
HYUNDAI_IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
)
HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
CarSpecs(mass=2205, wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
)
HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
HYUNDAI_IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
)
HYUNDAI_IONIQ_9 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
car_parts=CarParts.common([CarHarness.hyundai_m]))
],
CarSpecs(mass=2700, wheelbase=3.13, steerRatio=16.02),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
)
HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
@@ -464,11 +520,31 @@ class CAR(Platforms):
],
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
)
HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
)
HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
CarSpecs(mass=1920, wheelbase=3, steerRatio=14.2),
flags=HyundaiFlags.CCNC,
)
HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
@@ -483,11 +559,24 @@ class CAR(Platforms):
],
CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
)
KIA_K4_2025 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia K4 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
],
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
flags=HyundaiFlags.CCNC,
)
KIA_K5_2021 = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
flags=HyundaiFlags.CHECKSUM_CRC8,
)
KIA_K5_2025 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Kia K5 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_m]))],
CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
flags=HyundaiFlags.CCNC,
)
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
KIA_K5_2021.specs,
@@ -580,6 +669,13 @@ class CAR(Platforms):
# weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
)
KIA_SPORTAGE_2026 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Sportage (without HDA II) 2026", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CarSpecs(mass=1735, wheelbase=2.756, steerRatio=13.7),
flags=HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CCNC,
)
KIA_SPORTAGE_HEV_2026 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Kia Sportage Hybrid 2026", car_parts=CarParts.common([CarHarness.hyundai_n]))],
CarSpecs(mass=1812, wheelbase=2.756, steerRatio=13.7),
@@ -599,6 +695,11 @@ class CAR(Platforms):
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
flags=HyundaiFlags.RADAR_SCC,
)
KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
flags=HyundaiFlags.CCNC,
)
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -607,6 +708,13 @@ class CAR(Platforms):
CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
flags=HyundaiFlags.RADAR_SCC,
)
KIA_SORENTO_HEV_4TH_GEN_LFA2 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Sorento Hybrid 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CarSpecs(mass=1970, wheelbase=2.814, steerRatio=13.27, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CANFD_ANGLE_STEERING,
)
KIA_STINGER = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Stinger 2018-20", video="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c]))],
@@ -630,6 +738,20 @@ class CAR(Platforms):
CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV,
)
KIA_EV6_2025 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia EV6 (with HDA I) 2025", "Highway Driving Assist I", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
)
KIA_EV9 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia EV9 2025-26", car_parts=CarParts.common([CarHarness.hyundai_r]))
],
CarSpecs(mass=2664, wheelbase=3.1, steerRatio=16),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
)
KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -680,6 +802,13 @@ class CAR(Platforms):
CarSpecs(mass=2260, wheelbase=2.87, steerRatio=17.1),
flags=HyundaiFlags.EV,
)
GENESIS_GV70_ELECTRIFIED_2ND_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Genesis GV70 Electrified 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
GENESIS_GV70_ELECTRIFIED_1ST_GEN.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
)
GENESIS_G80 = HyundaiPlatformConfig(
[HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
@@ -698,6 +827,16 @@ class CAR(Platforms):
CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
flags=HyundaiFlags.RADAR_SCC,
)
GENESIS_GV80_2025 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarDocs("Genesis GV80 Coupe (with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
car_parts=CarParts.common([CarHarness.hyundai_q])),
],
GENESIS_GV80.specs,
flags=HyundaiFlags.CANFD_ANGLE_STEERING,
)
# Hyundai non-SCC extensions
HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiNonSccPlatformConfig(
@@ -857,7 +996,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
# TODO: the hybrid variant is not out yet
CAR.KIA_CARNIVAL_4TH_GEN}
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2}
# 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
opendbc_repo/opendbc/car/interfaces.py
+1 -1
View File
@@ -233,7 +233,7 @@ class CarInterfaceBase(ABC):
not CP.openpilotLongitudinalControl:
fp_ret.pcmCruiseSpeed = False
if CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
if 0x391 in fingerprint[0] or CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
if starpilot_toggles.always_on_lateral_lkas:
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
opendbc_repo/opendbc/car/tests/routes.py
+21
View File
@@ -25,6 +25,17 @@ non_tested_cars = [
GM.HOLDEN_ASTRA,
GM.CHEVROLET_MALIBU,
HYUNDAI.GENESIS_G90,
HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
HYUNDAI.GENESIS_GV80_2025,
HYUNDAI.HYUNDAI_IONIQ_5_PE,
HYUNDAI.HYUNDAI_IONIQ_5_N,
HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
HYUNDAI.KIA_EV6_2025,
HYUNDAI.KIA_EV9,
HYUNDAI.KIA_SPORTAGE_2026,
HYUNDAI.KIA_SORENTO_2024,
HYUNDAI.KIA_SORENTO_HEV_4TH_GEN_LFA2,
VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter
SUBARU.SUBARU_FORESTER_HYBRID,
VOLKSWAGEN.PORSCHE_MACAN_MK1,
@@ -143,6 +154,7 @@ routes = [
CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL), # LKA steering
CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
@@ -156,11 +168,14 @@ routes = [
CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # 2023
CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # hybrid
CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
@@ -168,6 +183,7 @@ routes = [
CarTestRoute("9c917ba0d42ffe78/2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
CarTestRoute("05a8f0197fdac372/2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5), # LKA steering
CarTestRoute("eb4eae1476647463/2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6), # LKA steering
CarTestRoute("71e4e67d29034771/0000001b--b7b4774ec4", HYUNDAI.HYUNDAI_IONIQ_9),
CarTestRoute("3f29334d6134fcd4/2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
CarTestRoute("fa8db5869167f821/2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
CarTestRoute("e1107f9d04dfb1e2/2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV), # openpilot longitudinal enabled
@@ -178,11 +194,13 @@ routes = [
CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV), # openpilot longitudinal enabled
CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
CarTestRoute("1618132d68afc876/2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
CarTestRoute("49f3c13141b6bc87/2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
CarTestRoute("a74afe0cf708748f/0000000e--a2885a9a71", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),
CarTestRoute("a74afe0cf708748f/0000000c--b476a8fd00", HYUNDAI.HYUNDAI_NEXO_1ST_GEN), # openpilot longitudinal enabled
CarTestRoute("5dddcbca6eb66c62/2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
@@ -191,7 +209,9 @@ routes = [
CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # LKA steering
CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # LFA steering
CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
CarTestRoute("50c6c9b85fd1ff03/2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
@@ -210,6 +230,7 @@ routes = [
CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
opendbc_repo/opendbc/car/torque_data/override.toml
+21
View File
@@ -64,13 +64,25 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
"VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
"HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
"HYUNDAI_SANTA_FE_HEV_5TH_GEN" = [nan, 2.5, nan]
"HYUNDAI_SONATA_2024" = [2.5, 2.5, 0.1]
"HYUNDAI_SONATA_HEV_2024" = [2.5, 2.5, 0.1]
"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_TUCSON_2025" = [2.5, 2.5, 0.1]
"HYUNDAI_TUCSON_HEV_2025" = [2.5, 2.5, 0.1]
"HYUNDAI_TUCSON_PHEV_2025" = [2.5, 2.5, 0.1]
"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
"KIA_SPORTAGE_2026" = [nan, 2.5, nan]
"KIA_SPORTAGE_HEV_2026" = [nan, 2.5, nan]
"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
"GMC_YUKON" = [1.2, 2.5, 0.26]
"KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
"KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
"KIA_SORENTO_HEV_4TH_GEN_LFA2" = [nan, 2.5, nan]
"KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]
"KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
"GENESIS_GV80" = [2.5, 2.5, 0.1]
@@ -78,15 +90,24 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"GMC_ACADIA" = [1.6, 1.6, 0.2]
"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_IONIQ_5_PE" = [nan, 2.5, nan]
"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.1]
"HYUNDAI_IONIQ_6" = [3.0, 3.0, 0.09]
"HYUNDAI_IONIQ_9" = [nan, 2.5, nan]
"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
"KIA_K4_2025" = [2.5, 2.5, 0.1]
"KIA_K5_2025" = [2.5, 2.5, 0.1]
"KIA_EV6_2025" = [nan, 2.5, nan]
"KIA_EV9" = [nan, 2.5, nan]
"HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
"LEXUS_GS_F" = [2.5, 2.5, 0.08]
"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
"GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
"GENESIS_GV70_ELECTRIFIED_2ND_GEN" = [nan, 2.5, nan]
"GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
"GENESIS_GV80_2025" = [nan, 2.5, nan]
# Note that some Rivians achieve significantly less lateral acceleration than this
"RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+30 -2
View File
@@ -56,6 +56,7 @@
static bool hyundai_canfd_alt_buttons = false;
static bool hyundai_canfd_lka_steering_alt = false;
static bool hyundai_canfd_angle_steering = false;
static bool hyundai_ccnc = false;
static unsigned int hyundai_canfd_get_lka_addr(void) {
return hyundai_canfd_lka_steering_alt ? 0x110U : 0x50U;
@@ -289,6 +290,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
const uint16_t HYUNDAI_PARAM_CANFD_ANGLE_STEERING = 1024;
const uint16_t HYUNDAI_PARAM_CCNC = 32768U;
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
@@ -335,12 +337,22 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
{0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
{0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
{0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
{0x7C4, 2, 8, .check_relay = true}, /* camera support frame */ \
{0xEA, 2, 24, .check_relay = true}, /* MDPS support frame */ \
hyundai_common_init(param);
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
hyundai_canfd_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING);
hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);
safety_config ret;
if (hyundai_longitudinal) {
@@ -367,6 +379,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(0)
};
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
};
if (hyundai_canfd_alt_buttons) {
SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
} else {
@@ -374,7 +390,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
}
if (hyundai_camera_scc) {
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
if (hyundai_ccnc) {
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
} else {
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
}
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
}
@@ -435,7 +455,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
};
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
};
if (hyundai_ccnc) {
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
} else {
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
}
if (hyundai_canfd_alt_buttons) {
SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+31
View File
@@ -422,6 +422,37 @@ class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringAltButton
pass
class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
TX_MSGS = [[0x161, 0], [0x162, 0], [0x7C4, 2], [0xEA, 2]]
def setUp(self):
self.packer = CANPackerSafety("hyundai_canfd_generated")
self.safety = libsafety_py.libsafety
def _set_hooks(self, param):
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
self.safety.init_tests()
def test_ccnc_support_frames_require_ccnc_flag(self):
support_msgs = (
self.packer.make_can_msg_safety("CCNC_0x161", 0, {}),
self.packer.make_can_msg_safety("CCNC_0x162", 0, {}),
common.make_msg(2, 0x7C4, 8),
common.make_msg(2, 0xEA, 24),
)
for longitudinal in (False, True):
base_param = HyundaiSafetyFlags.CAMERA_SCC | (HyundaiSafetyFlags.LONG if longitudinal else 0)
self._set_hooks(base_param)
for msg in support_msgs:
self.assertFalse(self._tx(msg))
self._set_hooks(base_param | HyundaiSafetyFlags.CCNC)
for msg in support_msgs:
self.assertTrue(self._tx(msg))
class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]