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kia forte

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firestar5683
2026-04-24 15:29:51 -05:00
parent b6374d96b8
commit 031ad89851
3 changed files with 75 additions and 5 deletions
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opendbc_repo/opendbc/car/hyundai/carstate.py
+11 -4
View File
@@ -147,15 +147,17 @@ class CarState(CarStateBase):
ret.cruiseState.standstill = False
ret.cruiseState.nonAdaptive = False
elif no_scc:
cruise_enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
cruise_set_speed = cp.vl["LVR12"]["CF_Lvr_CruiseSet"]
cruise_has_set_speed = 0 < cruise_set_speed < 255
# Some regular-cruise Forte trims never assert ACC_REQ even when stock cruise is engaged.
cruise_enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 or cruise_has_set_speed
# Regular-cruise Forte trims don't publish SCC11/SCC12; use the stock cruise request and set speed.
ret.cruiseState.available = cruise_enabled or cp.vl["TCS13"]["ACCEnable"] == 0
ret.cruiseState.enabled = cruise_enabled
ret.cruiseState.standstill = False
ret.cruiseState.nonAdaptive = False
if 0 < cruise_set_speed < 255:
if cruise_has_set_speed:
ret.cruiseState.speed = cruise_set_speed * speed_conv
else:
ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
@@ -202,7 +204,8 @@ class CarState(CarStateBase):
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
# Regular-cruise Forte trims don't publish SCC12; avoid poisoning parser validity on no-SCC cars.
scc_warning = False if no_scc else cp_cruise.vl["SCC12"]["TakeOverReq"] == 1
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
@@ -377,7 +380,11 @@ class CarState(CarStateBase):
if CP.flags & HyundaiFlags.CANFD:
return self.get_can_parsers_canfd(CP)
msgs = []
if CP.flags & HyundaiFlags.NON_SCC and CP.flags & HyundaiFlags.USE_FCA.value:
msgs.append(("FCA11", 0)) # no-SCC Forte trims can stop publishing FCA11; don't let it poison canValid
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
}
opendbc_repo/opendbc/car/hyundai/fingerprints.py
+2
View File
@@ -583,12 +583,14 @@ FW_VERSIONS = {
CAR.KIA_FORTE: {
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102',
b'\xf1\x00BD MDPS C 1.00 1.07 56310/M6300 4BDDC107',
b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108',
b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
b'\xf1\x00BDm MDPS C A.01 1.01 56310M7800\x00 4BPMC101',
b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00BD LKAS AT USA LHD 1.00 1.02 95740-M6000 J31',
b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744',
],
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+62 -1
View File
@@ -6,7 +6,7 @@ import pytest
from opendbc.can import CANPacker
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint
from opendbc.car.structs import CarParams
from opendbc.car.fw_versions import build_fw_dict
from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
from opendbc.car.hyundai.carstate import CarState
from opendbc.car.hyundai.interface import CarInterface
from opendbc.car.hyundai import hyundaicanfd
@@ -93,6 +93,67 @@ class TestHyundaiFingerprint:
CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
assert CP.flags & HyundaiFlags.SEND_LFA
def test_kia_forte_no_scc_fw_match(self):
car_fw = [
CarParams.CarFw(
ecu=Ecu.eps,
fwVersion=b'\xf1\x00BD MDPS C 1.00 1.07 56310/M6300 4BDDC107',
address=0x7d4,
subAddress=0,
brand="hyundai",
),
CarParams.CarFw(
ecu=Ecu.fwdCamera,
fwVersion=b'\xf1\x00BD LKAS AT USA LHD 1.00 1.02 95740-M6000 J31',
address=0x7c4,
subAddress=0,
brand="hyundai",
),
]
exact, matches = match_fw_to_car(car_fw, "3KPF34AD2LE154148", allow_exact=True, allow_fuzzy=False, log=False)
assert exact
assert matches == {CAR.KIA_FORTE}
def test_kia_forte_no_scc_fca_does_not_require_scc12(self):
toggles = get_test_toggles()
fingerprint = gen_empty_fingerprint()
fingerprint[0][0x38D] = 8
CP = CarInterface.get_params(CAR.KIA_FORTE, fingerprint, [], True, False, False, toggles)
FPCP = CarInterface.get_starpilot_params(CAR.KIA_FORTE, fingerprint, [], CP, toggles)
car_state = CarState(CP, FPCP)
can_parsers = car_state.get_can_parsers(CP)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
fca11_addr = packer.dbc.name_to_msg["FCA11"].address
assert can_parsers[Bus.pt].message_states[fca11_addr].ignore_alive
car_state.update(can_parsers, toggles)
pt_states = {state.name for state in can_parsers[Bus.pt].message_states.values()}
assert "FCA11" in pt_states
assert "SCC12" not in pt_states
for frame in range(1, 6):
t = frame * 100_000_000
for parser in can_parsers.values():
required_msgs = []
for state in parser.message_states.values():
if state.ignore_alive:
continue
values = {}
if state.name == "LVR12":
values["CF_Lvr_CruiseSet"] = 30
required_msgs.append(packer.make_can_msg(state.name, parser.bus, values))
parser.update([(t, required_msgs)])
assert all(parser.can_valid for parser in can_parsers.values())
ret, _ = car_state.update(can_parsers, toggles)
assert ret.cruiseState.enabled
assert ret.cruiseState.speed > 0
def test_alternate_limits(self):
# Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
fingerprint = gen_empty_fingerprint()