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Code Issues Packages Projects Releases Wiki Activity

Kia Sorento and future Multi-Car Support (#346)

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* hyundai WIP

* steer_driver_factor is 1

* removed unnecessary file

* removed unnecessary code

* Update carcontroller.py

bug fix

* safety tuning and fixed interface stiffness

* better lateral tuning, some fixes

* Fix set speed

* added camera state reading, autoresume from stop, cancel on accel, hud alerts

* WIP

* Updated for Kia Sorento *WIP*

* Cleanup

* clean2

* Bug Fixes

* pre-merge

* Add all the cars!

* Panda to auto-detect Camera Bus

* Move Checksum Check

* Final Sorento Tuning

* Make CAN3 for Cam default

* Update README.md

* update panda, minor aesthetic updates

* few other minor changes

* added steer not allowed alert

* bup panda version to force panda update

* fixed camera alerts

old-commit-hash: b3654cbcc9
This commit is contained in:
Andrew Frahn
2018-09-10 08:30:36 +10:00
committed by rbiasini
parent 8ab1fdebc1
commit 04067deebc
13 changed files with 166 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/VERSION
+1 -1
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@@ -1 +1 @@
v1.1.3
v1.1.4
panda/board/safety/safety_gm.h
+6 -3
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@@ -22,7 +22,7 @@ const int GM_MAX_BRAKE = 350;
int gm_brake_prev = 0;
int gm_gas_prev = 0;
int gm_speed = 0;
// silence everything if stock ECUs are still online
// silence everything if stock car control ECUs are still online
int gm_ascm_detected = 0;
int gm_ignition_started = 0;
int gm_rt_torque_last = 0;
@@ -63,8 +63,11 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
gm_speed = to_push->RDLR & 0xFFFF;
}
// check if stock ASCM ECU is still online
if (bus_number == 0 && addr == 715) {
// Check if ASCM or LKA camera are online
// on powertrain bus.
// 384 = ASCMLKASteeringCmd
// 715 = ASCMGasRegenCmd
if (bus_number == 0 && (addr == 384 || addr == 715)) {
gm_ascm_detected = 1;
controls_allowed = 0;
}
panda/board/safety/safety_hyundai.h
+17 -10
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@@ -7,6 +7,7 @@ const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
int hyundai_camera_detected = 0;
int hyundai_camera_bus = 0;
int hyundai_giraffe_switch_2 = 0; // is giraffe switch 2 high?
int hyundai_rt_torque_last = 0;
int hyundai_desired_torque_last = 0;
@@ -39,6 +40,11 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
controls_allowed = 0;
}
// Find out which bus the camera is on
if (addr == 832) {
hyundai_camera_bus = bus;
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((to_push->RIR>>21) == 1057) {
// 2 bits: 13-14
@@ -51,8 +57,8 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
hyundai_cruise_engaged_last = cruise_engaged;
}
// 832 is lkas cmd. If it is on bus 2, then giraffe switch 2 is high
if ((to_push->RIR>>21) == 832 && (bus == 2)) {
// 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
if ((to_push->RIR>>21) == 832 && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
hyundai_giraffe_switch_2 = 1;
}
}
@@ -123,21 +129,22 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// FORCE CANCEL: safety check only relevant when spamming the cancel button.
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
// This avoids unintended engagements while still allowing resume spam
if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
if ((to_send->RDLR & 0x7) != 4) return 0;
}
// TODO: fix bug preventing the button msg to be fwd'd on bus 2
//if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
// if ((to_send->RDLR & 0x7) != 4) return 0;
//}
// 1 allows the message through
return true;
}
static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// forward cam to ccan and viceversa, except lkas cmd
if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
int addr = to_fwd->RIR>>21;
bool is_lkas_msg = addr == 832 && bus_num == 2;
return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
if ((bus_num == 0 || bus_num == hyundai_camera_bus) && hyundai_giraffe_switch_2) {
if ((to_fwd->RIR>>21) == 832 && bus_num == hyundai_camera_bus) return -1;
if (bus_num == 0) return hyundai_camera_bus;
if (bus_num == hyundai_camera_bus) return 0;
}
return -1;
}
panda/tests/safety/test_hyundai.py
+12 -12
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@@ -168,18 +168,18 @@ class TestHyundaiSafety(unittest.TestCase):
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
def test_spam_cancel_safety_check(self):
RESUME_BTN = 1
SET_BTN = 2
CANCEL_BTN = 4
BUTTON_MSG = 1265
self.safety.set_controls_allowed(0)
self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
# do not block resume if we are engaged already
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
#def test_spam_cancel_safety_check(self):
# RESUME_BTN = 1
# SET_BTN = 2
# CANCEL_BTN = 4
# BUTTON_MSG = 1265
# self.safety.set_controls_allowed(0)
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
# # do not block resume if we are engaged already
# self.safety.set_controls_allowed(1)
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
if __name__ == "__main__":