ray

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -10,7 +10,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
                                         CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
                                         KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
@@ -477,6 +477,11 @@ class CarController(CarControllerBase):
     self._dash_lat_disengage_init = False
     self._dash_prev_lat_active = False
     self._ray_lkas11_active = False
+    self._ray_lfa_8byte = CP.carFingerprint == CAR.KIA_RAY_EV and bool(
+      getattr(CP, "safetyConfigs", None) and
+      CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
+    )
+    self._ray_lfa_packer = CANPacker("hyundai_kia_ray_lfa") if self._ray_lfa_8byte else None
 
   def _update_dash_icon_state(self, CC):
     if CC.latActive:
@@ -834,7 +839,10 @@ class CarController(CarControllerBase):
 
     # 20 Hz LFA MFA message
     if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
-      can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))
+      if self._ray_lfa_8byte:
+        can_sends.append(hyundaican.create_ray_lfahda_mfc(self._ray_lfa_packer, CC.latActive, lfa_icon))
+      else:
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))
 
     # 5 Hz ACC options
     if self.frame % 20 == 0 and self.long_active_ecu and not can_canfd_blended:

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -203,6 +203,17 @@ def create_lfahda_mfc(packer, enabled, frame=None, CP=None, lfa_icon=None):
   return packer.make_can_msg("LFAHDA_MFC", bus, values)
 
 
+def create_ray_lfahda_mfc(packer, lat_active, lfa_icon):
+  values = {
+    "HDA_USM": 2,
+    "HDA_Icon_State": 2 if lfa_icon else 0,
+    "HDA_VSetReq": 0,
+    "HDA_Icon_Wheel": int(lat_active),
+    "LFA_Icon_State": lfa_icon,
+  }
+  return packer.make_can_msg("LFAHDA_MFC", 0, values)
+
+
 def create_acc_commands_can_canfd_blended(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed,
                                           stopping, long_override, use_fca, CP):
   commands = []

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -211,9 +211,7 @@ class CarInterface(CarInterfaceBase):
       ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]
 
       # Send LFA message on cars with HDA
-      if 0x485 in fingerprint[CAN.CAM] and (
-          candidate != CAR.KIA_RAY_EV or fingerprint[CAN.CAM][0x485] == 4
-      ):
+      if 0x485 in fingerprint[CAN.CAM]:
         ret.flags |= HyundaiFlags.SEND_LFA.value
 
       # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
@@ -228,6 +226,9 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
 
+      if candidate == CAR.KIA_RAY_EV and fingerprint[CAN.CAM].get(0x485) == 8:
+        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_REFRESH_MSGS.value
+
       if ret.flags & HyundaiFlags.CAMERA_SCC:
         ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
       if candidate in (CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024):

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -901,7 +901,21 @@ class TestHyundaiFingerprint:
     fingerprint[2][0x485] = 8
     CP = CarInterface.get_params(CAR.KIA_RAY_EV, fingerprint, [], False, False, False, None)
 
-    assert not (CP.flags & HyundaiFlags.SEND_LFA)
+    assert CP.flags & HyundaiFlags.SEND_LFA
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
+
+  def test_ray_ev_uses_carrot_eight_byte_lfa_frame(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x485] = 8
+    CP = CarInterface.get_params(CAR.KIA_RAY_EV, fingerprint, [], False, False, False, None)
+    controller = CarController(DBC[CP.carFingerprint], CP)
+
+    msg = hyundaican.create_ray_lfahda_mfc(controller._ray_lfa_packer, True, 2)
+    assert msg[0] == 0x485
+    assert len(msg[1]) == 8
+    assert msg[1][0] & 0x03 == 2
+    assert msg[1][2] & 0x10 == 0x10
+    assert msg[1][3] & 0x03 == 2
 
   def test_non_ray_legacy_platform_keeps_53e_lkas12_detection(self):
     fingerprint = gen_empty_fingerprint()
@@ -1038,9 +1052,12 @@ class TestHyundaiFingerprint:
     ret = update(0, 3)
     assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
 
-    ret = update(2, 4)
+    ret = update(1, 4)
     assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
 
+    raw_button_msg = packer.make_can_msg("BCM_PO_11", 0, {"RAY_LKAS_BTN": 1})
+    assert raw_button_msg[1][0] == 0x10
+
   def test_non_ray_does_not_use_ray_lkas_signal(self):
     CP = CarInterface.get_params(CAR.KIA_FORTE_2021_NON_SCC, gen_empty_fingerprint(), [], False, False, False, None)
     car_state = CarState(CP, CarInterface.get_starpilot_params(CAR.KIA_FORTE_2021_NON_SCC,

opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc

@@ -1497,7 +1497,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
  SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
  SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
  SG_ LDA_BTN : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ RAY_LKAS_BTN : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ RAY_LKAS_BTN : 4|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX

opendbc_repo/opendbc/dbc/hyundai_kia_ray_lfa.dbc

@@ -0,0 +1,25 @@
+VERSION ""
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 1157 LFAHDA_MFC: 8 XXX
+ SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX
+ SG_ HDA_Icon_Wheel : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_LdwSysState : 21|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX