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firestar5683
2026-04-26 15:51:16 -05:00
parent bcf78fec02
commit 31fefd8eb8
6 changed files with 106 additions and 45 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+3 -1
View File
@@ -241,7 +241,9 @@ class CarController(CarControllerBase):
CS.blindspots_rear_corners,
CS.blindspots_front_corner_1,
CS.left_blindspot_from_radar,
CS.right_blindspot_from_radar))
CS.right_blindspot_from_radar,
CC.leftBlinker,
CC.rightBlinker))
if self.frame % 2 == 0:
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))
opendbc_repo/opendbc/car/hyundai/carstate.py
+4 -6
View File
@@ -309,15 +309,13 @@ class CarState(CarStateBase):
cp.vl["BLINDSPOTS_FRONT_CORNER_2"]["SIDE_DETECT_STATE"])
if self.CP.enableBsm:
if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
ret.leftBlindspot = (cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 or
cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR_ALT"] != 0 or
ret.leftBlindspot = (bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"]) or
self.left_blindspot_from_radar)
ret.rightBlindspot = (cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 or
cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR_ALT"] != 0 or
ret.rightBlindspot = (bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"]) or
self.right_blindspot_from_radar)
else:
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
ret.leftBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"])
ret.rightBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"])
if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
self.blindspots_rear_corners = copy.copy(cp.vl["BLINDSPOTS_REAR_CORNERS"])
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+15 -7
View File
@@ -202,16 +202,24 @@ def create_lfahda_cluster(packer, CAN, enabled, base_values=None):
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values, left_blindspot=False, right_blindspot=False):
def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values,
left_blindspot=False, right_blindspot=False,
left_blinker=False, right_blinker=False):
# Reuse the last known-good payload but regenerate the rolling counter/checksum.
rear = {k: v for k, v in rear_values.items() if k not in ("CHECKSUM", "COUNTER")}
front = {k: v for k, v in front_corner_values.items() if k not in ("CHECKSUM", "COUNTER")}
rear["LEFT_MB"] = int(left_blindspot)
rear["MORE_LEFT_PROB"] = int(right_blindspot)
rear["FL_INDICATOR"] = int(left_blindspot)
rear["FR_INDICATOR"] = int(right_blindspot)
rear["FL_INDICATOR_ALT"] = int(left_blindspot)
rear["FR_INDICATOR_ALT"] = int(right_blindspot)
left_state = 2 if left_blindspot and left_blinker else (1 if left_blindspot else 0)
right_state = 2 if right_blindspot and right_blinker else (1 if right_blindspot else 0)
rear["BCW_Sta"] = int(left_blindspot or right_blindspot)
rear["BCW_LtIndSta"] = left_state
rear["BCW_RtIndSta"] = right_state
rear["BCW_IndSta"] = max(left_state, right_state)
rear["OSMrrLamp_LtIndSta"] = left_state
rear["OSMrrLamp_RtIndSta"] = right_state
# Keep the older fields aligned where they still correlate on some platforms.
rear["FL_INDICATOR"] = left_state
rear["FR_INDICATOR"] = right_state
if "NEW_SIGNAL_3" not in front:
front["NEW_SIGNAL_3"] = 1
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+38 -13
View File
@@ -287,16 +287,30 @@ class TestHyundaiFingerprint:
rear = {
"CHECKSUM": 1111,
"COUNTER": 77,
"LEFT_BLOCKED": 0,
"LEFT_MB": 0,
"MORE_LEFT_PROB": 0,
"BCW_Sta": 0,
"BCW_OnOffEquipSta": 0,
"BCW_LtIndSta": 0,
"BCW_RtIndSta": 0,
"BCW_LtSndWrngSta": 0,
"BCW_RtSndWrngSta": 0,
"FL_INDICATOR": 0,
"FR_INDICATOR": 0,
"RIGHT_BLOCKED": 0,
"COLLISION_AVOIDANCE_ACTIVE": 0,
"NEW_SIGNAL_2": 0,
"FL_INDICATOR_ALT": 0,
"FR_INDICATOR_ALT": 0,
"BCW_SnstvtyModRetVal": 0,
"BCW_IndSta": 0,
"BCA_OnOffEquip2Sta": 0,
"BCA_Sta": 0,
"BCA_OnOffEquipSta": 0,
"BCA_DRV_WarnSta": 0,
"BCA_Plus_Deccel_Req": 0,
"BCA_Plus_BrkCmdSta": 0,
"BCA_Plus_LtWrngSta": 0,
"BCA_Plus_RtWrngSta": 0,
"BCA_Plus_FuncStat": 0,
"BCA_Plus_Sta": 0,
"Brake_Control_RL": 0,
"Brake_Control_RR": 0,
"OSMrrLamp_LtIndSta": 0,
"OSMrrLamp_RtIndSta": 0,
}
front = {
"CHECKSUM": 2222,
@@ -312,20 +326,31 @@ class TestHyundaiFingerprint:
"NEW_SIGNAL_1": 0,
}
msgs = hyundaicanfd.create_blindspot_status_messages(packer, can_bus, rear, front, left_blindspot=True, right_blindspot=False)
msgs = hyundaicanfd.create_blindspot_status_messages(packer, can_bus, rear, front,
left_blindspot=True, right_blindspot=False,
left_blinker=False, right_blinker=False)
parser.update([(1, msgs)])
assert parser.can_valid
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["COUNTER"] == 0
assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["COUNTER"] == 0
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["LEFT_MB"] == 1
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["MORE_LEFT_PROB"] == 0
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_Sta"] == 1
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"] == 1
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"] == 0
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["OSMrrLamp_LtIndSta"] == 1
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["OSMrrLamp_RtIndSta"] == 0
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] == 1
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] == 0
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR_ALT"] == 1
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR_ALT"] == 0
assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["NEW_SIGNAL_3"] == 1
flash_msgs = hyundaicanfd.create_blindspot_status_messages(packer, can_bus, rear, front,
left_blindspot=True, right_blindspot=False,
left_blinker=True, right_blinker=False)
parser.update([(1, flash_msgs)])
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"] == 2
assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["OSMrrLamp_LtIndSta"] == 2
def test_ioniq_6_blindspot_radar_state_decode(self):
assert decode_ioniq_6_blindspot_radar_state(0x02) == (False, False)
assert decode_ioniq_6_blindspot_radar_state(0x0A) == (False, True)
opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
+23 -9
View File
@@ -393,16 +393,30 @@ BO_ 437 FR_CMR_03_50ms: 32 FR_CMR
BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX
SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX
SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX
SG_ BCW_Sta : 24|1@0+ (1,0) [0|1] "" XXX
SG_ BCW_OnOffEquipSta : 28|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_LtIndSta : 31|2@0+ (1,0) [0|3] "" XXX
SG_ BCW_RtIndSta : 32|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_LtSndWrngSta : 34|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_RtSndWrngSta : 36|10@1+ (1,0) [0|1023] "" XXX
SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
SG_ FL_INDICATOR_ALT : 138|1@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR_ALT : 141|1@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR : 54|2@0+ (1,0) [0|3] "" XXX
SG_ BCW_SnstvtyModRetVal : 56|3@1+ (1,0) [0|7] "" XXX
SG_ BCW_IndSta : 59|3@1+ (1,0) [0|7] "" XXX
SG_ BCA_OnOffEquip2Sta : 62|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Sta : 64|1@0+ (1,0) [0|1] "" XXX
SG_ BCA_OnOffEquipSta : 68|1@0+ (1,0) [0|1] "" XXX
SG_ BCA_DRV_WarnSta : 76|4@1+ (1,0) [0|15] "" XXX
SG_ BCA_Plus_Deccel_Req : 80|4@1+ (1,0) [0|15] "" XXX
SG_ BCA_Plus_BrkCmdSta : 84|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Plus_LtWrngSta : 86|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Plus_RtWrngSta : 88|5@1+ (1,0) [0|31] "" XXX
SG_ BCA_Plus_FuncStat : 93|3@1+ (1,0) [0|7] "" XXX
SG_ BCA_Plus_Sta : 96|1@0+ (1,0) [0|1] "" XXX
SG_ Brake_Control_RL : 110|2@1+ (1,0) [0|3] "" XXX
SG_ Brake_Control_RR : 118|2@1+ (1,0) [0|3] "" XXX
SG_ OSMrrLamp_LtIndSta : 128|2@1+ (1,0) [0|3] "" XXX
SG_ OSMrrLamp_RtIndSta : 130|6@1+ (1,0) [0|63] "" XXX
BO_ 463 CRUISE_BUTTONS: 8 XXX
SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
opendbc_repo/opendbc/dbc/hyundai_canfd_generated.dbc
+23 -9
View File
@@ -630,16 +630,30 @@ BO_ 437 FR_CMR_03_50ms: 32 FR_CMR
BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX
SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX
SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX
SG_ BCW_Sta : 24|1@0+ (1,0) [0|1] "" XXX
SG_ BCW_OnOffEquipSta : 28|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_LtIndSta : 31|2@0+ (1,0) [0|3] "" XXX
SG_ BCW_RtIndSta : 32|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_LtSndWrngSta : 34|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_RtSndWrngSta : 36|10@1+ (1,0) [0|1023] "" XXX
SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
SG_ FL_INDICATOR_ALT : 138|1@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR_ALT : 141|1@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR : 54|2@0+ (1,0) [0|3] "" XXX
SG_ BCW_SnstvtyModRetVal : 56|3@1+ (1,0) [0|7] "" XXX
SG_ BCW_IndSta : 59|3@1+ (1,0) [0|7] "" XXX
SG_ BCA_OnOffEquip2Sta : 62|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Sta : 64|1@0+ (1,0) [0|1] "" XXX
SG_ BCA_OnOffEquipSta : 68|1@0+ (1,0) [0|1] "" XXX
SG_ BCA_DRV_WarnSta : 76|4@1+ (1,0) [0|15] "" XXX
SG_ BCA_Plus_Deccel_Req : 80|4@1+ (1,0) [0|15] "" XXX
SG_ BCA_Plus_BrkCmdSta : 84|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Plus_LtWrngSta : 86|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Plus_RtWrngSta : 88|5@1+ (1,0) [0|31] "" XXX
SG_ BCA_Plus_FuncStat : 93|3@1+ (1,0) [0|7] "" XXX
SG_ BCA_Plus_Sta : 96|1@0+ (1,0) [0|1] "" XXX
SG_ Brake_Control_RL : 110|2@1+ (1,0) [0|3] "" XXX
SG_ Brake_Control_RR : 118|2@1+ (1,0) [0|3] "" XXX
SG_ OSMrrLamp_LtIndSta : 128|2@1+ (1,0) [0|3] "" XXX
SG_ OSMrrLamp_RtIndSta : 130|6@1+ (1,0) [0|63] "" XXX
BO_ 463 CRUISE_BUTTONS: 8 XXX
SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX