HKG And GM

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -86,6 +86,17 @@ def should_send_cc_button_spam(CP, CC, CS):
   )
 
 
+def get_adas_keepalive_step(CP, is_kaofui_car):
+  if CP.networkLocation == NetworkLocation.gateway:
+    base_step = CarControllerParams.ADAS_KEEPALIVE_STEP
+    return base_step if is_kaofui_car else base_step * 2
+
+  if CP.networkLocation == NetworkLocation.fwdCamera and bool(getattr(CP, "flags", 0) & GMFlags.NO_CAMERA.value):
+    return CarControllerParams.CAMERA_KEEPALIVE_STEP
+
+  return None
+
+
 def get_testing_ground_1_brake_switch_bias(v_ego: float) -> int:
   return int(round(np.interp(v_ego, [0.0, 6.0, 15.0, 30.0], [40.0, 85.0, 130.0, 170.0])))
 
@@ -600,8 +611,8 @@ class CarController(CarControllerBase):
               can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
               can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
 
-      keepalive_step = self.params.ADAS_KEEPALIVE_STEP if self.CP.carFingerprint in kaofui_cars else self.params.ADAS_KEEPALIVE_STEP * 2
-      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % keepalive_step == 0:
+      keepalive_step = get_adas_keepalive_step(self.CP, self.CP.carFingerprint in kaofui_cars)
+      if keepalive_step is not None and self.frame % keepalive_step == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
       pedal_cancel = bool(self.CP.flags & GMFlags.PEDAL_LONG.value) and CS.out.cruiseState.enabled

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -79,6 +79,18 @@ def _create_angle_lfa_msg(packer, CAN, values, apply_angle: float, lat_active: b
   return address, bytes(dat), CAN.ECAN
 
 
+def _create_angle_adas_cmd_msg(packer, CAN, apply_angle: float, lat_active: bool, torque_reduction_gain: float):
+  values = {
+    "ADAS_ActvACISta": 0,
+    "ADAS_ActvACILvl2Sta": 2 if lat_active else 1,
+    "ADAS_StrAnglReqVal": apply_angle,
+    "ADAS_ACIAnglTqRedcGainVal": torque_reduction_gain if lat_active else 0.0,
+    "FCA_ESA_ActvSta": 0,
+    "FCA_ESA_TqBstGainVal": 0.0,
+  }
+  return packer.make_can_msg("ADAS_CMD_35_10ms", CAN.ECAN, values)
+
+
 def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle):
   common_values = {
     "LKA_MODE": 2,
@@ -111,7 +123,10 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
   else:
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-      ret.append(_create_angle_lfa_msg(packer, CAN, lfa_values, apply_angle, lat_active, apply_torque))
+      if CP.flags & HyundaiFlags.SEND_LFA:
+        ret.append(_create_angle_adas_cmd_msg(packer, CAN, apply_angle, lat_active, apply_torque))
+      else:
+        ret.append(_create_angle_lfa_msg(packer, CAN, lfa_values, apply_angle, lat_active, apply_torque))
     else:
       ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
 

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -64,6 +64,8 @@ class CarInterface(CarInterfaceBase):
           ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
         if not ret.flags & HyundaiFlags.RADAR_SCC:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
+        if 0xCB in fingerprint[CAN.CAM]:
+          ret.flags |= HyundaiFlags.SEND_LFA.value
 
       # Some LKA steering cars have alternative messages for gear checks
       # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead

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

@@ -79,6 +79,12 @@ class TestHyundaiFingerprint:
     assert CP.steerControlType == CarParams.SteerControlType.angle
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ANGLE_STEERING
 
+    fingerprint = gen_empty_fingerprint()
+    cam_can = CanBus(None, fingerprint).CAM
+    fingerprint[cam_can][0xCB] = 24
+    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
+    assert CP.flags & HyundaiFlags.SEND_LFA
+
   def test_alternate_limits(self):
     # Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
     fingerprint = gen_empty_fingerprint()

opendbc_repo/opendbc/safety/modes/gm.h

@@ -562,6 +562,7 @@ static safety_config gm_init(uint16_t param) {
                                                {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
 
   static const CanMsg GM_CAM_LONG_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x315, 0, 5, .check_relay = false}, {0x2CB, 0, 8, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false},  // pt bus
+                                                         {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
                                                          {0x184, 2, 8, .check_relay = false},  // camera bus
                                                          {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
                                                          {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
@@ -598,6 +599,7 @@ static safety_config gm_init(uint16_t param) {
                                            {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
 
   static const CanMsg GM_CAM_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false},  // pt bus
+                                                    {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
                                                     {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = false},  // camera bus
                                                     {0x200, 0, 6, .check_relay = false},
                                                     {0x1E1, 0, 7, .check_relay = false},
@@ -639,6 +641,7 @@ static safety_config gm_init(uint16_t param) {
                                               {0x184, 2, 8, .check_relay = true}, {0x1E1, 2, 7, .check_relay = false}};  // camera bus
 
   static const CanMsg GM_CC_LONG_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false},  // pt bus
+                                                        {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
                                                         {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false},
                                                         {0x184, 2, 8, .check_relay = false}, {0x1E1, 2, 7, .check_relay = false}};  // camera bus
 

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -19,6 +19,7 @@
 #define HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(e_can)  \
   {0x12A, e_can, 16, .check_relay = (e_can) == 0},  /* LFA */            \
   {0x1E0, e_can, 16, .check_relay = (e_can) == 0},  /* LFAHDA_CLUSTER */ \
+  {0xCB,  e_can, 24, .check_relay = (e_can) == 0},  /* ADAS_CMD_35_10ms */ \
 
 #define HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(e_can, longitudinal) \
   {0x1A0, e_can, 32, .check_relay = (longitudinal)},  /* SCC_CONTROL */ \
@@ -174,6 +175,24 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
 
   bool tx = true;
 
+  if (msg->addr == 0xCBU) {
+    if (!hyundai_canfd_angle_steering) {
+      tx = false;
+    } else {
+      const int lfa_angle_active = (msg->data[3] >> 4U) & 0xFU;
+      const bool steer_angle_req = lfa_angle_active == 2;
+
+      int desired_angle = (((uint32_t)(msg->data[5] & 0x3FU)) << 8) | (uint32_t)msg->data[4];
+      desired_angle = to_signed(desired_angle, 14);
+
+      if (steer_angle_cmd_checks_vm(desired_angle, steer_angle_req,
+                                    HYUNDAI_CANFD_ANGLE_STEERING_LIMITS,
+                                    HYUNDAI_CANFD_ANGLE_STEERING_PARAMS)) {
+        tx = false;
+      }
+    }
+  }
+
   // steering
   const unsigned int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
   if (msg->addr == steer_addr) {

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -304,6 +304,7 @@ class TestGmCameraEVSafety(GmCameraAccEVRegenMixin, TestGmCameraSafety, TestGmEV
 
 
 class TestGmCameraNoCameraSafety(TestGmCameraSafety):
+  TX_MSGS = TestGmCameraSafety.TX_MSGS + [[0x409, 0], [0x40A, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (), 2: ()}
 
   def setUp(self):
@@ -338,6 +339,7 @@ class TestGmCameraLongitudinalEVSafety(GmCameraAccEVRegenMixin, TestGmCameraLong
 
 
 class TestGmCameraLongitudinalNoCameraSafety(TestGmCameraLongitudinalSafety):
+  TX_MSGS = TestGmCameraLongitudinalSafety.TX_MSGS + [[0x409, 0], [0x40A, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (), 2: ()}
 
   def setUp(self):
@@ -455,6 +457,7 @@ class TestGmCcLongitudinalSafety(TestGmCameraSafety):
 
 
 class TestGmCcLongitudinalNoCameraSafety(TestGmCcLongitudinalSafety):
+  TX_MSGS = TestGmCcLongitudinalSafety.TX_MSGS + [[0x409, 0], [0x40A, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (), 2: ()}
 
   def setUp(self):

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -127,8 +127,8 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.Drive
 class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):
 
   TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
-  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0)}  # LFA, LFAHDA_CLUSTER
-  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0xCB, 0x1E0)}  # LFA, ADAS_CMD_35_10ms, LFAHDA_CLUSTER
+  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0xCB, 0x1E0]}
 
   STEER_MSG = "LFA"
   BUTTONS_TX_BUS = 2
@@ -151,9 +151,9 @@ class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):
 
 class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
 
-  TX_MSGS = [[0x12A, 0], [0x160, 0], [0x1A0, 0], [0x1CF, 2], [0x1E0, 0]]
-  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0)}
-  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
+  TX_MSGS = [[0x12A, 0], [0xCB, 0], [0x160, 0], [0x1A0, 0], [0x1CF, 2], [0x1E0, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0xCB, 0x1E0)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0xCB, 0x1E0]}
 
   PT_BUS = 0
   SCC_BUS = 2
@@ -322,6 +322,24 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
     self.assertTrue(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
 
 
+class TestHyundaiCanfdAngleSteeringLfaAlt(TestHyundaiCanfdAngleSteering):
+
+  def _angle_cmd_msg(self, angle, enabled, increment_timer=True):
+    if increment_timer:
+      self.safety.set_timer(self.angle_cmd_cnt * int(1e6 / self.LATERAL_FREQUENCY))
+      self.angle_cmd_cnt += 1
+
+    values = {
+      "ADAS_ActvACISta": 0,
+      "ADAS_ActvACILvl2Sta": 2 if enabled else 1,
+      "ADAS_StrAnglReqVal": angle,
+      "ADAS_ACIAnglTqRedcGainVal": 1.0 if enabled else 0.0,
+      "FCA_ESA_ActvSta": 0,
+      "FCA_ESA_TqBstGainVal": 0.0,
+    }
+    return self.packer.make_can_msg_safety("ADAS_CMD_35_10ms", 0, values)
+
+
 @parameterized_class(ALL_GAS_EV_HYBRID_COMBOS)
 class TestHyundaiCanfdLFASteering(TestHyundaiCanfdLFASteeringBase):
   pass
@@ -462,9 +480,9 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
 # Tests longitudinal for ICE, hybrid, EV cars with LFA steering
 class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase):
 
-  FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0, 0x160]}
+  FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0xcb, 0x1e0, 0x1a0, 0x160]}
 
-  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x1a0, 0x160)}  # LFA, LFAHDA_CLUSTER, SCC_CONTROL, ADRV_0x160
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0xCB, 0x1E0, 0x1a0, 0x160)}  # LFA, ADAS_CMD_35_10ms, LFAHDA_CLUSTER, SCC_CONTROL, ADRV_0x160
 
   DISABLED_ECU_UDS_MSG = (0x7D0, 0)
   DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-39afadb9-DEBUG";
+const uint8_t gitversion[19] = "DEV-ece5f957-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-39afadb9-DEBUG
+DEV-ece5f957-DEBUG