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EV6

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This commit is contained in:
firestar5683
2026-09-16 20:36:38 -05:00
parent 00ac287223
commit 44beb5b778
3 changed files with 12 additions and 6 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+2 -1
View File
@@ -1034,7 +1034,8 @@ class CarController(CarControllerBase):
)
else:
adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame,
car_fingerprint=self.CP.carFingerprint)
car_fingerprint=self.CP.carFingerprint,
drive_gear=drive_gear)
can_sends.extend(adrv_messages)
# The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
# and stops publishing object tracks when it disappears.
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+4 -3
View File
@@ -21,7 +21,7 @@ def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
_adrv_0x51_templates[car_fingerprint] = bytes(dat)
def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None):
def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None, drive_gear: bool = False):
template = _adrv_0x51_templates.get(car_fingerprint)
if template is None:
return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
@@ -29,6 +29,7 @@ def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None
# EV6 MRR30 tracks stop when the ADAS takeover replaces this platform payload with zeros.
dat = bytearray(template)
dat[2] = (template[2] + frame + 1) & 0xFF
dat[3] = (dat[3] & ~0x1) | int(drive_gear)
crc = hkg_can_fd_checksum(0x51, None, dat)
dat[0] = crc & 0xFF
dat[1] = (crc >> 8) & 0xFF
@@ -815,13 +816,13 @@ def create_fca_warning_light(packer, CAN, frame):
return ret
def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None):
def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None, drive_gear=False):
# messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control
ret = []
ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint))
ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint, drive_gear))
if blended_hda2:
return ret
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+6 -2
View File
@@ -159,7 +159,8 @@ class TestHyundaiFingerprint:
hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, factory)
try:
address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6)
address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6, drive_gear=True)
_, parked_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 8, CAR.KIA_EV6, drive_gear=False)
_, other_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.HYUNDAI_IONIQ_6)
finally:
hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
@@ -169,6 +170,9 @@ class TestHyundaiFingerprint:
assert dat[2] == (factory[2] + 8) & 0xFF
assert dat[3:] == factory[3:]
assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
assert parked_dat[3] == factory[3] & ~0x1
assert parked_dat[4:] == factory[4:]
assert int.from_bytes(parked_dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(parked_dat))
assert other_dat[3:] == bytes(29)
def test_ev6_init_captures_factory_adrv_0x51(self, monkeypatch):
@@ -193,7 +197,7 @@ class TestHyundaiFingerprint:
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
try:
_, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6)
_, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6, drive_gear=True)
finally:
hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)