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fix: skip EGMP ECU disable in ready state

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Co-authored-by: otaku <696343+otaku@users.noreply.github.com>
This commit is contained in:
firestar5683
2026-08-08 22:25:17 -05:00
parent 724e3b200c
commit 5485e275fc
2 changed files with 76 additions and 22 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+48 -22
View File
@@ -62,6 +62,25 @@ def apply_ecu_disable_failure_fallback(CP: structs.CarParams, params) -> None:
CP.pcmCruise = True
def egmp_in_ready_state(can_recv, bus: int, timeout_s: float = 0.5) -> bool:
accelerator_addr = 0x35
ready_bit_mask = 0x40
deadline = time.monotonic() + timeout_s
while time.monotonic() < deadline:
try:
can_packets = can_recv(wait_for_one=True)
except Exception:
break
for packet in can_packets:
for msg in packet:
if msg.address == accelerator_addr and msg.src == bus and len(msg.dat) > 3 and msg.dat[3] & ready_bit_mask:
return True
return False
def detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw) -> bool:
if candidate != CAR.HYUNDAI_KONA_NON_SCC:
return False
@@ -339,30 +358,37 @@ class CarInterface(CarInterfaceBase):
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
addr, bus = 0x730, CanBus(CP).ECAN
# Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
# If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
# so panda forwards stock SCC messages normally (lateral-only mode).
ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))
skip_disable_ecu = False
if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and egmp_in_ready_state(can_recv, bus):
apply_ecu_disable_failure_fallback(CP, params)
ecu_log(f"=== ECU DISABLE SKIPPED - READY detected, safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
skip_disable_ecu = True
if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):
# Track success/failure to auto-switch between openpilot long and stock ACC
if ecu_disabled:
ECU_DISABLE_TIMESTAMP = time.monotonic()
params.put_bool("EcuDisableFailed", False)
params.put_bool("ExperimentalMode", True)
ecu_log("=== ECU DISABLE SUCCESS - Longitudinal + Experimental ENABLED ===")
if not skip_disable_ecu:
# Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
# If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
# so panda forwards stock SCC messages normally (lateral-only mode).
ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))
if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):
# Track success/failure to auto-switch between openpilot long and stock ACC
if ecu_disabled:
ECU_DISABLE_TIMESTAMP = time.monotonic()
params.put_bool("EcuDisableFailed", False)
params.put_bool("ExperimentalMode", True)
ecu_log("=== ECU DISABLE SUCCESS - Longitudinal + Experimental ENABLED ===")
else:
apply_ecu_disable_failure_fallback(CP, params)
ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
else:
apply_ecu_disable_failure_fallback(CP, params)
ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
else:
if ecu_disabled:
params.put_bool("EcuDisableFailed", False)
ecu_log("=== ECU DISABLE SUCCESS ===")
else:
apply_ecu_disable_failure_fallback(CP, params)
ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
if ecu_disabled:
params.put_bool("EcuDisableFailed", False)
ecu_log("=== ECU DISABLE SUCCESS ===")
else:
apply_ecu_disable_failure_fallback(CP, params)
ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
# for blinkers
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+28
View File
@@ -759,6 +759,34 @@ class TestHyundaiFingerprint:
assert CP.pcmCruise
assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
@pytest.mark.parametrize("candidate", (CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE))
def test_angle_longitudinal_ready_state_skips_ecu_disable(self, candidate, monkeypatch):
toggles = get_test_toggles()
radar_config = get_radar_track_config(candidate)
fingerprint = gen_empty_fingerprint()
fingerprint[CanBus(None, fingerprint).CAM][0x110] = 32
fingerprint[radar_config.bus][radar_config.start_addr] = radar_config.expected_length
car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
CP = CarInterface.get_params(candidate, fingerprint, car_fw, True, False, False, toggles)
bus = CanBus(CP).ECAN
disable_calls = []
def fake_disable_ecu(*args, **kwargs):
disable_calls.append(kwargs)
return True
def can_recv(*, wait_for_one=True):
ready_msg = SimpleNamespace(address=0x35, src=bus, dat=bytes([0, 0, 0, 0x40]))
return [[ready_msg]]
monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
CarInterface.init(CP, can_recv, None)
assert not any(call.get("addr") in (0x730, 0x7D0) for call in disable_calls)
assert not CP.openpilotLongitudinalControl
assert CP.pcmCruise
assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
def test_xceed_phev_alpha_long_is_isolated_legacy_experiment(self):
toggles = get_test_toggles()