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g90 radar

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firestar5683
2026-05-28 13:18:20 -05:00
parent 43d42594ef
commit 732830b095
3 changed files with 18 additions and 7 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+2 -1
View File
@@ -5,6 +5,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
CANFD_SECURITYACCESS_CAR, \
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
RADAR_LIVE_LONGITUDINAL_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
HyundaiStarPilotSafetyFlags, \
hyundai_cancel_button_enables_cruise
@@ -181,7 +182,7 @@ class CarInterface(CarInterfaceBase):
if ret.flags & HyundaiFlags.NON_SCC:
ret.alphaLongitudinalAvailable = False
ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
if ret.openpilotLongitudinalControl and not (candidate in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
ret.radarUnavailable = True
ret.pcmCruise = not ret.openpilotLongitudinalControl
apply_platform_longitudinal_params(ret)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+14 -6
View File
@@ -120,12 +120,20 @@ class TestHyundaiFingerprint:
assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
# radar available
for radar in (True, False):
fingerprint = gen_empty_fingerprint()
if radar:
fingerprint[1][RADAR_START_ADDR] = 8
CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
assert CP.radarUnavailable != radar
for candidate in (CAR.HYUNDAI_SONATA, CAR.GENESIS_G90):
assert get_radar_track_config(candidate).start_addr == RADAR_START_ADDR
for radar in (True, False):
fingerprint = gen_empty_fingerprint()
if radar:
fingerprint[1][RADAR_START_ADDR] = 8
CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
assert CP.radarUnavailable != radar
fingerprint = gen_empty_fingerprint()
fingerprint[1][RADAR_START_ADDR] = 8
CP = CarInterface.get_params(CAR.GENESIS_G90, fingerprint, [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert not CP.radarUnavailable
for candidate, radar_addr in (
(CAR.HYUNDAI_IONIQ_5, MRR30_RADAR_START_ADDR),
opendbc_repo/opendbc/car/hyundai/values.py
+2
View File
@@ -836,6 +836,7 @@ class CAR(Platforms):
GENESIS_G90 = HyundaiPlatformConfig(
[HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
flags=HyundaiFlags.MANDO_RADAR,
)
GENESIS_GV80 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
@@ -1110,6 +1111,7 @@ CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC) # TODO: merge with
CANFD_SECURITYACCESS_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN}
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6}
RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {CAR.GENESIS_G90}
CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)