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carnivallll

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firestar5683
2026-07-15 22:59:31 -05:00
parent 28ea8d0c09
commit 9f13e71a0a
4 changed files with 114 additions and 8 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+4
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@@ -115,6 +115,10 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING.value
if 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING_ALT.value
# This HDA II Carnival uses the alternate 0x1AA cruise-button frame even
# though other LKA-steering platforms use 0x1CF.
if candidate == CAR.KIA_CARNIVAL_2025 and 0x1aa in fingerprint[CAN.ECAN] and 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
else:
# no LKA steering
if 0x1cf not in fingerprint[CAN.ECAN]:
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+18
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@@ -352,6 +352,24 @@ class TestHyundaiFingerprint:
assert CP.flags & HyundaiFlags.HYBRID
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.HYBRID_GAS
def test_carnival_2025_hda2_detects_alternate_buttons(self):
fingerprint = gen_empty_fingerprint()
CAN = CanBus(None, fingerprint)
fingerprint[CAN.CAM] = {0x110: 32}
fingerprint[1] = {0x1aa: 16}
carnival_cp = CarInterface.get_params(CAR.KIA_CARNIVAL_2025, fingerprint, [], False, False, False, None)
assert carnival_cp.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
assert carnival_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS
assert carnival_cp.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ALT_BUTTONS
carnival_state = CarState(carnival_cp, None)
pt_states = {state.name for state in carnival_state.get_can_parsers(carnival_cp)[Bus.pt].message_states.values()}
assert "CRUISE_BUTTONS" not in pt_states
k4_cp = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
assert not (k4_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
def test_ioniq_6_hda1_layout_stays_non_lka(self):
fingerprint = gen_empty_fingerprint()
fingerprint[1] = {0x100: 8, 0x110: 8}
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+40 -6
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@@ -342,6 +342,16 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(0, 1)
};
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_ALT_BUTTONS_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, false)
};
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_ALT_ALT_BUTTONS_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(0, 1)
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, false)
};
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
@@ -420,7 +430,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(1)
};
SET_RX_CHECKS(hyundai_canfd_lka_steering_long_rx_checks, ret);
static RxCheck hyundai_canfd_lka_steering_alt_buttons_long_rx_checks[] = {
HYUNDAI_CANFD_ALT_BUTTONS_RX_CHECKS(1)
};
if (hyundai_canfd_alt_buttons) {
SET_RX_CHECKS(hyundai_canfd_lka_steering_alt_buttons_long_rx_checks, ret);
} else {
SET_RX_CHECKS(hyundai_canfd_lka_steering_long_rx_checks, ret);
}
if (hyundai_canfd_lka_steering_alt) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_LONG_TX_MSGS, ret);
} else {
@@ -467,17 +485,33 @@ static safety_config hyundai_canfd_init(uint16_t param) {
if (hyundai_canfd_lka_steering) {
// *** LKA steering checks ***
// E-CAN is on bus 1, SCC messages are sent on cars with ADRV ECU.
// Does not use the alt buttons message
static RxCheck hyundai_canfd_lka_steering_rx_checks[] = {
HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
SET_RX_CHECKS(hyundai_canfd_lka_steering_rx_checks, ret);
if (hyundai_canfd_lka_steering_alt) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS, ret);
static RxCheck hyundai_canfd_lka_steering_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_ALT_BUTTONS_RX_CHECKS(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
if (hyundai_canfd_alt_buttons) {
SET_RX_CHECKS(hyundai_canfd_lka_steering_alt_buttons_rx_checks, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_TX_MSGS, ret);
SET_RX_CHECKS(hyundai_canfd_lka_steering_rx_checks, ret);
}
if (hyundai_canfd_lka_steering_alt) {
if (hyundai_canfd_alt_buttons) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_ALT_BUTTONS_TX_MSGS, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS, ret);
}
} else {
if (hyundai_canfd_alt_buttons) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_BUTTONS_TX_MSGS, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_TX_MSGS, ret);
}
}
} else if (!hyundai_camera_scc) {
opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+52 -2
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@@ -13,7 +13,8 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
from opendbc.safety.tests.libsafety import libsafety_py
import opendbc.safety.tests.common as common
from opendbc.safety.tests.common import CANPackerSafety, away_round, round_speed
from opendbc.safety.tests.hyundai_common import HyundaiAolLkasOnEngageBase, HyundaiAolLkasOnEngageStockBase, HyundaiButtonBase, HyundaiLongitudinalBase
from opendbc.safety.tests.hyundai_common import Buttons, HyundaiAolLkasOnEngageBase, HyundaiAolLkasOnEngageStockBase, HyundaiButtonBase, \
HyundaiLongitudinalBase
# All combinations of radar/camera-SCC and gas/hybrid/EV cars
ALL_GAS_EV_HYBRID_COMBOS = [
@@ -525,6 +526,56 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
self.safety.init_tests()
class TestHyundaiCanfdLKASteeringAltButtonsICE(TestHyundaiCanfdLKASteeringAltEV):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x1A0, 1], [0x362, 0]]
GAS_MSG = ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED")
def setUp(self):
self.packer = CANPackerSafety("hyundai_canfd_generated")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING |
HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT | HyundaiSafetyFlags.CANFD_ALT_BUTTONS)
self.safety.init_tests()
def _button_msg(self, buttons, main_button=0, bus=None):
if bus is None:
bus = self.PT_BUS
values = {
"CRUISE_BUTTONS": buttons,
"ADAPTIVE_CRUISE_MAIN_BTN": main_button,
}
return self.packer.make_can_msg_safety("CRUISE_BUTTONS_ALT", bus, values)
def _acc_cancel_msg(self, cancel, accel=0):
values = {"ACCMode": 4 if cancel else 0, "aReqRaw": accel, "aReqValue": accel}
return self.packer.make_can_msg_safety("SCC_CONTROL", self.SCC_BUS, values)
def test_button_sends(self):
for enabled in (True, False):
for btn in range(8):
self.safety.set_controls_allowed(enabled)
self.assertFalse(self._tx(self._button_msg(btn, bus=self.BUTTONS_TX_BUS)))
def test_acc_cancel(self):
for enabled in (True, False):
self.safety.set_controls_allowed(enabled)
self.assertTrue(self._tx(self._acc_cancel_msg(True)))
self.assertFalse(self._tx(self._acc_cancel_msg(True, accel=1)))
self.assertFalse(self._tx(self._acc_cancel_msg(False)))
def test_longitudinal_uses_alternate_button_rx(self):
safety_param = HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANFD_LKA_STEERING | \
HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT | HyundaiSafetyFlags.CANFD_ALT_BUTTONS
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, safety_param)
self.safety.init_tests()
self._rx(self._button_msg(Buttons.SET))
self.assertFalse(self.safety.get_controls_allowed())
self._rx(self._button_msg(Buttons.NONE))
self.assertTrue(self.safety.get_controls_allowed())
class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
@@ -771,6 +822,5 @@ class TestHyundaiCanfdLKASteeringAolLkasOnEngageEV(HyundaiAolLkasOnEngageStockBa
self.safety.init_tests()
if __name__ == "__main__":
unittest.main()