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firestar5683
2026-09-02 20:05:29 -05:00
parent f553b8071d
commit a3bdcf2417
7 changed files with 5 additions and 55 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+1 -4
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@@ -10,7 +10,7 @@ from opendbc.car.hyundai import hyundaicanfd, hyundaican
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID, CANFD_DAW_SUPPRESSION_CAR
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
from opendbc.car.interfaces import CarControllerBase
from opendbc.car.vehicle_model import VehicleModel
from openpilot.common.params import Params
@@ -894,9 +894,6 @@ class CarController(CarControllerBase):
can_sends.extend(hyundaicanfd.create_inactive_angle_steering_messages(self.packer, self.CAN,
inactive_steering_angle))
if self.CP.carFingerprint in CANFD_DAW_SUPPRESSION_CAR and getattr(CS, "stock_daw_msg", None):
can_sends.append(hyundaicanfd.create_suppress_daw(self.packer, self.CAN, CS.stock_daw_msg))
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
suppress_lfa = bool(lka_steering)
if angle_lkas_alt:
opendbc_repo/opendbc/car/hyundai/carstate.py
+1 -5
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@@ -10,7 +10,6 @@ from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_CORNER_RADAR_BSM_CAR, \
CANFD_ALT_BUTTONS_RESUME_CAR, \
CANFD_DAW_SUPPRESSION_CAR, \
hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS, ALT_BUS_LDA_BUTTON_SWL_STAT_CARS
from opendbc.car.interfaces import CarStateBase
@@ -144,7 +143,6 @@ class CarState(CarStateBase):
self.lfa_block_msg = {}
self.stock_lkas_msg = {}
self.lkas12 = {}
self.stock_daw_msg = {}
self.stock_lfa_msg = {}
self.stock_lfahda_cluster_msg = {}
self.stock_camera_lead_visible = False
@@ -615,8 +613,6 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and cp.ts_nanos["FR_CMR_01_10ms"]["FR_CMR_Crc1Val"] > 0:
hba_icon = int(cp.vl["FR_CMR_01_10ms"]["HBA_IndLmpReq"])
self.hba_icon = hba_icon if hba_icon in (1, 2) else 0
if self.CP.carFingerprint in CANFD_DAW_SUPPRESSION_CAR and cp.ts_nanos["FR_CMR_01_10ms"]["FR_CMR_Crc1Val"] > 0:
self.stock_daw_msg = copy.copy(cp.vl["FR_CMR_01_10ms"])
if cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"] > 0:
self.stock_blinker_stalks_ts = cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"]
@@ -680,7 +676,7 @@ class CarState(CarStateBase):
]
if CP.enableBsm:
msgs.append(("BLINDSPOTS_REAR_CORNERS", 0))
if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR | CANFD_DAW_SUPPRESSION_CAR:
if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR:
msgs.append(("BLINDSPOTS_FRONT_CORNER_2", 0))
msgs.append(("FR_CMR_01_10ms", 0))
if CP.flags & HyundaiFlags.EV:
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
-6
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@@ -243,12 +243,6 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
def create_suppress_daw(packer, CAN, daw_msg):
values = copy.copy(daw_msg)
values["DAW_WrnMsgSta"] = 0
return packer.make_can_msg("FR_CMR_01_10ms", CAN.ECAN, values)
def create_buttons(packer, CP, CAN, cnt, btn=0, base_values=None, left_paddle=False, right_paddle=False):
values = {k: v for k, v in base_values.items() if k not in ("CHECKSUM", "_CHECKSUM", "COUNTER")} if base_values else {}
values.update({
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
-35
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@@ -570,41 +570,6 @@ class TestHyundaiFingerprint:
assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
def test_ioniq_6_filters_stock_driver_attention_warning(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING |
HyundaiFlags.CANFD_LKA_STEERING_ALT)
CP.openpilotLongitudinalControl = False
controller = CarController(DBC[CP.carFingerprint], CP)
controller.frame = 1
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("FR_CMR_01_10ms", 0)], can_bus.ECAN)
stock_daw_msg = {
"FR_CMR_AlvCnt1Val": 7,
"DAW_SysSta": 6,
"DAW_WrnMsgSta": 1,
"HBA_IndLmpReq": 2,
}
cc = SimpleNamespace(enabled=True, latActive=True,
actuators=SimpleNamespace(longControlState=LongCtrlState.off),
leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg={}, stock_daw_msg=stock_daw_msg,
out=SimpleNamespace(steeringAngleDeg=0.0, gearShifter=structs.CarState.GearShifter.drive))
msgs = controller.create_canfd_msgs(0, True, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
get_test_toggles(), lka_icon=2, lfa_icon=2)
daw_msgs = [msg for msg in msgs if msg[0] == 0x11A]
assert len(daw_msgs) == 1
parser.update([(1, daw_msgs)])
assert parser.can_valid
assert parser.vl["FR_CMR_01_10ms"]["DAW_SysSta"] == 6
assert parser.vl["FR_CMR_01_10ms"]["DAW_WrnMsgSta"] == 0
assert parser.vl["FR_CMR_01_10ms"]["HBA_IndLmpReq"] == 2
def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
opendbc_repo/opendbc/car/hyundai/values.py
-1
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@@ -1204,7 +1204,6 @@ CANFD_SECURITYACCESS_CAR = {
}
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
CANFD_ANGLE_LONGITUDINAL_CAR = {CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE}
CANFD_DAW_SUPPRESSION_CAR = {CAR.HYUNDAI_IONIQ_6}
CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN}
CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
-1
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@@ -16,7 +16,6 @@
#define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x11A, e_can, 16, .check_relay = (e_can) == 0}, /* FR_CMR_01_10ms */ \
{0x110, a_can, 32, .check_relay = (a_can) == 0, .disable_static_blocking = true}, /* LKAS_ALT */ \
{0x362, a_can, 32, .check_relay = (a_can) == 0, .disable_static_blocking = true}, /* CAM_0x362 */ \
opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+3 -3
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@@ -568,7 +568,7 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
TX_MSGS = [[0x11A, 1], [0x110, 0], [0x1CF, 1], [0x362, 0]]
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)} # LKAS_ALT, CAM_0x362
FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
@@ -587,7 +587,7 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
class TestHyundaiCanfdLKASteeringAltButtonsICE(TestHyundaiCanfdLKASteeringAltEV):
TX_MSGS = [[0x11A, 1], [0x110, 0], [0x1CF, 1], [0x1A0, 1], [0x362, 0]]
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x1A0, 1], [0x362, 0]]
GAS_MSG = ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED")
def setUp(self):
@@ -691,7 +691,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
class TestHyundaiCanfdLKASteeringAltAngleLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdAngleSteering):
TX_MSGS = [[0x11A, 1], [0x110, 0], [0x1CF, 1], [0x362, 0], [0x51, 0], [0x100, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0], [0x51, 0], [0x100, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
[0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x31a, 1], [0x3b5, 1], [0x3c1, 1],
[0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]