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nightly roundup

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firestar5683
2026-05-31 00:55:43 -05:00
parent a44e306343
commit b406a1a9d8
6 changed files with 75 additions and 15 deletions
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opendbc_repo/opendbc/car/hyundai/fingerprints.py
+6
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@@ -1536,12 +1536,18 @@ FW_VERSIONS = {
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105',
b'\xf1\x00OS MDPS C 1.00 1.04 56310J9030\x00 4OSDC104',
b'\xf1\x00OS MDPS C 1.00 1.05 56310/J9500 4OSDC105',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30',
b'\xf1\x00OS9 LKAS AT AUS RHD 1.00 1.00 95740-J9200 g30',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00OS__ FCA --CUP 1.00 1.00 95655-J9100 ',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
b'\xf1\x006U2V0_C2\x00\x006U2V1051\x00\x00DOS4T16AS2\x00\x00\x00\x00',
],
},
CAR.KIA_FORTE_2019_NON_SCC: {
opendbc_repo/opendbc/car/hyundai/interface.py
+15
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@@ -24,6 +24,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
# Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
ECU_DISABLE_TIMESTAMP = 0.0
KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -45,6 +46,18 @@ def apply_ecu_disable_failure_fallback(CP: structs.CarParams, params) -> None:
CP.pcmCruise = True
def detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw) -> bool:
if candidate != CAR.HYUNDAI_KONA_NON_SCC:
return False
if any(fw.ecu == Ecu.fwdRadar for fw in car_fw):
return True
# Some non-SCC Kona trims have FCA radar tracks without SCC. Use PT FCA11
# status on those cars; camera-bus FCA11 is not continuously published.
return KONA_NON_SCC_FCA_RADAR_ADDR in fingerprint[1]
class CarInterface(CarInterfaceBase):
CarState = CarState
CarController = CarController
@@ -136,6 +149,8 @@ class CarInterface(CarInterfaceBase):
# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
if 0x38d in fingerprint[CAN.ECAN] or 0x38d in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.USE_FCA.value
if detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw):
ret.flags |= HyundaiFlags.NON_SCC_RADAR_FCA.value
if ret.flags & HyundaiFlags.LEGACY:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+33
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@@ -289,6 +289,21 @@ class TestHyundaiFingerprint:
elantra_hev = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
assert elantra_hev.flags & HyundaiFlags.HYBRID
kona = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
assert not (kona.flags & HyundaiFlags.NON_SCC_RADAR_FCA)
assert kona.radarUnavailable
fingerprint = gen_empty_fingerprint()
fingerprint[0][0x38d] = 8
fingerprint[1][MRREVO14F_RADAR_START_ADDR] = 8
kona_radar_fca = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, fingerprint, [], True, False, False, None)
assert kona_radar_fca.flags & HyundaiFlags.NON_SCC_RADAR_FCA
assert not kona_radar_fca.radarUnavailable
car_fw = [CarParams.CarFw(ecu=Ecu.fwdRadar, fwVersion=b"", address=0x7d0, brand="hyundai")]
kona_radar_fw = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), car_fw, True, False, False, None)
assert kona_radar_fw.flags & HyundaiFlags.NON_SCC_RADAR_FCA
forte_2019 = CarInterface.get_params(CAR.KIA_FORTE_2019_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
assert forte_2019.flags & HyundaiFlags.NON_SCC_NO_FCA
assert not (forte_2019.flags & HyundaiFlags.NON_SCC_RADAR_FCA)
@@ -487,6 +502,24 @@ class TestHyundaiFingerprint:
def test_kona_ev_non_scc_has_no_dedicated_fw_coverage(self):
assert CAR.HYUNDAI_KONA_EV_NON_SCC not in FW_VERSIONS
def test_kona_non_scc_fca_radar_fw_is_optional(self):
fw_versions = FW_VERSIONS[CAR.HYUNDAI_KONA_NON_SCC]
car_fw = [
CarParams.CarFw(
ecu=ecu,
fwVersion=versions[0],
address=address,
subAddress=0 if sub_address is None else sub_address,
brand="hyundai",
)
for (ecu, address, sub_address), versions in fw_versions.items()
if ecu != Ecu.fwdRadar
]
exact, matches = match_fw_to_car(car_fw, "", allow_exact=True, allow_fuzzy=False, log=False)
assert exact
assert CAR.HYUNDAI_KONA_NON_SCC in matches
def test_kia_forte_2019_non_scc_does_not_require_fca11_or_scc12(self):
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.KIA_FORTE_2019_NON_SCC, gen_empty_fingerprint(), [], True, False, False, toggles)
opendbc_repo/opendbc/car/hyundai/values.py
+6
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@@ -254,8 +254,12 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
@dataclass
class HyundaiNonSccPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
radar_dbc: str | None = None
def init(self):
if self.radar_dbc is not None:
self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: self.radar_dbc}
self.flags |= HyundaiFlags.NON_SCC
if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
@@ -882,6 +886,7 @@ class CAR(Platforms):
[HyundaiNonSccCarDocs("Hyundai Kona Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_b]))],
HYUNDAI_KONA.specs,
flags=HyundaiFlags.ALT_LIMITS,
radar_dbc=HYUNDAI_MRREVO14F_RADAR_DBC,
)
HYUNDAI_KONA_EV_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Hyundai Kona Electric Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_g]))],
@@ -1104,6 +1109,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
CAR.KIA_CEED, CAR.KIA_SELTOS],
Ecu.fwdRadar: [CAR.HYUNDAI_KONA_NON_SCC],
},
extra_ecus=[
(Ecu.adas, 0x730, None), # ADAS Driving ECU on platforms with LKA steering
selfdrive/controls/lib/latcontrol_torque.py
+14 -14
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@@ -375,10 +375,10 @@ IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.26
IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26
IONIQ_5_CENTER_TAPER_MAX = 0.08
IONIQ_5_CENTER_TAPER_LAT = 0.16
IONIQ_5_CENTER_TAPER_MAX = 0.10
IONIQ_5_CENTER_TAPER_LAT = 0.14
IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_5_CENTER_TAPER_SPEED = 20.0
IONIQ_5_CENTER_TAPER_SPEED = 18.0
IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5
IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16
@@ -472,29 +472,29 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
KIA_EV6_FF_GAIN_LEFT = 0.07
KIA_EV6_FF_GAIN_RIGHT = 0.075
KIA_EV6_FF_GAIN_LEFT = 0.06
KIA_EV6_FF_GAIN_RIGHT = 0.07
KIA_EV6_FF_ONSET = 0.08
KIA_EV6_FF_ONSET_WIDTH = 0.04
KIA_EV6_FF_CUTOFF = 0.60
KIA_EV6_FF_CUTOFF_WIDTH = 0.14
KIA_EV6_TRANSITION_SPEED = 11.0
KIA_EV6_PHASE_SCALE = 0.09
KIA_EV6_TURN_IN_BOOST_LEFT = 0.14
KIA_EV6_TURN_IN_BOOST_RIGHT = 0.16
KIA_EV6_UNWIND_TAPER_LEFT = 0.40
KIA_EV6_UNWIND_TAPER_RIGHT = 0.36
KIA_EV6_TURN_IN_BOOST_LEFT = 0.18
KIA_EV6_TURN_IN_BOOST_RIGHT = 0.12
KIA_EV6_UNWIND_TAPER_LEFT = 0.48
KIA_EV6_UNWIND_TAPER_RIGHT = 0.46
KIA_EV6_FRICTION_MULT = 1.01
KIA_EV6_FRICTION_LAT_RISE = 0.18
KIA_EV6_FRICTION_JERK_RISE = 0.22
KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.22
KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.03
KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.04
KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.28
KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
KIA_EV6_CENTER_TAPER_MAX = 0.08
KIA_EV6_CENTER_TAPER_LAT = 0.16
KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
selfdrive/controls/tests/test_latcontrol.py
+1 -1
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@@ -462,7 +462,7 @@ class TestLatControl:
right_turn_in = get_kia_ev6_friction_threshold(6.0, -0.5, -0.8)
left_unwind = get_kia_ev6_friction_threshold(6.0, 0.5, -0.8)
right_unwind = get_kia_ev6_friction_threshold(6.0, -0.5, 0.8)
assert right_turn_in < left_turn_in < base < right_unwind < left_unwind
assert right_turn_in < left_turn_in < base < right_unwind <= left_unwind
def test_kia_ev6_friction_scale_curve(self):
base = get_kia_ev6_friction_scale(25.0, 0.5, 0.8)