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ioniq 5 radar

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firestar5683
2026-05-27 15:58:40 -05:00
parent 0ed821d32d
commit b535c0845e
7 changed files with 32 additions and 15 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+4 -4
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@@ -7,7 +7,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai import hyundaicanfd, hyundaican
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR
from opendbc.car.interfaces import CarControllerBase
from opendbc.car.vehicle_model import VehicleModel
from openpilot.common.params import Params
@@ -583,10 +583,10 @@ class CarController(CarControllerBase):
if self.long_active_ecu:
if lka_steering:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
# Ioniq 6: front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
# and stops publishing object tracks when it disappears. Spoof it at 100 Hz on
# Ioniq 5/6: front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
# and stops publishing object tracks when it disappears. Spoof it periodically on
# PT bus so the radar keeps tracking.
if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.frame % 4 == 0:
if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % 4 == 0:
can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // 4, CS.out.brakePressed, CS.out.gasPressed))
elif not ccnc_non_hda2:
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+1 -1
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@@ -704,7 +704,7 @@ def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
return crc
# Ioniq 6 / HKG LKA-steering: ADAS_DRV broadcasts ACCELERATOR_BRAKE_ALT (0x100) at 100 Hz on bus 0.
# Ioniq 5/6 / HKG LKA-steering: ADAS_DRV broadcasts ACCELERATOR_BRAKE_ALT (0x100) on bus 0.
# The front radar uses this as its "host alive" heartbeat. When we disable ADAS_DRV the
# radar stops publishing real object tracks. Spoof this message ourselves with valid CRC
# and current pedal state so the radar keeps tracking.
opendbc_repo/opendbc/car/hyundai/interface.py
+3 -2
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@@ -4,6 +4,7 @@ from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
CANFD_SECURITYACCESS_CAR, \
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
hyundai_cancel_button_enables_cruise
from opendbc.car.hyundai.radar_interface import get_radar_track_config
@@ -177,7 +178,7 @@ 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 == CAR.HYUNDAI_IONIQ_6 and radar_tracks_available):
if ret.openpilotLongitudinalControl and not (candidate in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
ret.radarUnavailable = True
ret.pcmCruise = not ret.openpilotLongitudinalControl
apply_platform_longitudinal_params(ret)
@@ -229,7 +230,7 @@ class CarInterface(CarInterfaceBase):
params = Params()
if communication_control is None:
if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
# Don't use 0x80 suppress bit so we can read the ECU response.
# Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
# while blocking SCC TX.
opendbc_repo/opendbc/car/hyundai/radar_interface.py
+3 -2
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@@ -22,12 +22,13 @@ class RadarTrackConfig:
msg_count: int
radar_type: str
bus: int = 1
frequency: int = 50
RADAR_TRACK_CONFIGS = {
HYUNDAI_MANDO_FRONT_RADAR_DBC: RadarTrackConfig(RADAR_START_ADDR, RADAR_MSG_COUNT, "mando"),
HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30"),
HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0),
HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20),
}
# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
@@ -42,7 +43,7 @@ def get_radar_can_parser(CP, radar_config):
if radar_config is None:
return None
messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count)]
messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency) for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count)]
return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+16 -3
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@@ -127,16 +127,19 @@ class TestHyundaiFingerprint:
assert CP.radarUnavailable != radar
for candidate, radar_addr in (
(CAR.HYUNDAI_IONIQ_5, MRR30_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_5_N, MRR30_RADAR_START_ADDR),
(CAR.KIA_EV6_2025, MRR30_RADAR_START_ADDR),
(CAR.HYUNDAI_KONA_EV_2ND_GEN, MRR35_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_6, MRR35_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_9, MRR35_RADAR_START_ADDR),
):
assert get_radar_track_config(candidate).start_addr == radar_addr
radar_config = get_radar_track_config(candidate)
assert radar_config.start_addr == radar_addr
for radar in (True, False):
fingerprint = gen_empty_fingerprint()
if radar:
fingerprint[1][radar_addr] = 8
fingerprint[radar_config.bus][radar_addr] = 8
CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
assert CP.radarUnavailable != radar
@@ -151,9 +154,19 @@ class TestHyundaiFingerprint:
assert CP.openpilotLongitudinalControl
assert CP.radarUnavailable
fingerprint = gen_empty_fingerprint()
fingerprint[get_radar_track_config(CAR.HYUNDAI_IONIQ_6).bus][MRR35_RADAR_START_ADDR] = 24
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert CP.radarUnavailable
assert not CP.radarUnavailable
assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).frequency == 20
fingerprint = gen_empty_fingerprint()
fingerprint[CanBus(None, fingerprint).CAM][0x50] = 32
fingerprint[get_radar_track_config(CAR.HYUNDAI_IONIQ_5).bus][MRR30_RADAR_START_ADDR] = 32
CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_5, fingerprint, [], True, False, False, None)
assert CP.openpilotLongitudinalControl
assert not CP.radarUnavailable
for candidate in HYUNDAI_NON_SCC_CARS:
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, None)
opendbc_repo/opendbc/car/hyundai/values.py
+4 -2
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@@ -491,6 +491,7 @@ class CAR(Platforms):
],
CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV,
radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
)
HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
[
@@ -1105,9 +1106,10 @@ CAN_GEARS = {
CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC) # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
# Cars with CANFD_NO_RADAR_DISABLE that now work with SecurityAccess handshake
CANFD_SECURITYACCESS_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN}
# CAN-FD cars with ADAS ECUs that work with the communication-control path.
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}
CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+1 -1
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@@ -306,7 +306,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(1)
{0x51, 0, 32, .check_relay = false}, // ADRV_0x51
{0x100, 0, 24, .check_relay = false}, // Ioniq 6: ACCELERATOR_BRAKE_ALT radar heartbeat spoof
{0x100, 0, 24, .check_relay = false}, // Ioniq 5/6: ACCELERATOR_BRAKE_ALT radar heartbeat spoof
{0x730, 1, 8, .check_relay = false}, // tester present for ADAS ECU disable
{0x160, 1, 16, .check_relay = false}, // ADRV_0x160
{0x1EA, 1, 32, .check_relay = false}, // ADRV_0x1ea