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firestar5683
2026-05-29 01:18:27 -05:00
parent 29ade037d3
commit ce19d2c5f0
3 changed files with 68 additions and 11 deletions
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opendbc_repo/opendbc/car/hyundai/radar_interface.py
+27 -3
View File
@@ -6,13 +6,15 @@ from opendbc.can.dbc import DBC as DBCReader
from opendbc.can.parser import get_raw_value
from opendbc.car import Bus, structs
from opendbc.car.interfaces import RadarInterfaceBase
from opendbc.car.hyundai.values import CAR, DBC, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRR30_RADAR_DBC, \
HYUNDAI_MRR35_RADAR_DBC
from opendbc.car.hyundai.values import CAR, DBC, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRREVO14F_RADAR_DBC, \
HYUNDAI_MRR30_RADAR_DBC, HYUNDAI_MRR35_RADAR_DBC
from openpilot.common.swaglog import cloudlog
RADAR_START_ADDR = 0x500
RADAR_MSG_COUNT = 32
G90_RADAR_MSG_COUNT = 64
MRREVO14F_RADAR_START_ADDR = 0x602
MRREVO14F_RADAR_MSG_COUNT = 16
MRR30_RADAR_START_ADDR = 0x210
MRR30_RADAR_MSG_COUNT = 16
MRR35_RADAR_START_ADDR = 0x3A5
@@ -35,7 +37,8 @@ class RadarTrackConfig:
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_MRREVO14F_RADAR_DBC: RadarTrackConfig(MRREVO14F_RADAR_START_ADDR, MRREVO14F_RADAR_MSG_COUNT, "mrrevo14f"),
HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30", bus=0),
HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20),
}
@@ -200,6 +203,27 @@ class RadarInterface(RadarInterfaceBase):
del self.pts[track_key]
continue
if radar_type == "mrrevo14f":
for i in ("1", "2"):
track_key = addr * 2 + int(i) - 1
valid = msg[f"{i}_DISTANCE"] != 255.75
if valid:
pt = self.pts.get(track_key)
if pt is None:
pt = structs.RadarData.RadarPoint()
pt.trackId = self.track_id
self.track_id += 1
self.pts[track_key] = pt
pt.measured = True
pt.dRel = msg[f"{i}_DISTANCE"]
pt.yRel = msg[f"{i}_LATERAL"]
pt.vRel = msg[f"{i}_SPEED"]
pt.aRel = float("nan")
pt.yvRel = float("nan")
elif track_key in self.pts:
del self.pts[track_key]
continue
if radar_type == "mrr35":
# Most of the 32 channels are empty each frame. Only allocate a point
# when the channel is valid; drop it otherwise. Avoids the per-frame
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+23 -2
View File
@@ -14,7 +14,8 @@ from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, dec
from opendbc.car.hyundai.interface import CarInterface
from opendbc.car.hyundai import hyundaican, hyundaicanfd
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.radar_interface import MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, RADAR_START_ADDR, get_radar_track_config
from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
RADAR_START_ADDR, get_radar_track_config
from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
@@ -120,7 +121,22 @@ class TestHyundaiFingerprint:
assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
# radar available
for candidate in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SONATA_HYBRID, CAR.GENESIS_G90):
for candidate in (
CAR.HYUNDAI_IONIQ,
CAR.HYUNDAI_IONIQ_EV_LTD,
CAR.HYUNDAI_SANTA_FE,
CAR.HYUNDAI_SANTA_FE_2022,
CAR.HYUNDAI_SANTA_FE_HEV_2022,
CAR.HYUNDAI_SANTA_FE_PHEV_2022,
CAR.HYUNDAI_SONATA,
CAR.HYUNDAI_SONATA_HYBRID,
CAR.KIA_K5_HEV_2020,
CAR.KIA_NIRO_EV,
CAR.KIA_NIRO_PHEV,
CAR.KIA_NIRO_PHEV_2022,
CAR.GENESIS_G70_2020,
CAR.GENESIS_G90,
):
assert get_radar_track_config(candidate).start_addr == RADAR_START_ADDR
for radar in (True, False):
fingerprint = gen_empty_fingerprint()
@@ -141,9 +157,12 @@ class TestHyundaiFingerprint:
assert not CP.radarUnavailable
for candidate, radar_addr in (
(CAR.HYUNDAI_KONA_EV_2022, MRREVO14F_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_5, MRR30_RADAR_START_ADDR),
(CAR.HYUNDAI_IONIQ_5_N, MRR30_RADAR_START_ADDR),
(CAR.KIA_EV6, MRR30_RADAR_START_ADDR),
(CAR.KIA_EV6_2025, MRR30_RADAR_START_ADDR),
(CAR.GENESIS_GV60_EV_1ST_GEN, 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),
@@ -157,6 +176,8 @@ class TestHyundaiFingerprint:
CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
assert CP.radarUnavailable != radar
assert get_radar_track_config(CAR.HYUNDAI_KONA_EV_2022).bus == 1
assert get_radar_track_config(CAR.HYUNDAI_IONIQ_5).bus == 0
assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).start_addr == MRR35_RADAR_START_ADDR
fingerprint = gen_empty_fingerprint()
fingerprint[1][MRR35_RADAR_START_ADDR] = 24
opendbc_repo/opendbc/car/hyundai/values.py
+18 -6
View File
@@ -19,6 +19,7 @@ SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH = 5.0
SPORTAGE_HEV_2026_MAX_ANGLE_RATE = 6.5
SPORTAGE_HEV_2026_STEER_ANGLE_MAX = 220.0
HYUNDAI_MANDO_FRONT_RADAR_DBC = "hyundai_kia_mando_front_radar_generated"
HYUNDAI_MRREVO14F_RADAR_DBC = "hyundai_mrrevo14f_radar_generated"
HYUNDAI_MRR30_RADAR_DBC = "hyundai_mrr30_radar_generated"
HYUNDAI_MRR35_RADAR_DBC = "hyundai_mrr35_radar_generated"
@@ -224,9 +225,12 @@ class HyundaiNonSccCarDocs(CarDocs):
@dataclass
class HyundaiPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
radar_dbc: str | None = None
def init(self):
if self.flags & HyundaiFlags.MANDO_RADAR:
if self.radar_dbc is not None:
self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: self.radar_dbc}
elif self.flags & HyundaiFlags.MANDO_RADAR:
self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: HYUNDAI_MANDO_FRONT_RADAR_DBC}
if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
@@ -313,7 +317,7 @@ class CAR(Platforms):
HYUNDAI_IONIQ = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH | HyundaiFlags.MANDO_RADAR,
)
HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],
@@ -369,6 +373,7 @@ class CAR(Platforms):
[HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
radar_dbc=HYUNDAI_MRREVO14F_RADAR_DBC,
)
HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
[
@@ -400,17 +405,17 @@ class CAR(Platforms):
[HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l]))],
HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_SANTA_FE_HEV_5TH_GEN = HyundaiCanFDPlatformConfig(
[
@@ -749,6 +754,7 @@ class CAR(Platforms):
],
CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV,
radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
)
KIA_EV6_2025 = HyundaiCanFDPlatformConfig(
[
@@ -783,6 +789,7 @@ class CAR(Platforms):
],
CarSpecs(mass=2205, wheelbase=2.9, steerRatio=17.6),
flags=HyundaiFlags.EV,
radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
)
GENESIS_G70 = HyundaiPlatformConfig(
[HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
@@ -1110,8 +1117,13 @@ CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC) # TODO: merge with
# 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}
CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.GENESIS_GV60_EV_1ST_GEN}
RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
CAR.HYUNDAI_IONIQ,
CAR.HYUNDAI_KONA_EV_2022,
CAR.HYUNDAI_SANTA_FE_2022,
CAR.HYUNDAI_SANTA_FE_HEV_2022,
CAR.HYUNDAI_SANTA_FE_PHEV_2022,
CAR.HYUNDAI_SONATA,
CAR.HYUNDAI_SONATA_HYBRID,
CAR.GENESIS_G90,