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ev9

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firestar5683
2026-06-28 20:20:47 -05:00
parent 6daefdc0e1
commit f4bc8ee6b7
2 changed files with 32 additions and 3 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
-2
View File
@@ -629,8 +629,6 @@ class CarController(CarControllerBase):
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
suppress_lfa = bool(lka_steering)
if self.CP.carFingerprint == CAR.KIA_EV9 and self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
suppress_lfa = bool(steering_msg_active)
if self.frame % 5 == 0 and suppress_lfa:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+32 -1
View File
@@ -1421,7 +1421,9 @@ class TestHyundaiFingerprint:
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
cc = SimpleNamespace(enabled=False, latActive=False, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
lfa_block_msg["COUNTER"] = 0
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
out=SimpleNamespace(steeringAngleDeg=-201.0))
msgs = controller.create_canfd_msgs(0, False, 0.0, -201.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
@@ -1439,6 +1441,35 @@ class TestHyundaiFingerprint:
assert parser.vl["LKAS_ALT"]["STEER_MODE"] == 2
assert parser.vl["LKAS_ALT"]["NEW_SIGNAL_2"] == 3
def test_ev9_inactive_angle_steering_still_suppresses_stock_lfa(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV9
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
CP.openpilotLongitudinalControl = False
controller = CarController(DBC[CP.carFingerprint], CP)
controller.frame = 5
can_bus = CanBus(CP)
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CAM_0x362", 0)], can_bus.ECAN)
cc = SimpleNamespace(enabled=False, latActive=False, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
lfa_block_msg["COUNTER"] = 0
cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
out=SimpleNamespace(steeringAngleDeg=0.0))
msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
get_test_toggles(), lka_icon=1, lfa_icon=1)
suppress_msgs = [msg for msg in msgs if msg[0] == 0x362]
assert len(suppress_msgs) == 1
parser.update([(1, suppress_msgs)])
assert parser.can_valid
assert parser.vl["CAM_0x362"]["LEFT_LANE_LINE"] == 0
assert parser.vl["CAM_0x362"]["RIGHT_LANE_LINE"] == 0
def test_ev9_high_steering_angle_keeps_active_status_and_gain(self):
CP = CarParams.new_message()
CP.carFingerprint = CAR.KIA_EV9