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HKG CANFD: rename LKA steering param (#3279)

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* sane name

* HDA1

* one more
This commit is contained in:
Shane Smiskol
2026-04-02 21:21:43 -07:00
committed by GitHub
parent ef70686afe
commit b5ed5d7052
10 changed files with 61 additions and 61 deletions
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10
opendbc/car/hyundai/carcontroller.py
View File

@@ -90,12 +90,12 @@ class CarController(CarControllerBase):
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
# for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, self.CAN.ECAN if self.CP.flags & HyundaiFlags.CANFD else 0
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG.value:
addr, bus = 0x730, self.CAN.ECAN
can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
# for blinkers
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
if self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
# *** CAN/CAN FD specific ***
@@ -163,7 +163,7 @@ class CarController(CarControllerBase):
def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, accel, stopping, hud_control, CS, CC):
can_sends = []
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
# steering control
@@ -172,14 +172,14 @@ class CarController(CarControllerBase):
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and lka_steering:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT))
# LFA and HDA icons
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
# blinkers
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
if lka_steering and self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))
if self.CP.openpilotLongitudinalControl:

4
opendbc/car/hyundai/carstate.py
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@@ -283,8 +283,8 @@ class CarState(CarStateBase):
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT
else cp_cam.vl["CAM_0x2a4"])
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),

8
opendbc/car/hyundai/hyundaicanfd.py
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@@ -9,7 +9,7 @@ class CanBus(CanBusBase):
super().__init__(CP, fingerprint)
if lka_steering is None:
lka_steering = CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value if CP is not None else False
lka_steering = CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG.value if CP is not None else False
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. LKA steering cars
# have a different harness than the LFA steering variants in order to split
@@ -48,8 +48,8 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque)
}
ret = []
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT else "LKAS"
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, values))
@@ -79,7 +79,7 @@ def create_buttons(packer, CP, CAN, cnt, btn):
"CRUISE_BUTTONS": btn,
}
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else CAN.CAM
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

16
opendbc/car/hyundai/interface.py
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@@ -49,9 +49,9 @@ class CarInterface(CarInterfaceBase):
if lka_steering:
# detect LKA steering
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING.value
ret.flags |= HyundaiFlags.CANFD_LKA_STEER_MSG.value
if 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING_ALT.value
ret.flags |= HyundaiFlags.CANFD_LKA_STEER_MSG_ALT.value
else:
# no LKA steering
if 0x1cf not in fingerprint[CAN.ECAN]:
@@ -72,10 +72,10 @@ class CarInterface(CarInterfaceBase):
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
if ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING.value
if ret.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT.value
if ret.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEER_MSG.value
if ret.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT.value
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
@@ -162,12 +162,12 @@ class CarInterface(CarInterfaceBase):
if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
addr, bus = 0x7d0, CanBus(CP).ECAN if CP.flags & HyundaiFlags.CANFD else 0
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
if CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG.value:
addr, bus = 0x730, CanBus(CP).ECAN
disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control)
# for blinkers
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
if CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=communication_control)
@staticmethod

2
opendbc/car/hyundai/tests/test_hyundai.py
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@@ -52,7 +52,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
cam_can = CanBus(None, fingerprint).CAM
fingerprint[cam_can] = [0x50, 0x110] # LKA steering messages
CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, False)
assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG) == lka_steering
# radar available
for radar in (True, False):

14
opendbc/car/hyundai/values.py
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@@ -60,10 +60,10 @@ class HyundaiSafetyFlags(IntFlag):
HYBRID_GAS = 2
LONG = 4
CAMERA_SCC = 8
CANFD_LKA_STEERING = 16
CANFD_LKA_STEER_MSG = 16
CANFD_ALT_BUTTONS = 32
ALT_LIMITS = 64
CANFD_LKA_STEERING_ALT = 128
CANFD_LKA_STEER_MSG_ALT = 128
FCEV_GAS = 256
ALT_LIMITS_2 = 512
@@ -71,21 +71,21 @@ class HyundaiSafetyFlags(IntFlag):
class HyundaiFlags(IntFlag):
# Dynamic Flags
# Default assumption: all cars use LFA (ADAS) steering from the camera.
# CANFD_LKA_STEERING/CANFD_LKA_STEERING_ALT cars typically have both LKA (camera) and LFA (ADAS) steering messages,
# Default assumption: all cars use LFA (ADAS) steering from the camera (HDA1).
# CANFD_LKA_STEER_MSG/CANFD_LKA_STEER_MSG_ALT cars typically have both LKA (camera) and LFA (ADAS) steering messages,
# with LKA commands forwarded to the ADAS DRV ECU.
# Most HDA2 trims are assumed to be equipped with the ADAS DRV ECU, though some variants may not be equipped with one.
CANFD_LKA_STEERING = 1
CANFD_LKA_STEER_MSG = 1
CANFD_ALT_BUTTONS = 2
CANFD_ALT_GEARS = 2 ** 2
CANFD_CAMERA_SCC = 2 ** 3
ALT_LIMITS = 2 ** 4
ENABLE_BLINKERS = 2 ** 5
CANFD_ENABLE_BLINKERS = 2 ** 5
CANFD_ALT_GEARS_2 = 2 ** 6
SEND_LFA = 2 ** 7
USE_FCA = 2 ** 8
CANFD_LKA_STEERING_ALT = 2 ** 9
CANFD_LKA_STEER_MSG_ALT = 2 ** 9
# these cars use a different gas signal
HYBRID = 2 ** 10

48
opendbc/safety/modes/hyundai_canfd.h
View File

@@ -6,12 +6,12 @@
#define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
{0x1CF, bus, 8, .check_relay = false}, /* CRUISE_BUTTON */ \
#define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
#define HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x50, a_can, 16, .check_relay = (a_can) == 0}, /* LKAS */ \
{0x2A4, a_can, 24, .check_relay = (a_can) == 0}, /* CAM_0x2A4 */ \
#define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
#define HYUNDAI_CANFD_LKA_STEER_MSG_ALT_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x110, a_can, 32, .check_relay = (a_can) == 0}, /* LKAS_ALT */ \
{0x362, a_can, 32, .check_relay = (a_can) == 0}, /* CAM_0x362 */ \
@@ -46,10 +46,10 @@
{.msg = {{0x1a0, (scc_bus), 32, 50U, .max_counter = 0xffU, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static bool hyundai_canfd_alt_buttons = false;
static bool hyundai_canfd_lka_steering_alt = false;
static bool hyundai_canfd_lka_steer_msg_alt = false;
static unsigned int hyundai_canfd_get_lka_addr(void) {
return hyundai_canfd_lka_steering_alt ? 0x110U : 0x50U;
return hyundai_canfd_lka_steer_msg_alt ? 0x110U : 0x50U;
}
static uint8_t hyundai_canfd_get_counter(const CANPacket_t *msg) {
@@ -69,7 +69,7 @@ static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *msg) {
static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
const unsigned pt_bus = hyundai_canfd_lka_steering ? 1U : 0U;
const unsigned pt_bus = hyundai_canfd_lka_steer_msg ? 1U : 0U;
const unsigned int scc_bus = hyundai_camera_scc ? 2U : pt_bus;
if (msg->bus == pt_bus) {
@@ -156,7 +156,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
bool tx = true;
// steering
const unsigned int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
const unsigned int steer_addr = (hyundai_canfd_lka_steer_msg && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
if (msg->addr == steer_addr) {
int desired_torque = (((msg->data[6] & 0xFU) << 7U) | (msg->data[5] >> 1U)) - 1024U;
bool steer_req = GET_BIT(msg, 52U);
@@ -179,7 +179,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
}
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if (((msg->addr == 0x730U) && hyundai_canfd_lka_steering) || ((msg->addr == 0x7D0U) && !hyundai_camera_scc)) {
if (((msg->addr == 0x730U) && hyundai_canfd_lka_steer_msg) || ((msg->addr == 0x7D0U) && !hyundai_camera_scc)) {
if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
tx = false;
}
@@ -216,19 +216,19 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
}
static safety_config hyundai_canfd_init(uint16_t param) {
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
};
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(0, 1)
static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_ALT_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEER_MSG_ALT_COMMON_TX_MSGS(0, 1)
};
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_LONG_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
{0x51, 0, 32, .check_relay = false}, // ADRV_0x51
@@ -266,16 +266,16 @@ static safety_config hyundai_canfd_init(uint16_t param) {
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);
safety_config ret;
if (hyundai_longitudinal) {
if (hyundai_canfd_lka_steering) {
static RxCheck hyundai_canfd_lka_steering_long_rx_checks[] = {
if (hyundai_canfd_lka_steer_msg) {
static RxCheck hyundai_canfd_lka_steer_msg_long_rx_checks[] = {
HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(1)
};
ret = BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_long_rx_checks, HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS);
ret = BUILD_SAFETY_CFG(hyundai_canfd_lka_steer_msg_long_rx_checks, HYUNDAI_CANFD_LKA_STEER_MSG_LONG_TX_MSGS);
} else {
// Longitudinal checks for LFA steering
@@ -305,20 +305,20 @@ static safety_config hyundai_canfd_init(uint16_t param) {
}
} else {
if (hyundai_canfd_lka_steering) {
if (hyundai_canfd_lka_steer_msg) {
// *** LKA steering checks ***
// E-CAN is on bus 1, SCC messages are sent on cars with ADRV ECU.
// Does not use the alt buttons message
static RxCheck hyundai_canfd_lka_steering_rx_checks[] = {
static RxCheck hyundai_canfd_lka_steer_msg_rx_checks[] = {
HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
SET_RX_CHECKS(hyundai_canfd_lka_steering_rx_checks, ret);
if (hyundai_canfd_lka_steering_alt) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS, ret);
SET_RX_CHECKS(hyundai_canfd_lka_steer_msg_rx_checks, ret);
if (hyundai_canfd_lka_steer_msg_alt) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_ALT_TX_MSGS, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_TX_MSGS, ret);
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS, ret);
}
} else if (!hyundai_camera_scc) {

8
opendbc/safety/modes/hyundai_common.h
View File

@@ -30,8 +30,8 @@ bool hyundai_longitudinal = false;
extern bool hyundai_camera_scc;
bool hyundai_camera_scc = false;
extern bool hyundai_canfd_lka_steering;
bool hyundai_canfd_lka_steering = false;
extern bool hyundai_canfd_lka_steer_msg;
bool hyundai_canfd_lka_steer_msg = false;
extern bool hyundai_alt_limits;
bool hyundai_alt_limits = false;
@@ -48,7 +48,7 @@ void hyundai_common_init(uint16_t param) {
const uint16_t HYUNDAI_PARAM_EV_GAS = 1;
const uint16_t HYUNDAI_PARAM_HYBRID_GAS = 2;
const uint16_t HYUNDAI_PARAM_CAMERA_SCC = 8;
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING = 16;
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG = 16;
const uint16_t HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
const uint16_t HYUNDAI_PARAM_FCEV_GAS = 256;
const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
@@ -56,7 +56,7 @@ void hyundai_common_init(uint16_t param) {
hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
hyundai_canfd_lka_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING);
hyundai_canfd_lka_steer_msg = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG);
hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);

4
opendbc/safety/tests/safety_replay/helpers.py
View File

@@ -23,8 +23,8 @@ def is_steering_msg(mode, param, addr):
elif mode in (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy):
ret = addr == 832
elif mode == CarParams.SafetyModel.hyundaiCanfd:
ret = addr == (0x110 if param & HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT else
0x50 if param & HyundaiSafetyFlags.CANFD_LKA_STEERING else
ret = addr == (0x110 if param & HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT else
0x50 if param & HyundaiSafetyFlags.CANFD_LKA_STEER_MSG else
0x12A)
elif mode == CarParams.SafetyModel.chrysler:
ret = addr == 0x292

8
opendbc/safety/tests/test_hyundai_canfd.py
View File

@@ -170,7 +170,7 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerSafety("hyundai_canfd_generated")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.EV_GAS)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.EV_GAS)
self.safety.init_tests()
@@ -189,8 +189,8 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerSafety("hyundai_canfd_generated")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.EV_GAS |
HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.EV_GAS |
HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT)
self.safety.init_tests()
@@ -211,7 +211,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
def setUp(self):
self.packer = CANPackerSafety("hyundai_canfd_generated")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING |
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEER_MSG |
HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS)
self.safety.init_tests()