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Use spFlags for sunnypilot specific features (pub) (#189)

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* Use spFlags for sunnypilot specific features (pub)

* add remaining
This commit is contained in:
Jason Wen
2023-07-01 05:49:16 -04:00
committed by GitHub
parent 32dd76bcb7
commit 122efe3a89
5 changed files with 25 additions and 22 deletions
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selfdrive/car/hyundai/carcontroller.py
+2 -2
View File
@@ -6,7 +6,7 @@ from opendbc.can.packer import CANPacker
from selfdrive.car import apply_driver_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -78,7 +78,7 @@ class CarController:
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
hud_control)
escc = self.CP.flags & HyundaiFlags.SP_ENHANCED_SCC.value
escc = self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value
can_sends = []
selfdrive/car/hyundai/carstate.py
+8 -8
View File
@@ -7,7 +7,7 @@ from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
@@ -148,7 +148,7 @@ class CarState(CarStateBase):
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
ret.stockFcw = aeb_warning and not aeb_braking
ret.stockAeb = aeb_warning and aeb_braking
elif self.CP.flags & HyundaiFlags.SP_ENHANCED_SCC:
elif self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
aeb_src = "ESCC"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning_sig = "CF_VSM_Warn_FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_Warn_SCC12"
@@ -175,7 +175,7 @@ class CarState(CarStateBase):
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
if self.CP.flags & HyundaiFlags.SP_NAV_MSG:
if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
self._update_traffic_signals(self.CP, cp, cp_cam)
ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv
@@ -252,7 +252,7 @@ class CarState(CarStateBase):
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
if self.CP.flags & HyundaiFlags.SP_NAV_MSG:
if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
self._update_traffic_signals(self.CP, cp, cp_cam)
ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_factor
@@ -404,7 +404,7 @@ class CarState(CarStateBase):
signals.append(("CF_Lvr_Gear", "LVR12"))
checks.append(("LVR12", 100))
if CP.flags & HyundaiFlags.SP_ENHANCED_SCC.value:
if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value:
if CP.flags & HyundaiFlags.USE_FCA.value:
signals += [
("FCA_CmdAct", "ESCC"),
@@ -421,7 +421,7 @@ class CarState(CarStateBase):
]
checks.append(("ESCC", 50))
if CP.flags & HyundaiFlags.SP_NAV_MSG:
if CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
signals.append(("SpeedLim_Nav_Clu", "Navi_HU"))
checks.append(("Navi_HU", 5))
@@ -577,7 +577,7 @@ class CarState(CarStateBase):
("ACCELERATOR_BRAKE_ALT", 100),
]
if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.SP_NAV_MSG:
if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT"))
checks.append(("CLUSTER_SPEED_LIMIT", 10))
@@ -609,7 +609,7 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50),
]
if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.flags & HyundaiFlags.SP_NAV_MSG:
if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT"))
checks.append(("CLUSTER_SPEED_LIMIT", 10))
selfdrive/car/hyundai/interface.py
+6 -6
View File
@@ -3,7 +3,7 @@ from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, NON_SCC_CAR, Buttons
from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, NON_SCC_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -58,7 +58,7 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HyundaiFlags.USE_FCA.value
if 0x2AB in fingerprint[0]:
ret.flags |= HyundaiFlags.SP_ENHANCED_SCC.value
ret.spFlags |= HyundaiFlagsSP.SP_ENHANCED_SCC.value
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerLimitTimer = 0.4
@@ -263,12 +263,12 @@ class CarInterface(CarInterfaceBase):
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
if 0x1fa in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.SP_NAV_MSG.value
ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
else:
ret.enableBsm = 0x58b in fingerprint[0]
if 0x544 in fingerprint[0]:
ret.flags |= HyundaiFlags.SP_NAV_MSG.value
ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
# *** panda safety config ***
if candidate in CANFD_CAR:
@@ -293,7 +293,7 @@ class CarInterface(CarInterfaceBase):
if candidate in CAMERA_SCC_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
if ret.flags & HyundaiFlags.SP_ENHANCED_SCC:
if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC
if ret.openpilotLongitudinalControl:
@@ -322,7 +322,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def init(CP, logcan, sendcan):
if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.flags & HyundaiFlags.SP_ENHANCED_SCC)):
if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)):
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, CanBus(CP).ECAN
selfdrive/car/hyundai/radar_interface.py
+3 -3
View File
@@ -4,14 +4,14 @@ import math
from cereal import car
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.hyundai.values import DBC, HyundaiFlags
from selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP
RADAR_START_ADDR = 0x500
RADAR_MSG_COUNT = 32
def get_radar_can_parser(CP):
if (CP.flags & HyundaiFlags.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None:
if (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None:
msg = "ESCC"
signals = [
("ObjValid", msg),
@@ -47,7 +47,7 @@ def get_radar_can_parser(CP):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.enhanced_scc = (CP.flags & HyundaiFlags.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None
self.enhanced_scc = (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None
self.updated_messages = set()
self.trigger_msg = 0x2AB if self.enhanced_scc else RADAR_START_ADDR + RADAR_MSG_COUNT - 1
self.track_id = 0
selfdrive/car/hyundai/values.py
+6 -3
View File
@@ -63,9 +63,12 @@ class HyundaiFlags(IntFlag):
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
SP_ENHANCED_SCC = 512
SP_CAN_LFA_BTN = 1024
SP_NAV_MSG = 2048
class HyundaiFlagsSP(IntFlag):
SP_ENHANCED_SCC = 1
SP_CAN_LFA_BTN = 2
SP_NAV_MSG = 4
class CAR: