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Use common flag

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This commit is contained in:
Jason Wen
2023-08-27 01:02:05 -04:00
parent f9d1e8f998
commit 1e82dd4347
6 changed files with 41 additions and 45 deletions
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selfdrive/car/hyundai/carcontroller.py
+5 -6
View File
@@ -102,22 +102,21 @@ class CarController:
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
can_canfd_hda2 = self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2
# CAN-FD platforms
if self.CP.carFingerprint in CANFD_CAR or can_canfd_hda2:
if self.CP.carFingerprint in CANFD_CAR:
hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
hda2_can_canfd = hda2 and self.CP.flags & HyundaiFlags.CAN_CANFD
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
# disable LFA on HDA2
if self.frame % 5 == 0 and (hda2 or can_canfd_hda2):
if self.frame % 5 == 0 and hda2:
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long) and not can_canfd_hda2:
if self.frame % 5 == 0 and (not hda2 or hda2_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
# blinkers
@@ -133,7 +132,7 @@ class CarController:
self.accel_last = accel
else:
# button presses
if can_canfd_hda2:
if hda2_can_canfd:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif CC.cruiseControl.resume:
selfdrive/car/hyundai/carstate.py
+16 -18
View File
@@ -8,7 +8,8 @@ from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams, \
CAN_CANFD_CAR
from openpilot.selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
@@ -53,7 +54,7 @@ class CarState(CarStateBase):
self.params = CarControllerParams(CP)
def update(self, cp, cp_cam):
if self.CP.carFingerprint in CANFD_CAR:
if self.CP.carFingerprint in (CANFD_CAR - CAN_CANFD_CAR):
return self.update_canfd(cp, cp_cam)
ret = car.CarState.new_message()
@@ -106,7 +107,7 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
else:
scc_bus = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else "SCC11"
scc_bus = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD.value else "SCC11"
ret.cruiseState.available = cp_cruise.vl[scc_bus]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp_cruise.vl[scc_bus]["SCCInfoDisplay"] == 4.
@@ -142,7 +143,7 @@ class CarState(CarStateBase):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value):
if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD.value):
aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -157,7 +158,7 @@ class CarState(CarStateBase):
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
if self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2:
if self.CP.flags & HyundaiFlags.CAN_CANFD and self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.prev_cruise_buttons = self.cruise_buttons[-1]
@@ -240,7 +241,7 @@ class CarState(CarStateBase):
if CP.carFingerprint in CANFD_CAR:
return self.get_can_parser_canfd(CP)
freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 50
freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
messages = [
# address, frequency
@@ -257,18 +258,18 @@ class CarState(CarStateBase):
("SAS11", 100),
]
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value):
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD.value):
messages += [
("SCC11", 50),
("SCC12", 50),
]
if CP.flags & HyundaiFlags.USE_FCA.value:
messages.append(("FCA11", 50))
elif CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value:
elif CP.flags & HyundaiFlags.CAN_CANFD.value:
messages.append(("SCC12", 50))
if CP.enableBsm:
freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 50
freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
messages.append(("LCA11", freq_lca11))
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
@@ -288,7 +289,7 @@ class CarState(CarStateBase):
else:
messages.append(("LVR12", 100))
bus = CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 0
bus = CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
@staticmethod
@@ -298,10 +299,10 @@ class CarState(CarStateBase):
messages = []
if not (CP.flags & HyundaiFlags.CAN_CANFD_HDA2):
messages += [
("LKAS11", 100)
]
if CP.flags & HyundaiFlags.CAN_CANFD:
messages.append(("CAM_0x2a4", 20))
else:
messages.append(("LKAS11", 100))
if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
messages += [
@@ -312,10 +313,7 @@ class CarState(CarStateBase):
if CP.flags & HyundaiFlags.USE_FCA.value:
messages.append(("FCA11", 50))
if CP.flags & HyundaiFlags.CAN_CANFD_HDA2:
messages.append(("CAM_0x2a4", 20))
bus = CanBus(CP).CAM if CP.flags & HyundaiFlags.CAN_CANFD_HDA2 else 2
bus = CanBus(CP).CAM if CP.flags & HyundaiFlags.CAN_CANFD else 2
return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
def get_can_parser_canfd(self, CP):
selfdrive/car/hyundai/hyundaican.py
+1 -1
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@@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, CP):
values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars
bus = 2 if CP.carFingerprint in CAMERA_SCC_CAR else CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD_HDA2 else 0
bus = 2 if CP.carFingerprint in CAMERA_SCC_CAR else CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD else 0
return packer.make_can_msg("CLU11", bus, values)
selfdrive/car/hyundai/hyundaicanfd.py
+2 -2
View File
@@ -9,7 +9,7 @@ class CanBus(CanBusBase):
if hda2 is None:
assert CP is not None
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value or CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split
@@ -51,7 +51,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
"NEW_SIGNAL_2": 0,
}
if CP.flags & HyundaiFlags.CANFD_HDA2 or CP.flags & HyundaiFlags.CAN_CANFD_HDA2:
if CP.flags & HyundaiFlags.CANFD_HDA2:
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
selfdrive/car/hyundai/interface.py
+11 -15
View File
@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.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, UNSUPPORTED_LONGITUDINAL_CAR, \
Buttons
Buttons, CAN_CANFD_CAR
from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -50,11 +50,10 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
if candidate not in CANFD_RADAR_SCC_CAR:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
# detect cars with hybrid definitions of CAN and CAN-FD
if candidate in CAN_CANFD_CAR:
ret.flags |= HyundaiFlags.CAN_CANFD.value
else:
# detect HDA2 with CAN and CAN-FD definitions with ADAS Driving ECU
if hda2:
ret.flags |= HyundaiFlags.CAN_CANFD_HDA2.value
# Send LFA message on cars with HDA
if 0x485 in fingerprint[2]:
ret.flags |= HyundaiFlags.SEND_LFA.value
@@ -255,7 +254,7 @@ class CarInterface(CarInterfaceBase):
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR) and candidate != CAR.PALISADE_2023
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR | CAN_CANFD_CAR)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
@@ -267,15 +266,16 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayUpperBound = 0.5
# *** feature detection ***
if candidate in CANFD_CAR:
if candidate in (CANFD_CAR - CAN_CANFD_CAR):
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
else:
bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD_HDA2 else 0
bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD else 0
ret.enableBsm = 0x58b in fingerprint[bus]
# *** panda safety config ***
if candidate in CANFD_CAR:
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] if ret.flags & HyundaiFlags.CAN_CANFD else \
[get_safety_config(car.CarParams.SafetyModel.hyundai), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
@@ -286,16 +286,12 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
if ret.flags & HyundaiFlags.CAN_CANFD:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD_HDA2
else:
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
elif ret.flags & HyundaiFlags.CAN_CANFD_HDA2:
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundai), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD_HDA2
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
selfdrive/car/hyundai/values.py
+6 -3
View File
@@ -35,7 +35,7 @@ class CarControllerParams:
self.STEER_DELTA_UP = 2
self.STEER_DELTA_DOWN = 3
elif CP.flags & HyundaiFlags.CAN_CANFD_HDA2:
elif CP.flags & HyundaiFlags.CAN_CANFD:
self.STEER_MAX = 384
self.STEER_DELTA_UP = 3
self.STEER_DELTA_DOWN = 6
@@ -69,7 +69,7 @@ class HyundaiFlags(IntFlag):
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
CAN_CANFD_HDA2 = 512
CAN_CANFD = 512
class CAR:
@@ -1967,7 +1967,10 @@ CAN_GEARS = {
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.PALISADE_2023}
# These cars have hybrid definitions of CAN and CAN-FD
CAN_CANFD_CAR = {CAR.PALISADE_2023, }
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,