mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-17 02:02:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

better RADAR_3A5_3C4

Browse Source
This commit is contained in:
royjr
2026-07-15 22:53:48 -04:00
parent e1a87d7f5b
commit 2e9e07b2e0
3 changed files with 29 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo
+1 -1
Submodule opendbc_repo updated: da38b0028c...5fe4a8a9dd
tools/radar/custom_routes.py
+4
View File
@@ -22,6 +22,8 @@ CUSTOM_ROUTES = [
CustomRoute("GENESIS_GV60_EV_1ST_GEN", "b1e441e63f1c99dd|0000009d--14cde5aeaf"),
CustomRoute("HYUNDAI_IONIQ_6", "faa815c21279fef7/00000187--ce36ae7c11"),
CustomRoute("HYUNDAI_IONIQ_6", "faa815c21279fef7/00000191--e5c3ffb55b"),
CustomRoute("HYUNDAI_IONIQ_6", "ce8a3764a8bb9141/000000f6--775693a6d6"),
CustomRoute("HYUNDAI_IONIQ_6", "ce8a3764a8bb9141/00000100--ba8bd692f5"),
CustomRoute("HYUNDAI_KONA_2ND_GEN", "32025f26789d8fab/00000022--a499e8ffa3"),
CustomRoute("HYUNDAI_KONA_EV_2ND_GEN", "1618132d68afc876/00000021--bf0f957649"),
CustomRoute("HYUNDAI_KONA_HEV_2ND_GEN", "97ca61196eb73e0d/00000052--4555329470"),
@@ -31,9 +33,11 @@ CUSTOM_ROUTES = [
CustomRoute("KIA_EV6_2025", "48c27f77f9fd1a9b|00000199--193ee1ba20"),
CustomRoute("KIA_EV9", "ccfd4a1af758ee73/00000091--7fa49719a5"),
CustomRoute("KIA_K4_2025", "baf39eeaba1217ca/00000002--b36e3fa031"),
CustomRoute("KIA_K4_2025", "ac30936e794b297a/00000021--dde25fcfda/24"),
CustomRoute("KIA_K5_2025", "c4a804b067623789/0000007c--163f831540"),
CustomRoute("KIA_NIRO_EV_2ND_GEN", "80b8e9a6ad0acec3/0000032d--8379197bd3"),
CustomRoute("KIA_NIRO_EV_2ND_GEN", "80b8e9a6ad0acec3/0000032c--0055eeee96"),
CustomRoute("KIA_NIRO_EV_2ND_GEN", "cdde60a79a049bf4/00000002--f448ca40b4"),
CustomRoute("KIA_NIRO_HEV_2ND_GEN", "0d4257d1c6741384/00000067--42230e4b8d"),
CustomRoute("HYUNDAI_KONA_EV_2022", "e174e1a0b92263ed/00000003--d0591c14ec"),
CustomRoute("HYUNDAI_KONA_EV_2022", "e174e1a0b92263ed/00000001--18955a967e"),
tools/radar/radar_helpers.py
+24 -5
View File
@@ -5,6 +5,7 @@ import tempfile
from dataclasses import dataclass
from opendbc.can.parser import CANParser
from opendbc.dbc.generator.hyundai.hyundai_radar_3a5_3c4 import RADAR_3A5_3C4_MESSAGE_COMMENT, RADAR_3A5_3C4_SIGNAL_COMMENTS
RADAR_500_51F_DBC_TEMPLATE = """
@@ -26,24 +27,42 @@ BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 24 RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ STATE_ALT : 25|2@0+ (1,0) [0|3] "" XXX
SG_ MOTION_STATE : 28|2@0+ (1,0) [0|3] "" XXX
SG_ MOTION_STATE : 28|2@0+ (1,0) [0|2] "" XXX
SG_ TRACK_COUNTER : 31|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [-64|63] "" XXX
SG_ AGE : 47|8@0+ (1,0) [0|255] "" XXX
SG_ COAST_AGE : 51|4@0+ (1,0) [0|15] "" XXX
SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [-64|63] "" XXX
SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|204.75] "m" XXX
SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [-33|37] "" XXX
SG_ LONG_DIST : 63|13@1+ (0.05,0) [0|409.55] "m" XXX
SG_ LAT_DIST : 76|12@1- (0.05,0) [-102.4|102.35] "m" XXX
SG_ REL_SPEED : 88|14@1- (0.01,0) [-81.92|81.91] "m/s" XXX
SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|2] "" XXX
SG_ REL_LAT_SPEED : 104|13@1- (0.01,0) [-40.96|40.95] "m/s" XXX
SG_ REL_ACCEL : 118|10@1- (0.02,0) [-10.24|10.22] "m/s^2" XXX
SG_ NEW_SIGNAL_5 : 134|5@0+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|2] "" XXX
SG_ NEW_SIGNAL_5 : 135|6@0+ (1,0) [0|32] "" XXX
SG_ WIDTH : 138|5@1+ (0.1,0) [0|3.1] "m" XXX
SG_ LENGTH : 151|8@0+ (0.1,0) [0|25.5] "m" XXX
SG_ ABS_SPEED : 152|10@1+ (0.1,0) [0|102.3] "m/s" XXX
SG_ ORIENTATION_ANGLE : 162|9@1- (1,0) [-180|180] "deg" XXX
SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|10] "" XXX
SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|10] "" XXX
SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|2] "" XXX
SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|2] "" XXX
VAL_ {addr_dec} STATE_ALT 0 "EMPTY" 1 "TENTATIVE" 2 "MEASURED" 3 "COASTED" ;
VAL_ {addr_dec} MOTION_STATE 0 "UNKNOWN" 1 "STATIONARY" 2 "MOVING" ;
VAL_ {addr_dec} STATE 0 "EMPTY" 1 "TENTATIVE_1" 2 "TENTATIVE_2" 3 "MEASURED" 4 "COASTED" 7 "UNRESOLVED_TENTATIVE" ;
"""
RADAR_3A5_3C4_DBC_TEMPLATE += "\n".join((
'CM_ BO_ {addr_dec} "' + RADAR_3A5_3C4_MESSAGE_COMMENT + '";',
*(f'CM_ SG_ {{addr_dec}} {signal} "{comment}";' for signal, comment in RADAR_3A5_3C4_SIGNAL_COMMENTS),
)) + "\n"
RADAR_210_21F_DBC_TEMPLATE = """
BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 32 RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX