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classify as CAN

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This commit is contained in:
Jason Wen
2023-08-31 01:58:02 -04:00
parent 33b9aad18a
commit 7a86bf18bc
3 changed files with 28 additions and 21 deletions
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selfdrive/car/hyundai/carstate.py
+4 -4
View File
@@ -28,7 +28,7 @@ class CarState(CarStateBase):
self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_SHIFTER"
if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_CAR):
if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -54,7 +54,7 @@ class CarState(CarStateBase):
self.params = CarControllerParams(CP)
def update(self, cp, cp_cam):
if self.CP.carFingerprint in (CANFD_CAR - CAN_CANFD_CAR):
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam)
ret = car.CarState.new_message()
@@ -243,7 +243,7 @@ class CarState(CarStateBase):
return ret
def get_can_parser(self, CP):
if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_CAR):
if CP.carFingerprint in CANFD_CAR:
return self.get_can_parser_canfd(CP)
freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
@@ -300,7 +300,7 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_CAR):
if CP.carFingerprint in CANFD_CAR:
return CarState.get_cam_can_parser_canfd(CP)
messages = []
selfdrive/car/hyundai/interface.py
+23 -16
View File
@@ -34,12 +34,13 @@ class CarInterface(CarInterfaceBase):
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
CAN = CanBus(None, hda2, fingerprint)
# detect HDA2 with ADAS Driving ECU
if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
if candidate in CANFD_CAR:
# detect HDA2 with ADAS Driving ECU
if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
if 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
if hda2 and 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
else:
# non-HDA2
if 0x1cf not in fingerprint[CAN.ECAN]:
@@ -52,10 +53,10 @@ 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
else:
# detect cars with hybrid definitions of CAN and CAN-FD
if candidate in CAN_CANFD_CAR:
ret.flags |= HyundaiFlags.CAN_CANFD.value
else:
# Send LFA message on cars with HDA
if 0x485 in fingerprint[2]:
ret.flags |= HyundaiFlags.SEND_LFA.value
@@ -252,11 +253,11 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in (CANFD_RADAR_SCC_CAR | CAN_CANFD_CAR)
ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
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
@@ -268,7 +269,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayUpperBound = 0.5
# *** feature detection ***
if candidate in (CANFD_CAR - CAN_CANFD_CAR):
if candidate in CANFD_CAR:
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
else:
bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD else 0
@@ -276,11 +277,7 @@ class CarInterface(CarInterfaceBase):
# *** panda safety config ***
if candidate in CANFD_CAR:
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundai), ] if ret.flags & HyundaiFlags.CAN_CANFD else \
[get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.safetyConfigs = set_safety_config_canfd(ret.flags, CAN)
if ret.flags & HyundaiFlags.CANFD_HDA2:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
@@ -290,12 +287,13 @@ 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
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:
ret.safetyConfigs = set_safety_config_canfd(ret, CAN)
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
@@ -355,3 +353,12 @@ class CarInterface(CarInterfaceBase):
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
def set_safety_config_canfd(flags, CAN):
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundai), ] if flags & HyundaiFlags.CAN_CANFD else \
[get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
return cfgs
selfdrive/car/hyundai/values.py
+1 -1
View File
@@ -1982,7 +1982,7 @@ 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.KONA_EV_2ND_GEN, CAR.PALISADE_2023}
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
# These cars have hybrid definitions of CAN and CAN-FD
CAN_CANFD_CAR = {CAR.PALISADE_2023, }