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Hyundai longitudinal: Remove IONIQ from LEGACY_SAFETY_MODE_CAR blacklist
This commit is contained in:
Jason Wen
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.hyundai import hyundaicanfd, hyundaican
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from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
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from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, FEATURES
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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LongCtrlState = car.CarControl.Actuators.LongControlState
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@@ -175,7 +175,8 @@ class CarController:
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# TODO: unclear if this is needed
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jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
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can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
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hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
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hud_control.leadVisible, set_speed_in_units, stopping,
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CC.cruiseControl.override, self.CP.carFingerprint in FEATURES["use_fca"]))
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# 20 Hz LFA MFA message
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if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
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@@ -186,7 +187,7 @@ class CarController:
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# 5 Hz ACC options
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if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
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can_sends.extend(hyundaican.create_acc_opt(self.packer))
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can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP.carFingerprint in FEATURES["use_fca"]))
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# 2 Hz front radar options
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if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
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@@ -3,6 +3,7 @@ from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
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hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
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def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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torque_fault, lkas11, sys_warning, sys_state, enabled,
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left_lane, right_lane,
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@@ -96,7 +97,8 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
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}
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return packer.make_can_msg("LFAHDA_MFC", 0, values)
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def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):
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def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
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commands = []
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scc11_values = {
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@@ -119,6 +121,12 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
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"aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
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"CR_VSM_Alive": idx % 0xF,
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}
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# send CF_VSM_ConfMode and AEB_Status to cars that do not accept FCA messages, otherwise TCS13|ACCEnable would fault
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if not use_fca:
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scc12_values["CF_VSM_ConfMode"] = 1
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scc12_values["AEB_Status"] = 1 # AEB disabled
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scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
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scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
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@@ -134,21 +142,24 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
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}
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commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
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# note that some vehicles most likely have an alternate checksum/counter definition
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# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
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fca11_values = {
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"CR_FCA_Alive": idx % 0xF,
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"PAINT1_Status": 1,
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"FCA_DrvSetStatus": 1,
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"FCA_Status": 1, # AEB disabled
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}
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fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
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fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
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commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
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# only send FCA11 to cars that accept FCA messages, otherwise TCS13|ACCEnable would fault
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if use_fca:
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# note that some vehicles most likely have an alternate checksum/counter definition
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# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
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fca11_values = {
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"CR_FCA_Alive": idx % 0xF,
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"PAINT1_Status": 1,
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"FCA_DrvSetStatus": 1,
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"FCA_Status": 1, # AEB disabled
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}
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fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
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fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
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commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
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return commands
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def create_acc_opt(packer):
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def create_acc_opt(packer, use_fca):
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commands = []
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scc13_values = {
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@@ -158,14 +169,17 @@ def create_acc_opt(packer):
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}
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commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
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fca12_values = {
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"FCA_DrvSetState": 2,
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"FCA_USM": 1, # AEB disabled
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}
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commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
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# only send FCA12 to cars that accept FCA messages, otherwise TCS13|ACCEnable would fault
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if use_fca:
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fca12_values = {
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"FCA_DrvSetState": 2,
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"FCA_USM": 1, # AEB disabled
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}
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commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
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return commands
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def create_frt_radar_opt(packer):
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frt_radar11_values = {
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"CF_FCA_Equip_Front_Radar": 1,
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@@ -1584,7 +1584,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
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EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
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LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
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# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
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# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
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