Remove CAN_CANFD_HYBRID from CAN_FD checks

selfdrive/car/hyundai/carstate.py

@@ -8,7 +8,7 @@ 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, Buttons, CarControllerParams
+                                                   CANFD_CAR, Buttons, CarControllerParams, CAN_CANFD_HYBRID_CAR
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -27,7 +27,7 @@ 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:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_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"]
@@ -53,7 +53,7 @@ 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_HYBRID_CAR):
       return self.update_canfd(cp, cp_cam)
 
     ret = car.CarState.new_message()
@@ -145,7 +145,7 @@ 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_HYBRID.value):
+    if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID):
       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
@@ -254,7 +254,7 @@ class CarState(CarStateBase):
     return ret
 
   def get_can_parser(self, CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return self.get_can_parser_canfd(CP)
 
     messages = [
@@ -304,12 +304,12 @@ class CarState(CarStateBase):
     else:
       messages.append(("LVR12", 100))
 
-    bus = CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID.value else 0
+    bus = CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return CarState.get_cam_can_parser_canfd(CP)
 
     messages = []

selfdrive/car/hyundai/interface.py

@@ -36,14 +36,13 @@ class CarInterface(CarInterfaceBase):
     if hda2:
       ret.flags |= HyundaiFlags.CANFD_HDA2.value
 
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       # detect if car is hybrid
       if 0x105 in fingerprint[CAN.ECAN]:
         ret.flags |= HyundaiFlags.HYBRID.value
       elif candidate in EV_CAR:
         ret.flags |= HyundaiFlags.EV.value
 
-      # detect HDA2 with ADAS Driving ECU
       if hda2:
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
@@ -79,7 +78,7 @@ class CarInterface(CarInterfaceBase):
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # *** longitudinal control ***
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
@@ -98,14 +97,14 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalActuatorDelayUpperBound = 0.5
 
     # *** feature detection ***
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
     else:
       bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
       ret.enableBsm = 0x58b in fingerprint[bus]
 
     # *** panda safety config ***
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
         cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))

selfdrive/car/hyundai/values.py

@@ -591,7 +591,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
   # Non-electric CAN FD platforms often do not have platform code specifiers needed
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
-  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
+  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - CAN_CANFD_HYBRID_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
   candidates: set[str] = set()
 
   for candidate, fws in offline_fw_versions.items():