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hda2 only

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This commit is contained in:
Jason Wen
2023-03-01 21:58:37 -05:00
parent 415b32259c
commit e1804a57ce
7 changed files with 25 additions and 25 deletions
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panda
+1 -1
Submodule panda updated: d80734ba27...7f77ee90ce
selfdrive/car/hyundai/carcontroller.py
+5 -5
View File
@@ -106,10 +106,10 @@ class CarController:
if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
self.angle_limit_counter = 0
can_canfd = self.CP.flags & HyundaiFlags.CAN_CANFD
can_canfd_hda2 = self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2
# CAN-FD platforms
if self.CP.carFingerprint in CANFD_CAR or can_canfd:
if self.CP.carFingerprint in CANFD_CAR or can_canfd_hda2:
hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
@@ -117,11 +117,11 @@ class CarController:
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
# disable LFA on HDA2
if self.frame % 5 == 0 and (hda2 or can_canfd):
if self.frame % 5 == 0 and (hda2 or can_canfd_hda2):
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long) and not can_canfd:
if self.frame % 5 == 0 and (not hda2 or hda2_long) and not can_canfd_hda2:
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
# blinkers
@@ -137,7 +137,7 @@ class CarController:
self.accel_last = accel
else:
# button presses
if can_canfd:
if can_canfd_hda2:
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
+11 -11
View File
@@ -99,7 +99,7 @@ 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.value else "SCC11"
scc_bus = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2.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.
@@ -135,7 +135,7 @@ 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.value):
if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2.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
@@ -150,7 +150,7 @@ 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:
if self.CP.flags & HyundaiFlags.CAN_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]
@@ -305,10 +305,10 @@ class CarState(CarStateBase):
("WHL_SPD11", 50),
("SAS11", 100),
]
freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 50
checks.append(("MDPS12", freq_mdps12))
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD.value):
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value):
signals += [
("MainMode_ACC", "SCC11"),
("VSetDis", "SCC11"),
@@ -334,7 +334,7 @@ class CarState(CarStateBase):
("CF_VSM_Warn", "SCC12"),
("CF_VSM_DecCmdAct", "SCC12"),
]
elif CP.flags & HyundaiFlags.CAN_CANFD.value:
elif CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value:
signals += [
("MainMode_ACC", "SCC12"),
("VSetDis", "SCC12"),
@@ -351,7 +351,7 @@ class CarState(CarStateBase):
("CF_Lca_IndLeft", "LCA11"),
("CF_Lca_IndRight", "LCA11"),
]
freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 50
checks.append(("LCA11", freq_lca11))
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
@@ -382,7 +382,7 @@ class CarState(CarStateBase):
signals.append(("CF_Lvr_Gear", "LVR12"))
checks.append(("LVR12", 100))
bus = 5 if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
bus = 5 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 0
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
@staticmethod
@@ -393,7 +393,7 @@ class CarState(CarStateBase):
signals = []
checks = []
if not (CP.flags & HyundaiFlags.CAN_CANFD):
if not (CP.flags & HyundaiFlags.CAN_CANFD_HDA2):
signals += [
# signal_name, signal_address
("CF_Lkas_LdwsActivemode", "LKAS11"),
@@ -443,11 +443,11 @@ class CarState(CarStateBase):
("CF_VSM_DecCmdAct", "SCC12"),
]
if CP.flags & HyundaiFlags.CAN_CANFD:
if CP.flags & HyundaiFlags.CAN_CANFD_HDA2:
signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
checks += [("CAM_0x2a4", 20)]
bus = 6 if CP.flags & HyundaiFlags.CAN_CANFD else 2
bus = 6 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2 else 2
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
@staticmethod
selfdrive/car/hyundai/hyundaican.py
+1 -1
View File
@@ -83,7 +83,7 @@ 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 5 if CP.flags & HyundaiFlags.CAN_CANFD else 0
bus = 2 if CP.carFingerprint in CAMERA_SCC_CAR else 5 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2 else 0
return packer.make_can_msg("CLU11", bus, values)
selfdrive/car/hyundai/hyundaicanfd.py
+1 -1
View File
@@ -24,7 +24,7 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
"NEW_SIGNAL_2": 0,
}
if CP.flags & HyundaiFlags.CANFD_HDA2 or CP.flags & HyundaiFlags.CAN_CANFD:
if CP.flags & HyundaiFlags.CANFD_HDA2 or CP.flags & HyundaiFlags.CAN_CANFD_HDA2:
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", 5, values))
ret.append(packer.make_can_msg("LKAS", 4, values))
selfdrive/car/hyundai/interface.py
+5 -5
View File
@@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase):
else:
# detect platforms with HKG CAN and CAN-FD definitions
if 0x50 in fingerprint[6] and 0x420 in fingerprint[5]:
ret.flags |= HyundaiFlags.CAN_CANFD.value
ret.flags |= HyundaiFlags.CAN_CANFD_HDA2.value
# Send LFA message on cars with HDA
if 0x485 in fingerprint[2]:
@@ -239,7 +239,7 @@ class CarInterface(CarInterfaceBase):
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) and not (ret.flags & HyundaiFlags.CAN_CANFD)
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) and not (ret.flags & HyundaiFlags.CAN_CANFD_HDA2)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
@@ -254,7 +254,7 @@ class CarInterface(CarInterfaceBase):
if candidate in CANFD_CAR:
ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]
else:
bus = 5 if ret.flags & HyundaiFlags.CAN_CANFD else 0
bus = 5 if ret.flags & HyundaiFlags.CAN_CANFD_HDA2 else 0
ret.enableBsm = 0x58b in fingerprint[bus]
# *** panda safety config ***
@@ -272,10 +272,10 @@ class CarInterface(CarInterfaceBase):
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:
elif ret.flags & HyundaiFlags.CAN_CANFD_HDA2:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundai)]
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
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
+1 -1
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@@ -62,7 +62,7 @@ class HyundaiFlags(IntFlag):
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
CAN_CANFD = 512
CAN_CANFD_HDA2 = 512
class CAR: