No longer faults!

selfdrive/car/hyundai/carcontroller.py

@@ -54,6 +54,12 @@ class CarController:
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
+    # radar disable for legacy cars
+    self.counter_init = False
+    self.radarDisableActivated = False
+    self.radarDisableResetTimer = 0
+    self.radarDisableOverlapTimer = 0
+
   def update(self, CC, CS):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -83,15 +89,49 @@ class CarController:
     # tester present - w/ no response (keeps relevant ECU disabled)
     if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
-      addr, bus = 0x7d0, 0
-      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, 5
-      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
+      #addr, bus = 0x7d0, 0
+      #if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
+      #  addr, bus = 0x730, 5
+      #can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
 
       # for blinkers
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
 
+    # # radar disable for legacy cars
+    if self.CP.openpilotLongitudinalControl:
+      self.radarDisableOverlapTimer += 1
+      self.radarDisableResetTimer = 0
+      if self.radarDisableOverlapTimer >= 30:
+        self.radarDisableActivated = True
+        if 200 > self.radarDisableOverlapTimer > 36:
+          if self.frame % 41 == 0 or self.radarDisableOverlapTimer == 37:
+            can_sends.append([0x7D0, 0, b"\x02\x10\x03\x00\x00\x00\x00\x00", 0])
+          elif self.frame % 43 == 0 or self.radarDisableOverlapTimer == 37:
+            can_sends.append([0x7D0, 0, b"\x03\x28\x03\x01\x00\x00\x00\x00", 0])
+          elif self.frame % 19 == 0 or self.radarDisableOverlapTimer == 37:
+            can_sends.append([0x7D0, 0, b"\x02\x10\x85\x00\x00\x00\x00\x00", 0])  # this disables RADAR for
+      else:
+        self.counter_init = False
+        can_sends.append([0x7D0, 0, b"\x02\x10\x90\x00\x00\x00\x00\x00", 0])  # this enables RADAR
+        can_sends.append([0x7D0, 0, b"\x03\x29\x03\x01\x00\x00\x00\x00", 0])
+    elif self.radarDisableActivated:
+      can_sends.append([0x7D0, 0, b"\x02\x10\x90\x00\x00\x00\x00\x00", 0])  # this enables RADAR
+      can_sends.append([0x7D0, 0, b"\x03\x29\x03\x01\x00\x00\x00\x00", 0])
+      self.radarDisableOverlapTimer = 0
+      if self.frame % 50 == 0:
+        self.radarDisableResetTimer += 1
+        if self.radarDisableResetTimer > 2:
+          self.radarDisableActivated = False
+          self.counter_init = True
+    else:
+      self.radarDisableOverlapTimer = 0
+      self.radarDisableResetTimer = 0
+
+    if (self.frame % 50 == 0 or self.radarDisableOverlapTimer == 37) and \
+            self.CP.openpilotLongitudinalControl and self.radarDisableOverlapTimer >= 30:
+      can_sends.append([0x7D0, 0, b"\x02\x3E\x00\x00\x00\x00\x00\x00", 0])
+
     # >90 degree steering fault prevention
     # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
     if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:

selfdrive/car/hyundai/hyundaican.py

@@ -118,33 +118,36 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
     "aReqRaw": accel,
     "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
     "CR_VSM_Alive": idx % 0xF,
+    "CF_VSM_ConfMode": 1,
+    "AEB_Status": 2,
   }
   scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
   scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
 
   commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
 
-  scc14_values = {
-    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
-    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
-    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
-  }
-  commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
+  #scc14_values = {
+  #  "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
+  #  "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
+  #  "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
+  #  "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
+  #  "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
+  #  "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+  #}
+  #commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
   # note that some vehicles most likely have an alternate checksum/counter definition
   # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
-  fca11_values = {
-    "CR_FCA_Alive": idx % 0xF,
-    "PAINT1_Status": 1,
-    "FCA_DrvSetStatus": 1,
-    "FCA_Status": 1, # AEB disabled
-  }
-  fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
-  fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
-  commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
+  #fca11_values = {
+  #  "CR_FCA_Alive": idx % 0xF,
+  #  "PAINT1_Status": 1,
+  #  "FCA_DrvSetStatus": 1,
+  #  "FCA_Status": 2, # AEB disabled
+  #  "FCA_TimetoCollision": 2540.,
+  #}
+  #fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
+  #fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
+  #commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
 
   return commands
 
@@ -152,17 +155,17 @@ def create_acc_opt(packer):
   commands = []
 
   scc13_values = {
-    "SCCDrvModeRValue": 2,
+    "SCCDrvModeRValue": 1,
     "SCC_Equip": 1,
-    "Lead_Veh_Dep_Alert_USM": 2,
+    "Lead_Veh_Dep_Alert_USM": 0,
   }
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
-  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
+  #fca12_values = {
+  #  "FCA_DrvSetState": 2,
+  #  "FCA_USM": 3, # AEB disabled
+  #}
+  #commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands
 

selfdrive/car/hyundai/interface.py

@@ -225,7 +225,7 @@ 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)
+      ret.experimentalLongitudinalAvailable = candidate not in CAMERA_SCC_CAR
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -255,11 +255,7 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     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)]
-      else:
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
 
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC