Hyundai radar parser (#22241)
* add radar parser for 0x5XX range * fix speed * enable based of fingerprint * fix speed scale * use proper signal names * add to release files * hyundai: script to enable radar points * typo * add comment * fix tests * cleanup * add note about persistent * Update selfdrive/car/hyundai/radar_interface.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix bugs in hyundai enable radar points script * accidentally removed comment * add some other cars * add cosine to dRel * fw versions do not match openpilot * bump opendbc * include state 4 Co-authored-by: Greg Hogan <gregjhogan@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/214/head
Willem Melching
4 years ago
committed by
GitHub
parent
019f319200
commit
6fd980c63e
7 changed files with 163 additions and 41 deletions
@ -1 +1 @@ |
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Subproject commit d8ad386e402bf9022d6cb4cb1b9244b5cec28db5 |
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Subproject commit 9d1e6f328d186fa8ee945f7193f30ea7729ce80a |
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@ -0,0 +1,95 @@ |
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#!/usr/bin/env python3 |
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"""Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1. |
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Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier |
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endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known |
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firmware versions. If you want to try on a new radar make sure to note the default config value |
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in case it's different from the other radars and you need to revert the changes. |
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After changing the config the car should not show any faults when openpilot is not running. |
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These config changes are persistent accross car reboots. You need to run this script again |
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to go back to the default values. |
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USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes.""" |
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import sys |
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import argparse |
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from subprocess import check_output, CalledProcessError |
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from panda.python import Panda |
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from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE |
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# If your radar supports changing data identifier 0x0142 as well make a PR to |
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# this file to add your firmware version. Make sure to post a drive as proof! |
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# NOTE: these firmware versions do not match what openpilot uses |
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# because this script uses a different diagnostic session type |
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SUPPORTED_FW_VERSIONS = { |
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# 2020 SONATA |
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b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": { |
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"default_config": b"\x00\x00\x00\x01\x00\x00", |
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"tracks_enabled": b"\x00\x00\x00\x01\x00\x01", |
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}, |
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# TODO: verify palisade fw version for diagnostic session type 7 |
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# # 2020 PALISADE |
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# b"LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ": { |
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# "default_config": b"\x00\x00\x00\x01\x00\x00", |
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# "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", |
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# }, |
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} |
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if __name__ == "__main__": |
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parser = argparse.ArgumentParser(description='configure radar to output points (or reset to default)') |
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parser.add_argument('--default', action="store_true", default=False, help='reset to default configuration (default: false)') |
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parser.add_argument('--debug', action="store_true", default=False, help='enable debug output (default: false)') |
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parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)') |
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args = parser.parse_args() |
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try: |
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check_output(["pidof", "boardd"]) |
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print("boardd is running, please kill openpilot before running this script! (aborted)") |
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sys.exit(1) |
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except CalledProcessError as e: |
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if e.returncode != 1: # 1 == no process found (boardd not running) |
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raise e |
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confirm = input("put your vehicle in accessory mode now and type OK to continue: ").upper().strip() |
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if confirm != "OK": |
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print("\nyou didn't type 'OK! (aborted)") |
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sys.exit(0) |
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panda = Panda() # type: ignore |
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panda.set_safety_mode(Panda.SAFETY_ELM327) |
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uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug) |
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print("\n[START DIAGNOSTIC SESSION]") |
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session_type : SESSION_TYPE = 0x07 # type: ignore |
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uds_client.diagnostic_session_control(session_type) |
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print("[HARDWARE/SOFTWARE VERSION]") |
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fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore |
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fw_version = uds_client.read_data_by_identifier(fw_version_data_id) |
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print(fw_version) |
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if fw_version not in SUPPORTED_FW_VERSIONS.keys(): |
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print("radar not supported! (aborted)") |
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sys.exit(1) |
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print("[GET CONFIGURATION]") |
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config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore |
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current_config = uds_client.read_data_by_identifier(config_data_id) |
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new_config = SUPPORTED_FW_VERSIONS[fw_version]["default_config" if args.default else "tracks_enabled"] |
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print(f"current config: 0x{current_config.hex()}") |
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if current_config != new_config: |
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print("[CHANGE CONFIGURATION]") |
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print(f"new config: 0x{new_config.hex()}") |
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uds_client.write_data_by_identifier(config_data_id, new_config) |
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if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version]["default_config"]: |
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print("\ncurrent config does not match expected default! (aborted)") |
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sys.exit(1) |
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print("[DONE]") |
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print("\nrestart your vehicle and ensure there are no faults") |
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if not args.default: |
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print("you can run this script again with --default to go back to the original (factory) settings") |
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else: |
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print("[DONE]") |
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print("\ncurrent config is already the desired configuration") |
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sys.exit(0) |
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