openpilot_comma/selfdrive/car/hyundai/hyundaicanfd.py

from selfdrive.car.hyundai.values import HyundaiFlags


def get_e_can_bus(CP):
  # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
  # have a a different harness than the HDA1 and non-HDA variants in order to split
  # a different bus, since the steering is done by different ECUs.
  return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4


def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):

  ret = []

  values = {
    "LKA_MODE": 2,
    "LKA_ICON": 2 if enabled else 1,
    "TORQUE_REQUEST": apply_steer,
    "LKA_ASSIST": 0,
    "STEER_REQ": 1 if lat_active else 0,
    "STEER_MODE": 0,
    "SET_ME_1": 0,
    "NEW_SIGNAL_1": 0,
    "NEW_SIGNAL_2": 0,
  }

  if CP.flags & HyundaiFlags.CANFD_HDA2:
    if CP.openpilotLongitudinalControl:
      ret.append(packer.make_can_msg("LFA", 5, values))
    ret.append(packer.make_can_msg("LKAS", 4, values))
  else:
    ret.append(packer.make_can_msg("LFA", 4, values))

  return ret

def create_cam_0x2a4(packer, camera_values):
  camera_values.update({
    "BYTE7": 0,
  })
  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)

def create_buttons(packer, cnt, btn):
  values = {
    "COUNTER": cnt,
    "SET_ME_1": 1,
    "CRUISE_BUTTONS": btn,
  }
  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)

def create_cruise_info(packer, cruise_info_copy, cancel):
  values = cruise_info_copy
  if cancel:
    values["CRUISE_STATUS"] = 0
    values["CRUISE_INACTIVE"] = 1
  return packer.make_can_msg("CRUISE_INFO", 5, values)

def create_lfahda_cluster(packer, CP, enabled):
  values = {
    "HDA_ICON": 1 if enabled else 0,
    "LFA_ICON": 2 if enabled else 0,
  }
  return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)


def create_acc_control(packer, CP, enabled, accel, stopping, gas_override, set_speed):
  cruise_status = 0 if not enabled else (4 if gas_override else 2)
  if not enabled or gas_override:
    accel = 0
  values = {
    "CRUISE_STATUS": cruise_status,
    "CRUISE_INACTIVE": 0 if enabled else 1,
    "CRUISE_MAIN": 1,
    "CRUISE_STANDSTILL": 0,
    "STOP_REQ": 1 if stopping else 0,
    "ACCEL_REQ": accel,
    "ACCEL_REQ2": accel,
    "SET_SPEED": set_speed,
    "DISTANCE_SETTING": 4,

    "ACC_ObjDist": 1,
    "ObjValid": 1,
    "OBJ_STATUS": 2,
    "SET_ME_2": 0x2,
    "SET_ME_3": 0x3,
    "SET_ME_TMP_64": 0x64,

    "NEW_SIGNAL_9": 2,
    "NEW_SIGNAL_10": 4,
  }

  return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values)



def create_adrv_messages(packer, frame):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control

  ret = []

  values = {
  }
  ret.append(packer.make_can_msg("ADRV_0x51", 4, values))

  if frame % 2 == 0:
    values = {
      'AEB_SETTING': 0x1,  # show AEB disabled icon
      'SET_ME_2': 0x2,
      'SET_ME_FF': 0xff,
      'SET_ME_FC': 0xfc,
      'SET_ME_9': 0x9,
    }
    ret.append(packer.make_can_msg("ADRV_0x160", 5, values))

  if frame % 5 == 0:
    values = {
      'SET_ME_1C': 0x1c,
      'SET_ME_FF': 0xff,
      'SET_ME_TMP_F': 0xf,
      'SET_ME_TMP_F_2': 0xf,
    }
    ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values))

    values = {
      'SET_ME_E1': 0xe1,
      'SET_ME_3A': 0x3a,
    }
    ret.append(packer.make_can_msg("ADRV_0x200", 5, values))

  if frame % 20 == 0:
    values = {
      'SET_ME_15': 0x15,
    }
    ret.append(packer.make_can_msg("ADRV_0x345", 5, values))

  if frame % 100 == 0:
    values = {
      'SET_ME_22': 0x22,
      'SET_ME_41': 0x41,
    }
    ret.append(packer.make_can_msg("ADRV_0x1da", 5, values))

  return ret