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Hyundai: factor out bus numbers (#27903)

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* mv bus

* mv that

* if len

* fix tests

* use that

* same name
old-commit-hash: 08e2149b0f
beeps
Adeeb Shihadeh 2 years ago committed by GitHub
parent ab69c0ae9f
commit 0e70553604
5 changed files with 94 additions and 56 deletions
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  1. 24
      selfdrive/car/hyundai/carcontroller.py
  2. 6
      selfdrive/car/hyundai/carstate.py
  3. 82
      selfdrive/car/hyundai/hyundaicanfd.py
  4. 31
      selfdrive/car/hyundai/interface.py
  5. 1
      selfdrive/car/tests/routes.py

24
selfdrive/car/hyundai/carcontroller.py
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@ -5,6 +5,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car import apply_driver_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican from selfdrive.car.hyundai import hyundaicanfd, hyundaican
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
class CarController: class CarController:
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
self.CP = CP self.CP = CP
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP) self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name) self.packer = CANPacker(dbc_name)
self.angle_limit_counter = 0 self.angle_limit_counter = 0
@ -85,12 +87,12 @@ class CarController:
# for longitudinal control, either radar or ADAS driving ECU # for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, 0 addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5 addr, bus = 0x730, self.CAN.ECAN
can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
# for blinkers # for blinkers
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5]) can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
# >90 degree steering fault prevention # >90 degree steering fault prevention
# Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
@ -112,25 +114,25 @@ class CarController:
hda2_long = hda2 and self.CP.openpilotLongitudinalControl hda2_long = hda2 and self.CP.openpilotLongitudinalControl
# steering control # steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer)) can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer))
# disable LFA on HDA2 # disable LFA on HDA2
if self.frame % 5 == 0 and hda2: if self.frame % 5 == 0 and hda2:
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
# LFA and HDA icons # LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long): if self.frame % 5 == 0 and (not hda2 or hda2_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled)) can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
# blinkers # blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker)) can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
if self.CP.openpilotLongitudinalControl: if self.CP.openpilotLongitudinalControl:
if hda2: if hda2:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0: if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units)) set_speed_in_units))
self.accel_last = accel self.accel_last = accel
else: else:
@ -139,11 +141,11 @@ class CarController:
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info)) can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame self.last_button_frame = self.frame
else: else:
for _ in range(20): for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL)) can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame self.last_button_frame = self.frame
# cruise standstill resume # cruise standstill resume
@ -153,7 +155,7 @@ class CarController:
pass pass
else: else:
for _ in range(20): for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL)) can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame self.last_button_frame = self.frame
else: else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,

6
selfdrive/car/hyundai/carstate.py
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@ -6,7 +6,7 @@ from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
@ -516,7 +516,7 @@ class CarState(CarStateBase):
("ACCELERATOR_BRAKE_ALT", 100), ("ACCELERATOR_BRAKE_ALT", 100),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP)) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN)
@staticmethod @staticmethod
def get_cam_can_parser_canfd(CP): def get_cam_can_parser_canfd(CP):
@ -543,4 +543,4 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50), ("SCC_CONTROL", 50),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM)

82
selfdrive/car/hyundai/hyundaicanfd.py
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@ -1,14 +1,44 @@
import math
from common.numpy_fast import clip from common.numpy_fast import clip
from selfdrive.car.hyundai.values import HyundaiFlags from selfdrive.car.hyundai.values import HyundaiFlags
def get_e_can_bus(CP):
class CanBus:
def __init__(self, CP, hda2=None, fingerprint=None):
if CP is None:
assert None not in (hda2, fingerprint)
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
else:
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
num = len(CP.safetyConfigs)
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split # have 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. # a different bus, since the steering is done by different ECUs.
return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 self._a, self._e = 1, 0
if hda2:
self._a, self._e = 0, 1
offset = 4*(num - 1)
self._a += offset
self._e += offset
self._cam = 2 + offset
@property
def ECAN(self):
return self._e
@property
def ACAN(self):
return self._a
@property
def CAM(self):
return self._cam
def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
ret = [] ret = []
@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
if CP.flags & HyundaiFlags.CANFD_HDA2: if CP.flags & HyundaiFlags.CANFD_HDA2:
if CP.openpilotLongitudinalControl: if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", 5, values)) ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg("LKAS", 4, values)) ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
else: else:
ret.append(packer.make_can_msg("LFA", 4, values)) ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret return ret
def create_cam_0x2a4(packer, camera_values): def create_cam_0x2a4(packer, CAN, camera_values):
camera_values.update({ camera_values.update({
"BYTE7": 0, "BYTE7": 0,
}) })
return packer.make_can_msg("CAM_0x2a4", 4, camera_values) return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)
def create_buttons(packer, CP, cnt, btn): def create_buttons(packer, CP, CAN, cnt, btn):
values = { values = {
"COUNTER": cnt, "COUNTER": cnt,
"SET_ME_1": 1, "SET_ME_1": 1,
"CRUISE_BUTTONS": btn, "CRUISE_BUTTONS": btn,
} }
bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6 bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values) return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CP, cruise_info_copy): def create_acc_cancel(packer, CAN, cruise_info_copy):
values = cruise_info_copy values = cruise_info_copy
values.update({ values.update({
"ACCMode": 4, "ACCMode": 4,
}) })
return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_lfahda_cluster(packer, CP, enabled): def create_lfahda_cluster(packer, CAN, enabled):
values = { values = {
"HDA_ICON": 1 if enabled else 0, "HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 2 if enabled else 0, "LFA_ICON": 2 if enabled else 0,
} }
return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values) return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed): def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
jerk = 5 jerk = 5
jn = jerk / 50 jn = jerk / 50
if not enabled or gas_override: if not enabled or gas_override:
@ -92,15 +122,15 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
"DISTANCE_SETTING": 4, "DISTANCE_SETTING": 4,
} }
return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_spas_messages(packer, frame, left_blink, right_blink): def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
ret = [] ret = []
values = { values = {
} }
ret.append(packer.make_can_msg("SPAS1", 5, values)) ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
blink = 0 blink = 0
if left_blink: if left_blink:
@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink):
values = { values = {
"BLINKER_CONTROL": blink, "BLINKER_CONTROL": blink,
} }
ret.append(packer.make_can_msg("SPAS2", 5, values)) ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
return ret return ret
def create_adrv_messages(packer, frame): def create_adrv_messages(packer, CAN, frame):
# messages needed to car happy after disabling # messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control # the ADAS Driving ECU to do longitudinal control
@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame):
values = { values = {
} }
ret.append(packer.make_can_msg("ADRV_0x51", 4, values)) ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
if frame % 2 == 0: if frame % 2 == 0:
values = { values = {
@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame):
'SET_ME_FC': 0xfc, 'SET_ME_FC': 0xfc,
'SET_ME_9': 0x9, 'SET_ME_9': 0x9,
} }
ret.append(packer.make_can_msg("ADRV_0x160", 5, values)) ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
if frame % 5 == 0: if frame % 5 == 0:
values = { values = {
@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame):
'SET_ME_TMP_F': 0xf, 'SET_ME_TMP_F': 0xf,
'SET_ME_TMP_F_2': 0xf, 'SET_ME_TMP_F_2': 0xf,
} }
ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values)) ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
values = { values = {
'SET_ME_E1': 0xe1, 'SET_ME_E1': 0xe1,
'SET_ME_3A': 0x3a, 'SET_ME_3A': 0x3a,
} }
ret.append(packer.make_can_msg("ADRV_0x200", 5, values)) ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
if frame % 20 == 0: if frame % 20 == 0:
values = { values = {
'SET_ME_15': 0x15, 'SET_ME_15': 0x15,
} }
ret.append(packer.make_can_msg("ADRV_0x345", 5, values)) ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
if frame % 100 == 0: if frame % 100 == 0:
values = { values = {
'SET_ME_22': 0x22, 'SET_ME_22': 0x22,
'SET_ME_41': 0x41, 'SET_ME_41': 0x41,
} }
ret.append(packer.make_can_msg("ADRV_0x1da", 5, values)) ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
return ret return ret

31
selfdrive/car/hyundai/interface.py
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@ -2,7 +2,7 @@
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
@ -28,17 +28,20 @@ class CarInterface(CarInterfaceBase):
# added to selfdrive/car/tests/routes.py, we can remove it from this list. # added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
CAN = CanBus(None, hda2, fingerprint)
if candidate in CANFD_CAR: if candidate in CANFD_CAR:
# detect HDA2 with ADAS Driving ECU # detect HDA2 with ADAS Driving ECU
if Ecu.adas in [fw.ecu for fw in car_fw]: if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value ret.flags |= HyundaiFlags.CANFD_HDA2.value
else: else:
# non-HDA2 # non-HDA2
if 0x1cf not in fingerprint[4]: if 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[4]: if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[4]: if 0x40 not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else: else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
@ -248,21 +251,23 @@ class CarInterface(CarInterfaceBase):
# *** feature detection *** # *** feature detection ***
if candidate in CANFD_CAR: if candidate in CANFD_CAR:
ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)] ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
else: else:
ret.enableBsm = 0x58b in fingerprint[0] ret.enableBsm = 0x58b in fingerprint[0]
# *** panda safety config *** # *** panda safety config ***
if candidate in CANFD_CAR: if candidate in CANFD_CAR:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)] if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
if ret.flags & HyundaiFlags.CANFD_HDA2: if ret.flags & HyundaiFlags.CANFD_HDA2:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
else: else:
if candidate in LEGACY_SAFETY_MODE_CAR: if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages # these cars require a special panda safety mode due to missing counters and checksums in the messages
@ -297,12 +302,12 @@ class CarInterface(CarInterfaceBase):
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value): if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
addr, bus = 0x7d0, 0 addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value: if CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5 addr, bus = 0x730, CanBus(CP).ECAN
disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
# for blinkers # for blinkers
if CP.flags & HyundaiFlags.ENABLE_BLINKERS: if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01') disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01')
def _update(self, c): def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam) ret = self.CS.update(self.cp, self.cp_cam)

1
selfdrive/car/tests/routes.py
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@ -128,6 +128,7 @@ routes = [
CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2
CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1
CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),

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