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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 3 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. 88
      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 selfdrive.car import apply_driver_steer_torque_limits
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
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)
self.angle_limit_counter = 0
@ -85,12 +87,12 @@ class CarController:
# 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
addr, bus = 0x730, self.CAN.ECAN
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])
can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
# >90 degree steering fault prevention
# 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
# 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
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
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
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 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:
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))
self.accel_last = accel
else:
@ -139,11 +141,11 @@ class CarController:
# cruise cancel
if CC.cruiseControl.cancel:
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
else:
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
# cruise standstill resume
@ -153,7 +155,7 @@ class CarController:
pass
else:
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
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,

6
selfdrive/car/hyundai/carstate.py
Unescape View File

@ -6,7 +6,7 @@ from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
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.interfaces import CarStateBase
@ -516,7 +516,7 @@ class CarState(CarStateBase):
("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
def get_cam_can_parser_canfd(CP):
@ -543,4 +543,4 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM)

88
selfdrive/car/hyundai/hyundaicanfd.py
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@ -1,14 +1,44 @@
import math
from common.numpy_fast import clip
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 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
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
# 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.
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 = []
@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
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))
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
else:
ret.append(packer.make_can_msg("LFA", 4, values))
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret
def create_cam_0x2a4(packer, camera_values):
def create_cam_0x2a4(packer, CAN, camera_values):
camera_values.update({
"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 = {
"COUNTER": cnt,
"SET_ME_1": 1,
"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)
def create_acc_cancel(packer, CP, cruise_info_copy):
def create_acc_cancel(packer, CAN, cruise_info_copy):
values = cruise_info_copy
values.update({
"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 = {
"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)
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
jn = jerk / 50
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,
}
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 = []
values = {
}
ret.append(packer.make_can_msg("SPAS1", 5, values))
ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
blink = 0
if left_blink:
@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink):
values = {
"BLINKER_CONTROL": blink,
}
ret.append(packer.make_can_msg("SPAS2", 5, values))
ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
return ret
def create_adrv_messages(packer, frame):
def create_adrv_messages(packer, CAN, frame):
# messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control
@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame):
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:
values = {
@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame):
'SET_ME_FC': 0xfc,
'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:
values = {
@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame):
'SET_ME_TMP_F': 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 = {
'SET_ME_E1': 0xe1,
'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:
values = {
'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:
values = {
'SET_ME_22': 0x22,
'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

31
selfdrive/car/hyundai/interface.py
Unescape View File

@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
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.radar_interface import RADAR_START_ADDR
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.
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:
# 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
else:
# non-HDA2
if 0x1cf not in fingerprint[4]:
if 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[4]:
if 0x40 not in fingerprint[4]:
if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
@ -248,21 +251,23 @@ class CarInterface(CarInterfaceBase):
# *** feature detection ***
if candidate in CANFD_CAR:
ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
else:
ret.enableBsm = 0x58b in fingerprint[0]
# *** panda safety config ***
if candidate in CANFD_CAR:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
cfgs = [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:
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:
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:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_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
@ -297,12 +302,12 @@ class CarInterface(CarInterfaceBase):
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
addr, bus = 0x7d0, 0
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')
# for 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):
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("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2
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("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),

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