Merge remote-tracking branch 'upstream/master' into merge-canfd-hybrid

selfdrive/car/hyundai/carstate.py

@@ -8,7 +8,7 @@ from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
-                                                   CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+                                                   CANFD_CAR, Buttons, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -36,8 +36,8 @@ class CarState(CarStateBase):
     else:  # preferred and elect gear methods use same definition
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
-    self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \
+    self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
-                                 "ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \
+                                 "ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \
                                  "ACCELERATOR_BRAKE_ALT"
     self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
                                  "CRUISE_BUTTONS"
@@ -120,8 +120,8 @@ class CarState(CarStateBase):
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
-    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      if self.CP.carFingerprint in HYBRID_CAR:
+      if self.CP.flags & HyundaiFlags.HYBRID:
         ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
       else:
         ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
@@ -132,7 +132,7 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
@@ -172,8 +172,8 @@ class CarState(CarStateBase):
     self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
     speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
 
-    if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
+    if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID):
-      offset = 255. if self.CP.carFingerprint in EV_CAR else 1023.
+      offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023.
       ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
       ret.gasPressed = ret.gas > 1e-5
     else:
@@ -233,7 +233,7 @@ class CarState(CarStateBase):
     # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
     # The car will brake, but does not respect positive acceleration commands in this mode
     # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
-    if self.CP.carFingerprint in EV_CAR:
+    if self.CP.flags & HyundaiFlags.EV:
       ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
 
     self.prev_cruise_buttons = self.cruise_buttons[-1]
@@ -278,7 +278,7 @@ class CarState(CarStateBase):
     if CP.enableBsm:
       messages.append(("LCA11", 50))
 
-    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+    if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("E_EMS11", 50))
     else:
       messages += [
@@ -286,7 +286,7 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+    if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("ELECT_GEAR", 20))
     elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       pass
@@ -330,7 +330,7 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
-    if CP.carFingerprint in EV_CAR:
+    if CP.flags & HyundaiFlags.EV:
       messages += [
         ("MANUAL_SPEED_LIMIT_ASSIST", 10),
       ]

selfdrive/car/hyundai/interface.py

@@ -45,6 +45,12 @@ class CarInterface(CarInterfaceBase):
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
     CAN = CanBus(None, hda2, fingerprint)
 
+    # TODO: detect EV and hybrid
+    if candidate in HYBRID_CAR:
+      ret.flags |= HyundaiFlags.HYBRID.value
+    elif candidate in EV_CAR:
+      ret.flags |= HyundaiFlags.EV.value
+
     if candidate in CANFD_CAR:
       # detect HDA2 with ADAS Driving ECU
       if hda2:
@@ -313,9 +319,9 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
-    if candidate in HYBRID_CAR:
+    if ret.flags & HyundaiFlags.HYBRID:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
-    elif candidate in EV_CAR:
+    elif ret.flags & HyundaiFlags.EV:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
 
     if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):

selfdrive/car/hyundai/values.py

@@ -64,6 +64,8 @@ class HyundaiFlags(IntFlag):
   SEND_LFA = 128
   USE_FCA = 256
   CANFD_HDA2_ALT_STEERING = 512
+  HYBRID = 1024
+  EV = 2048
 
 
 class CAR(StrEnum):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6a61df84e67e3177f0ba73865a1bb239385c0ade
+eaab6bd55c5eab33fc9a0d8de8289b912e923887