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Merge remote-tracking branch 'upstream/master' into toyota-pc

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pull/31607/head
Shane Smiskol 1 year ago
parent 0f5840dd5f 9c3f0450bb
commit 2a5bd5bd49
30 changed files with 964 additions and 659 deletions
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  1. 2
      .devcontainer/Dockerfile
  2. 6
      .devcontainer/devcontainer.json
  3. 2
      SConstruct
  4. 22
      selfdrive/car/__init__.py
  5. 3
      selfdrive/car/chrysler/values.py
  6. 69
      selfdrive/car/honda/interface.py
  7. 312
      selfdrive/car/honda/values.py
  8. 6
      selfdrive/car/hyundai/carcontroller.py
  9. 28
      selfdrive/car/hyundai/hyundaican.py
  10. 780
      selfdrive/car/hyundai/values.py
  11. 6
      selfdrive/car/mazda/carcontroller.py
  12. 6
      selfdrive/car/mazda/carstate.py
  13. 17
      selfdrive/car/mazda/interface.py
  14. 10
      selfdrive/car/mazda/mazdacan.py
  15. 78
      selfdrive/car/mazda/values.py
  16. 23
      selfdrive/car/subaru/interface.py
  17. 30
      selfdrive/car/subaru/values.py
  18. 10
      selfdrive/car/tesla/interface.py
  19. 34
      selfdrive/car/tesla/values.py
  20. 6
      selfdrive/car/tests/test_models.py
  21. 24
      selfdrive/car/tests/test_platform_configs.py
  22. 4
      selfdrive/car/volkswagen/carcontroller.py
  23. 8
      selfdrive/car/volkswagen/carstate.py
  24. 8
      selfdrive/car/volkswagen/interface.py
  25. 11
      selfdrive/car/volkswagen/values.py
  26. 2
      selfdrive/test/process_replay/ref_commit
  27. 3
      selfdrive/test/process_replay/test_processes.py
  28. 18
      selfdrive/ui/translations/main_zh-CHS.ts
  29. 18
      selfdrive/ui/translations/main_zh-CHT.ts
  30. 77
      selfdrive/ui/ui.py

2
.devcontainer/Dockerfile
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@ -1,6 +1,6 @@
FROM ghcr.io/commaai/openpilot-base:latest
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb
RUN pip install ipython jupyter jupyterlab
RUN cd /tmp && \

6
.devcontainer/devcontainer.json
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@ -18,7 +18,6 @@
"--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
"--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
"--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
"--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
"--shm-size=1G",
"--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
"--publish=0.0.0.0:8070-8079:8070-8079" // body ZMQ services
@ -43,5 +42,8 @@
"lharri73.dbc"
]
}
}
},
"mounts": [
"type=volume,source=scons_cache,target=/tmp/scons_cache"
]
}

2
SConstruct
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@ -386,7 +386,7 @@ SConscript(['third_party/SConscript'])
SConscript(['selfdrive/SConscript'])
if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
if Dir('#tools/cabana/').exists() and GetOption('extras'):
SConscript(['tools/replay/SConscript'])
SConscript(['tools/cabana/SConscript'])

22
selfdrive/car/__init__.py
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@ -1,5 +1,5 @@
# functions common among cars
from collections import namedtuple
from collections import defaultdict, namedtuple
from dataclasses import dataclass
from enum import IntFlag, ReprEnum
from dataclasses import replace
@ -245,17 +245,17 @@ class CanSignalRateCalculator:
return self.rate
CarInfos = CarInfo | list[CarInfo]
CarInfos = CarInfo | list[CarInfo] | None
@dataclass(frozen=True, kw_only=True)
class CarSpecs:
mass: float # kg, curb weight
wheelbase: float
wheelbase: float # meters
steerRatio: float
centerToFrontRatio: float = 0.5
minSteerSpeed: float = 0.0
minEnableSpeed: float = -1.0
minSteerSpeed: float = 0.0 # m/s
minEnableSpeed: float = -1.0 # m/s
tireStiffnessFactor: float = 1.0
@ -302,3 +302,15 @@ class Platforms(str, ReprEnum):
@classmethod
def with_flags(cls, flags: IntFlag) -> set['Platforms']:
return {p for p in cls if p.config.flags & flags}
@classmethod
def print_debug(cls, flags):
platforms_with_flag = defaultdict(list)
for flag in flags:
for platform in cls:
if platform.config.flags & flag:
assert flag.name is not None
platforms_with_flag[flag.name].append(platform)
for flag, platforms in platforms_with_flag.items():
print(f"{flag:32s}: {', '.join(p.name for p in platforms)}")

3
selfdrive/car/chrysler/values.py
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@ -11,6 +11,7 @@ Ecu = car.CarParams.Ecu
class ChryslerFlags(IntFlag):
# Detected flags
HIGHER_MIN_STEERING_SPEED = 1
@dataclass
@ -21,7 +22,7 @@ class ChryslerCarInfo(CarInfo):
@dataclass
class ChryslerPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None))
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'))
@dataclass(frozen=True)

69
selfdrive/car/honda/interface.py
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@ -92,10 +92,6 @@ class CarInterface(CarInterfaceBase):
eps_modified = True
if candidate == CAR.CIVIC:
ret.mass = 1326.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@ -110,18 +106,10 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.mass = 1326.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACCORD:
ret.mass = 3279. * CV.LB_TO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.8467
@ -131,29 +119,17 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
ret.mass = 3095. * CV.LB_TO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
ret.mass = 3572. * CV.LB_TO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G:
ret.mass = 3410. * CV.LB_TO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@ -167,39 +143,22 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
ret.mass = 1667. # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT:
ret.mass = 2644. * CV.LB_TO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
ret.mass = 3086. * CV.LB_TO_KG
ret.wheelbase = 2.74
# the remaining parameters were copied from FIT
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_3G):
ret.mass = 3125 * CV.LB_TO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.5
if candidate == CAR.HRV:
@ -209,28 +168,16 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
ret.tireStiffnessFactor = 0.444
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.mass = 4068. * CV.LB_TO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
ret.tireStiffnessFactor = 0.677
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
ret.mass = 1900.
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.ODYSSEY_CHN:
@ -239,37 +186,21 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.PILOT:
ret.mass = 4278. * CV.LB_TO_KG # average weight
ret.wheelbase = 2.86
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 16.0 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
ret.mass = 4515. * CV.LB_TO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
ret.mass = 2987. * CV.LB_TO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
ret.mass = 3338.8 * CV.LB_TO_KG
ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 16.71
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning

312
selfdrive/car/honda/values.py
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@ -1,10 +1,10 @@
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.conversions import Conversions as CV
from panda.python import uds
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@ -46,10 +46,21 @@ class CarControllerParams:
class HondaFlags(IntFlag):
# Detected flags
# Bosch models with alternate set of LKAS_HUD messages
BOSCH_EXT_HUD = 1
BOSCH_ALT_BRAKE = 2
# Static flags
BOSCH = 4
BOSCH_RADARLESS = 8
NIDEC = 16
NIDEC_ALT_PCM_ACCEL = 32
NIDEC_ALT_SCM_MESSAGES = 64
AUTORESUME_SNG = 128
ELECTRIC_PARKING_BRAKE = 256
# Car button codes
class CruiseButtons:
@ -72,86 +83,203 @@ VISUAL_HUD = {
}
class CAR(StrEnum):
ACCORD = "HONDA ACCORD 2018"
CIVIC = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
CIVIC_2022 = "HONDA CIVIC 2022"
ACURA_ILX = "ACURA ILX 2016"
CRV = "HONDA CR-V 2016"
CRV_5G = "HONDA CR-V 2017"
CRV_EU = "HONDA CR-V EU 2016"
CRV_HYBRID = "HONDA CR-V HYBRID 2019"
FIT = "HONDA FIT 2018"
FREED = "HONDA FREED 2020"
HRV = "HONDA HRV 2019"
HRV_3G = "HONDA HR-V 2023"
ODYSSEY = "HONDA ODYSSEY 2018"
ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
ACURA_RDX = "ACURA RDX 2018"
ACURA_RDX_3G = "ACURA RDX 2020"
PILOT = "HONDA PILOT 2017"
RIDGELINE = "HONDA RIDGELINE 2017"
INSIGHT = "HONDA INSIGHT 2019"
HONDA_E = "HONDA E 2020"
class Footnote(Enum):
CIVIC_DIESEL = CarFootnote(
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
Column.FSR_STEERING)
@dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
def init_make(self, CP: car.CarParams):
if CP.carFingerprint in HONDA_BOSCH:
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
if CP.flags & HondaFlags.BOSCH:
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
else:
self.car_parts = CarParts.common([CarHarness.nidec])
CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = {
CAR.ACCORD: [
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
CAR.CIVIC_BOSCH: [
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: [
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
}
class Footnote(Enum):
CIVIC_DIESEL = CarFootnote(
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
Column.FSR_STEERING)
class HondaPlatformConfig(PlatformConfig):
def init(self):
if self.flags & HondaFlags.BOSCH:
self.flags |= HondaFlags.AUTORESUME_SNG
self.flags |= HondaFlags.ELECTRIC_PARKING_BRAKE
class CAR(Platforms):
# Bosch Cars
ACCORD = HondaPlatformConfig(
"HONDA ACCORD 2018",
[
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
dbc_dict('honda_accord_2018_can_generated', None),
specs=CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end
flags=HondaFlags.BOSCH,
)
CIVIC_BOSCH = HondaPlatformConfig(
"HONDA CIVIC (BOSCH) 2019",
[
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
specs=CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
flags=HondaFlags.BOSCH
)
CIVIC_BOSCH_DIESEL = HondaPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs
dbc_dict('honda_accord_2018_can_generated', None),
specs=CIVIC_BOSCH.specs,
flags=HondaFlags.BOSCH
)
CIVIC_2022 = HondaPlatformConfig(
"HONDA CIVIC 2022",
[
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
dbc_dict('honda_civic_ex_2022_can_generated', None),
specs=CIVIC_BOSCH.specs,
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS,
)
CRV_5G = HondaPlatformConfig(
"HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
specs=CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end
flags=HondaFlags.BOSCH,
)
CRV_HYBRID = HondaPlatformConfig(
"HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_accord_2018_can_generated', None),
specs=CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
flags=HondaFlags.BOSCH
)
HRV_3G = HondaPlatformConfig(
"HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"),
dbc_dict('honda_civic_ex_2022_can_generated', None),
specs=CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS
)
ACURA_RDX_3G = HondaPlatformConfig(
"ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2020_can_generated', None),
specs=CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec
flags=HondaFlags.BOSCH
)
INSIGHT = HondaPlatformConfig(
"HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('honda_insight_ex_2019_can_generated', None),
specs=CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec
flags=HondaFlags.BOSCH
)
HONDA_E = HondaPlatformConfig(
"HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2020_can_generated', None),
specs=CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71),
flags=HondaFlags.BOSCH
)
# Nidec Cars
ACURA_ILX = HondaPlatformConfig(
"ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV = HondaPlatformConfig(
"HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV_EU = HondaPlatformConfig(
"HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CRV.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FIT = HondaPlatformConfig(
"HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FREED = HondaPlatformConfig(
"HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HRV = HondaPlatformConfig(
"HONDA HRV 2019",
HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=HRV_3G.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ODYSSEY = HondaPlatformConfig(
"HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41),
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL
)
ODYSSEY_CHN = HondaPlatformConfig(
"HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
specs=ODYSSEY.specs,
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES
)
ACURA_RDX = HondaPlatformConfig(
"ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
PILOT = HondaPlatformConfig(
"HONDA PILOT 2017",
[
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
RIDGELINE = HondaPlatformConfig(
"HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec
flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CIVIC = HondaPlatformConfig(
"HONDA CIVIC 2016",
HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
specs=CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE,
)
HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xF112)
@ -217,40 +345,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
DBC = {
CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None),
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
}
STEER_THRESHOLD = {
# default is 1200, overrides go here
CAR.ACURA_RDX: 400,
CAR.CRV_EU: 400,
}
HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

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

@ -135,7 +135,7 @@ class CarController(CarControllerBase):
# button presses
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))
@ -175,12 +175,12 @@ class CarController(CarControllerBase):
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
else:

28
selfdrive/car/hyundai/hyundaican.py
Unescape View File

@ -1,9 +1,9 @@
import crcmod
from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
def create_lkas11(packer, frame, CP, apply_steer, steer_req,
torque_fault, lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane,
left_lane_depart, right_lane_depart):
@ -33,12 +33,12 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
@ -57,7 +57,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
# Likely cars lacking the ability to show individual lane lines in the dash
elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
# SysWarning 4 = keep hands on wheel + beep
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
@ -72,18 +72,18 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_LdwsActivemode"] = 0
values["CF_Lkas_FcwOpt_USM"] = 0
elif car_fingerprint == CAR.HYUNDAI_GENESIS:
elif CP.carFingerprint == CAR.HYUNDAI_GENESIS:
# This field is actually LdwsActivemode
# Genesis and Optima fault when forwarding while engaged
values["CF_Lkas_LdwsActivemode"] = 2
dat = packer.make_can_msg("LKAS11", 0, values)[2]
if car_fingerprint in CHECKSUM["crc8"]:
if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
# CRC Checksum as seen on 2019 Hyundai Santa Fe
dat = dat[:6] + dat[7:8]
checksum = hyundai_checksum(dat)
elif car_fingerprint in CHECKSUM["6B"]:
elif CP.flags & HyundaiFlags.CHECKSUM_6B:
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
checksum = sum(dat[:6]) % 256
else:
@ -95,7 +95,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
return packer.make_can_msg("LKAS11", 0, values)
def create_clu11(packer, frame, clu11, button, car_fingerprint):
def create_clu11(packer, frame, clu11, button, CP):
values = {s: clu11[s] for s in [
"CF_Clu_CruiseSwState",
"CF_Clu_CruiseSwMain",
@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, car_fingerprint):
values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars
bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
return packer.make_can_msg("CLU11", bus, values)

780
selfdrive/car/hyundai/values.py
Unescape View File

@ -1,11 +1,11 @@
import re
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from panda.python import uds
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
@ -52,92 +52,46 @@ class CarControllerParams:
class HyundaiFlags(IntFlag):
# Dynamic Flags
CANFD_HDA2 = 1
CANFD_ALT_BUTTONS = 2
CANFD_ALT_GEARS = 4
CANFD_CAMERA_SCC = 8
CANFD_ALT_GEARS = 2 ** 2
CANFD_CAMERA_SCC = 2 ** 3
ALT_LIMITS = 16
ENABLE_BLINKERS = 32
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
CANFD_HDA2_ALT_STEERING = 512
HYBRID = 1024
EV = 2048
ALT_LIMITS = 2 ** 4
ENABLE_BLINKERS = 2 ** 5
CANFD_ALT_GEARS_2 = 2 ** 6
SEND_LFA = 2 ** 7
USE_FCA = 2 ** 8
CANFD_HDA2_ALT_STEERING = 2 ** 9
# these cars use a different gas signal
HYBRID = 2 ** 10
EV = 2 ** 11
class CAR(StrEnum):
# Hyundai
AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
KONA = "HYUNDAI KONA 2020"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
KONA_HEV = "HYUNDAI KONA HYBRID 2020"
SANTA_FE = "HYUNDAI SANTA FE 2019"
SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
SONATA = "HYUNDAI SONATA 2020"
SONATA_LF = "HYUNDAI SONATA 2019"
STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN"
TUCSON = "HYUNDAI TUCSON 2019"
PALISADE = "HYUNDAI PALISADE 2020"
VELOSTER = "HYUNDAI VELOSTER 2019"
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
IONIQ_6 = "HYUNDAI IONIQ 6 2023"
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
# Static Flags
# Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
KIA_K5_2021 = "KIA K5 2021"
KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
KIA_NIRO_EV = "KIA NIRO EV 2020"
KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022"
KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
KIA_SELTOS = "KIA SELTOS 2021"
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
KIA_EV6 = "KIA EV6 2022"
KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
MANDO_RADAR = 2 ** 12
CANFD = 2 ** 13
# Genesis
GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
GENESIS_G70 = "GENESIS G70 2018"
GENESIS_G70_2020 = "GENESIS G70 2020"
GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
GENESIS_G80 = "GENESIS G80 2017"
GENESIS_G90 = "GENESIS G90 2017"
GENESIS_GV80 = "GENESIS GV80 2023"
# The radar does SCC on these cars when HDA I, rather than the camera
RADAR_SCC = 2 ** 14
CAMERA_SCC = 2 ** 15
CHECKSUM_CRC8 = 2 ** 16
CHECKSUM_6B = 2 ** 17
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY = 2 ** 18
# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
UNSUPPORTED_LONGITUDINAL = 2 ** 19
CANFD_NO_RADAR_DISABLE = 2 ** 20
CLUSTER_GEARS = 2 ** 21
TCU_GEARS = 2 ** 22
class Footnote(Enum):
@ -152,160 +106,425 @@ class HyundaiCarInfo(CarInfo):
package: str = "Smart Cruise Control (SCC)"
def init_make(self, CP: car.CarParams):
if CP.carFingerprint in CANFD_CAR:
if CP.flags & HyundaiFlags.CANFD:
self.footnotes.insert(0, Footnote.CANFD)
CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = {
CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.AZERA_HEV_6TH_GEN: [
HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
CAR.ELANTRA: [
# TODO: 2017-18 could be Hyundai G
HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
],
CAR.ELANTRA_GT_I30: [
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
@dataclass
class HyundaiPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None))
def init(self):
if self.flags & HyundaiFlags.MANDO_RADAR:
self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated')
@dataclass
class HyundaiCanFDPlatformConfig(HyundaiPlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None))
def init(self):
super().init()
self.flags |= HyundaiFlags.CANFD
class CAR(Platforms):
# Hyundai
AZERA_6TH_GEN = HyundaiPlatformConfig(
"HYUNDAI AZERA 6TH GEN",
HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
)
AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
"HYUNDAI AZERA HYBRID 6TH GEN",
[
HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
flags=HyundaiFlags.HYBRID
)
ELANTRA = HyundaiPlatformConfig(
"HYUNDAI ELANTRA 2017",
[
# TODO: 2017-18 could be Hyundai G
HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
],
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS
)
ELANTRA_GT_I30 = HyundaiPlatformConfig(
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT",
[
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS
)
ELANTRA_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA 2021",
HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
ELANTRA_HEV_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA HYBRID 2021",
HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.HYUNDAI_GENESIS: [
# TODO: check 2015 packages
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
],
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
# TODO: this is the 2024 US MY, not yet released
CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
HYUNDAI_GENESIS = HyundaiPlatformConfig(
"HYUNDAI GENESIS 2015-2016",
[
# TODO: check 2015 packages
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
],
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY
)
IONIQ = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2017-2019",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.HYBRID
)
IONIQ_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2020-2022",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness,
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
)
IONIQ_EV_LTD = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC LIMITED 2019",
HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY
)
IONIQ_EV_2020 = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC 2020",
HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.EV
)
IONIQ_PHEV_2019 = HyundaiPlatformConfig(
"HYUNDAI IONIQ PLUG-IN HYBRID 2019",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.HYBRID
)
IONIQ_PHEV = HyundaiPlatformConfig(
"HYUNDAI IONIQ PHEV 2020",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.HYBRID
)
KONA = HyundaiPlatformConfig(
"HYUNDAI KONA 2020",
HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
flags=HyundaiFlags.CLUSTER_GEARS
)
KONA_EV = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2019",
HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
flags=HyundaiFlags.EV
)
KONA_EV_2022 = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2022",
HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV
)
KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI KONA ELECTRIC 2ND GEN",
HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r])),
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
)
KONA_HEV = HyundaiPlatformConfig(
"HYUNDAI KONA HYBRID 2020",
HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages,
flags=HyundaiFlags.HYBRID
)
SANTA_FE = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2019",
HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
car_parts=CarParts.common([CarHarness.hyundai_d])),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
SANTA_FE_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2022",
HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
flags=HyundaiFlags.CHECKSUM_CRC8
)
SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
SONATA = HyundaiPlatformConfig(
"HYUNDAI SONATA 2020",
HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.TUCSON: [
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
CAR.PALISADE: [
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.IONIQ_5: [
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CAR.IONIQ_6: [
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
SONATA_LF = HyundaiPlatformConfig(
"HYUNDAI SONATA 2019",
HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
)
STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI STARIA 4TH GEN",
HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
)
TUCSON = HyundaiPlatformConfig(
"HYUNDAI TUCSON 2019",
[
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
flags=HyundaiFlags.TCU_GEARS
)
PALISADE = HyundaiPlatformConfig(
"HYUNDAI PALISADE 2020",
[
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
VELOSTER = HyundaiPlatformConfig(
"HYUNDAI VELOSTER 2019",
HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS
)
SONATA_HYBRID = HyundaiPlatformConfig(
"HYUNDAI SONATA HYBRID 2021",
HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
IONIQ_5 = HyundaiCanFDPlatformConfig(
"HYUNDAI IONIQ 5 2022",
[
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
flags=HyundaiFlags.EV
)
IONIQ_6 = HyundaiCanFDPlatformConfig(
"HYUNDAI IONIQ 6 2023",
HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
],
CAR.TUCSON_4TH_GEN: [
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
)
TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI TUCSON 4TH GEN",
[
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
)
SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI SANTA CRUZ 1ST GEN",
HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
)
CUSTIN_1ST_GEN = HyundaiPlatformConfig(
"HYUNDAI CUSTIN 1ST GEN",
HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
# Kia
CAR.KIA_FORTE: [
KIA_FORTE = HyundaiPlatformConfig(
"KIA FORTE E 2018 & GT 2021",
[
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
CAR.KIA_NIRO_EV: [
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_NIRO_PHEV: [
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
],
CAR.KIA_NIRO_PHEV_2022: [
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
CAR.KIA_NIRO_HEV_2021: [
HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
]
)
KIA_K5_2021 = HyundaiPlatformConfig(
"KIA K5 2021",
HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
"KIA K5 HYBRID 2020",
HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
"KIA K8 HYBRID 1ST GEN",
HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
)
KIA_NIRO_EV = HyundaiPlatformConfig(
"KIA NIRO EV 2020",
[
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV
)
KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO EV 2ND GEN",
HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.EV
)
KIA_NIRO_PHEV = HyundaiPlatformConfig(
"KIA NIRO HYBRID 2019",
[
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
],
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
"KIA NIRO PLUG-IN HYBRID 2022",
[
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR
)
KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
"KIA NIRO HYBRID 2021",
[
HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
flags=HyundaiFlags.HYBRID
)
KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO HYBRID 2ND GEN",
HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
)
KIA_OPTIMA_G4 = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN",
HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS
)
KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
)
# TODO: may support adjacent years. may have a non-zero minimum steering speed
CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_5TH_GEN: [
HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CAR.KIA_SORENTO: [
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
KIA_OPTIMA_H = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 2017 & SPORTS 2019",
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
)
KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_SELTOS = HyundaiPlatformConfig(
"KIA SELTOS 2021",
HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SPORTAGE 5TH GEN",
[
HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
)
KIA_SORENTO = HyundaiPlatformConfig(
"KIA SORENTO GT LINE 2018",
[
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.KIA_SORENTO_HEV_4TH_GEN: [
HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.KIA_EV6: [
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CAR.KIA_CARNIVAL_4TH_GEN: [
HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SORENTO 4TH GEN",
HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.RADAR_SCC
)
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SORENTO HYBRID 4TH GEN",
[
HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
flags=HyundaiFlags.RADAR_SCC
)
KIA_STINGER = HyundaiPlatformConfig(
"KIA STINGER GT2 2018",
HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c]))
)
KIA_STINGER_2022 = HyundaiPlatformConfig(
"KIA STINGER 2022",
HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
)
KIA_CEED = HyundaiPlatformConfig(
"KIA CEED INTRO ED 2019",
HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
flags=HyundaiFlags.LEGACY
)
KIA_EV6 = HyundaiCanFDPlatformConfig(
"KIA EV6 2022",
[
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
flags=HyundaiFlags.EV
)
KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA CARNIVAL 4TH GEN",
[
HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
flags=HyundaiFlags.RADAR_SCC
)
# Genesis
CAR.GENESIS_GV60_EV_1ST_GEN: [
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
CAR.GENESIS_GV70_1ST_GEN: [
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
}
GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
"GENESIS GV60 ELECTRIC 1ST GEN",
[
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
flags=HyundaiFlags.EV
)
GENESIS_G70 = HyundaiPlatformConfig(
"GENESIS G70 2018",
HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
flags=HyundaiFlags.LEGACY
)
GENESIS_G70_2020 = HyundaiPlatformConfig(
"GENESIS G70 2020",
HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
flags=HyundaiFlags.MANDO_RADAR
)
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
"GENESIS GV70 1ST GEN",
[
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
flags=HyundaiFlags.RADAR_SCC
)
GENESIS_G80 = HyundaiPlatformConfig(
"GENESIS G80 2017",
HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.LEGACY
)
GENESIS_G90 = HyundaiPlatformConfig(
"GENESIS G90 2017",
HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
)
GENESIS_GV80 = HyundaiCanFDPlatformConfig(
"GENESIS GV80 2023",
HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
flags=HyundaiFlags.RADAR_SCC
)
class Buttons:
NONE = 0
@ -518,118 +737,37 @@ FW_QUERY_CONFIG = FwQueryConfig(
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)
CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
"crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8),
"6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B),
}
CAN_GEARS = {
# which message has the gear. hybrid and EV use ELECT_GEAR
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS),
"use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
CAR.STARIA_4TH_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)
# These CAN FD cars do not accept communication control to disable the ADAS ECU,
# responds with 0x7F2822 - 'conditions not correct'
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
# these cars use a different gas signal
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020,
CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
CAR.KIA_OPTIMA_H_G4_FL}
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
DBC = {
CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None),
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None),
}
CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)
EV_CAR = CAR.with_flags(HyundaiFlags.EV)
LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
if __name__ == "__main__":
CAR.print_debug(HyundaiFlags)

6
selfdrive/car/mazda/carcontroller.py
Unescape View File

@ -36,13 +36,13 @@ class CarController(CarControllerBase):
if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 10hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
else:
self.brake_counter = 0
if CC.cruiseControl.resume and self.frame % 5 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button when planner wants car to move
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
self.apply_steer_last = apply_steer
@ -55,7 +55,7 @@ class CarController(CarControllerBase):
can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
# send steering command
can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
self.frame, apply_steer, CS.cam_lkas))
new_actuators = CC.actuators.copy()

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

@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
class CarState(CarStateBase):
def __init__(self, CP):
@ -116,7 +116,7 @@ class CarState(CarStateBase):
("WHEEL_SPEEDS", 100),
]
if CP.carFingerprint in GEN1:
if CP.flags & MazdaFlags.GEN1:
messages += [
("ENGINE_DATA", 100),
("CRZ_CTRL", 50),
@ -136,7 +136,7 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP):
messages = []
if CP.carFingerprint in GEN1:
if CP.flags & MazdaFlags.GEN1:
messages += [
# sig_address, frequency
("CAM_LANEINFO", 2),

17
selfdrive/car/mazda/interface.py
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@ -24,23 +24,6 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.CX5, CAR.CX5_2022):
ret.mass = 3655 * CV.LB_TO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
elif candidate in (CAR.CX9, CAR.CX9_2021):
ret.mass = 4217 * CV.LB_TO_KG
ret.wheelbase = 3.1
ret.steerRatio = 17.6
elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG
ret.wheelbase = 2.7
ret.steerRatio = 14.0
elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.5
if candidate not in (CAR.CX5_2022, ):
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS

10
selfdrive/car/mazda/mazdacan.py
Unescape View File

@ -1,7 +1,7 @@
from openpilot.selfdrive.car.mazda.values import GEN1, Buttons
from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags
def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
def create_steering_control(packer, CP, frame, apply_steer, lkas):
tmp = apply_steer + 2048
@ -45,7 +45,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
csum = csum % 256
values = {}
if car_fingerprint in GEN1:
if CP.flags & MazdaFlags.GEN1:
values = {
"LKAS_REQUEST": apply_steer,
"CTR": ctr,
@ -88,12 +88,12 @@ def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool)
return packer.make_can_msg("CAM_LANEINFO", 0, values)
def create_button_cmd(packer, car_fingerprint, counter, button):
def create_button_cmd(packer, CP, counter, button):
can = int(button == Buttons.CANCEL)
res = int(button == Buttons.RESUME)
if car_fingerprint in GEN1:
if CP.flags & MazdaFlags.GEN1:
values = {
"CAN_OFF": can,
"CAN_OFF_INV": (can + 1) % 2,

78
selfdrive/car/mazda/values.py
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@ -1,8 +1,9 @@
from dataclasses import dataclass, field
from enum import StrEnum
from enum import IntFlag
from cereal import car
from openpilot.selfdrive.car import dbc_dict
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -25,29 +26,55 @@ class CarControllerParams:
pass
class CAR(StrEnum):
CX5 = "MAZDA CX-5"
CX9 = "MAZDA CX-9"
MAZDA3 = "MAZDA 3"
MAZDA6 = "MAZDA 6"
CX9_2021 = "MAZDA CX-9 2021"
CX5_2022 = "MAZDA CX-5 2022"
@dataclass
class MazdaCarInfo(CarInfo):
package: str = "All"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = {
CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
}
class MazdaFlags(IntFlag):
# Static flags
# Gen 1 hardware: same CAN messages and same camera
GEN1 = 1
@dataclass
class MazdaPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None))
flags: int = MazdaFlags.GEN1
class CAR(Platforms):
CX5 = MazdaPlatformConfig(
"MAZDA CX-5",
MazdaCarInfo("Mazda CX-5 2017-21"),
specs=CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
)
CX9 = MazdaPlatformConfig(
"MAZDA CX-9",
MazdaCarInfo("Mazda CX-9 2016-20"),
specs=CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
)
MAZDA3 = MazdaPlatformConfig(
"MAZDA 3",
MazdaCarInfo("Mazda 3 2017-18"),
specs=CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
)
MAZDA6 = MazdaPlatformConfig(
"MAZDA 6",
MazdaCarInfo("Mazda 6 2017-20"),
specs=CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
)
CX9_2021 = MazdaPlatformConfig(
"MAZDA CX-9 2021",
MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
specs=CX9.specs
)
CX5_2022 = MazdaPlatformConfig(
"MAZDA CX-5 2022",
MazdaCarInfo("Mazda CX-5 2022-24"),
specs=CX5.specs,
)
class LKAS_LIMITS:
@ -76,14 +103,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
DBC = {
CAR.CX5: dbc_dict('mazda_2017', None),
CAR.CX9: dbc_dict('mazda_2017', None),
CAR.MAZDA3: dbc_dict('mazda_2017', None),
CAR.MAZDA6: dbc_dict('mazda_2017', None),
CAR.CX9_2021: dbc_dict('mazda_2017', None),
CAR.CX5_2022: dbc_dict('mazda_2017', None),
}
# Gen 1 hardware: same CAN messages and same camera
GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6, CAR.CX5_2022}
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

23
selfdrive/car/subaru/interface.py
Unescape View File

@ -10,47 +10,45 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
platform_flags = candidate.config.flags
ret.carName = "subaru"
ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need:
# - replacement for ES_Distance so we can cancel the cruise control
# - to find the Cruise_Activated bit from the car
# - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
ret.dashcamOnly = bool(platform_flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.autoResumeSng = False
# Detect infotainment message sent from the camera
if not (platform_flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
if platform_flags & SubaruFlags.PREGLOBAL:
if ret.flags & SubaruFlags.PREGLOBAL:
ret.enableBsm = 0x25c in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
else:
ret.enableBsm = 0x228 in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
if platform_flags & SubaruFlags.GLOBAL_GEN2:
if ret.flags & SubaruFlags.GLOBAL_GEN2:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
ret.steerLimitTimer = 0.4
ret.steerActuatorDelay = 0.1
if platform_flags & SubaruFlags.LKAS_ANGLE:
if ret.flags & SubaruFlags.LKAS_ANGLE:
ret.steerControlType = car.CarParams.SteerControlType.angle
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
elif candidate == CAR.IMPREZA:
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
@ -85,12 +83,11 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"unknown car: {candidate}")
LONG_UNAVAILABLE = SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL| SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID
ret.experimentalLongitudinalAvailable = not (platform_flags & LONG_UNAVAILABLE)
ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
if platform_flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
if ret.openpilotLongitudinalControl:

30
selfdrive/car/subaru/values.py
Unescape View File

@ -53,8 +53,11 @@ class CarControllerParams:
class SubaruFlags(IntFlag):
# Detected flags
SEND_INFOTAINMENT = 1
DISABLE_EYESIGHT = 2
# Static flags
GLOBAL_GEN2 = 4
# Cars that temporarily fault when steering angle rate is greater than some threshold.
@ -106,6 +109,15 @@ class SubaruPlatformConfig(PlatformConfig):
self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None)
@dataclass
class SubaruGen2PlatformConfig(SubaruPlatformConfig):
def init(self):
super().init()
self.flags |= SubaruFlags.GLOBAL_GEN2
if not (self.flags & SubaruFlags.LKAS_ANGLE):
self.flags |= SubaruFlags.STEER_RATE_LIMITED
class CAR(Platforms):
# Global platform
ASCENT = SubaruPlatformConfig(
@ -113,17 +125,15 @@ class CAR(Platforms):
SubaruCarInfo("Subaru Ascent 2019-21", "All"),
specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
)
OUTBACK = SubaruPlatformConfig(
OUTBACK = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 6TH GEN",
SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED,
)
LEGACY = SubaruPlatformConfig(
LEGACY = SubaruGen2PlatformConfig(
"SUBARU LEGACY 7TH GEN",
SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
specs=OUTBACK.specs,
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED,
)
IMPREZA = SubaruPlatformConfig(
"SUBARU IMPREZA LIMITED 2019",
@ -199,17 +209,17 @@ class CAR(Platforms):
specs=FORESTER.specs,
flags=SubaruFlags.LKAS_ANGLE,
)
OUTBACK_2023 = SubaruPlatformConfig(
OUTBACK_2023 = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 7TH GEN",
SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=OUTBACK.specs,
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE,
flags=SubaruFlags.LKAS_ANGLE,
)
ASCENT_2023 = SubaruPlatformConfig(
ASCENT_2023 = SubaruGen2PlatformConfig(
"SUBARU ASCENT 2023",
SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
specs=ASCENT.specs,
flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE,
flags=SubaruFlags.LKAS_ANGLE,
)
@ -255,3 +265,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
if __name__ == "__main__":
CAR.print_debug(SubaruFlags)

10
selfdrive/car/tesla/interface.py
Unescape View File

@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
from openpilot.selfdrive.car.tesla.values import CANBUS
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@ -41,14 +41,6 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100.
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15.0
else:
raise ValueError(f"Unsupported car: {candidate}")
return ret
def _update(self, c):

34
selfdrive/car/tesla/values.py
Unescape View File

@ -1,8 +1,8 @@
from collections import namedtuple
from enum import StrEnum
from dataclasses import dataclass, field
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -11,21 +11,23 @@ Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CAR(StrEnum):
AP1_MODELS = 'TESLA AP1 MODEL S'
AP2_MODELS = 'TESLA AP2 MODEL S'
@dataclass
class TeslaPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'))
CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
}
class CAR(Platforms):
AP1_MODELS = TeslaPlatformConfig(
'TESLA AP1 MODEL S',
CarInfo("Tesla AP1 Model S", "All"),
specs=CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
)
AP2_MODELS = TeslaPlatformConfig(
'TESLA AP2 MODEL S',
CarInfo("Tesla AP2 Model S", "All"),
specs=AP1_MODELS.specs
)
DBC = {
CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
@ -88,3 +90,7 @@ class CarControllerParams:
def __init__(self, CP):
pass
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

6
selfdrive/car/tests/test_models.py
Unescape View File

@ -17,7 +17,7 @@ from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.selfdrive.car.fingerprints import all_known_cars
from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from openpilot.selfdrive.controls.controlsd import Controls
from openpilot.selfdrive.test.helpers import read_segment_list
@ -381,7 +381,7 @@ class TestCarModelBase(unittest.TestCase):
if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH):
if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
@ -442,7 +442,7 @@ class TestCarModelBase(unittest.TestCase):
# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
# On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
# openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH:
if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
# only the rising edges are expected to match
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
checks['controlsAllowed'] += not self.safety.get_controls_allowed()

24
selfdrive/car/tests/test_platform_configs.py
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@ -0,0 +1,24 @@
#!/usr/bin/env python3
import unittest
from openpilot.selfdrive.car.values import PLATFORMS
class TestPlatformConfigs(unittest.TestCase):
def test_configs(self):
for platform in PLATFORMS.values():
with self.subTest(platform=str(platform)):
if hasattr(platform, "config"):
self.assertTrue(platform.config._frozen)
self.assertIn("pt", platform.config.dbc_dict)
self.assertTrue(len(platform.config.platform_str) > 0)
# enable when all cars have specs
#self.assertIsNotNone(platform.config.specs)
if __name__ == "__main__":
unittest.main()

4
selfdrive/car/volkswagen/carcontroller.py
Unescape View File

@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@ -16,7 +16,7 @@ class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_name)
self.apply_steer_last = 0

8
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -3,7 +3,7 @@ from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams, VolkswagenFlags
@ -31,7 +31,7 @@ class CarState(CarStateBase):
return button_events
def update(self, pt_cp, cam_cp, ext_cp, trans_type):
if self.CP.carFingerprint in PQ_CARS:
if self.CP.flags & VolkswagenFlags.PQ:
return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
ret = car.CarState.new_message()
@ -257,7 +257,7 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
if CP.carFingerprint in PQ_CARS:
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_can_parser_pq(CP)
messages = [
@ -294,7 +294,7 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
if CP.carFingerprint in PQ_CARS:
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_cam_can_parser_pq(CP)
messages = []

8
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -2,7 +2,7 @@ from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@ -22,11 +22,11 @@ class CarInterface(CarInterfaceBase):
self.eps_timer_soft_disable_alert = False
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
ret.carName = "volkswagen"
ret.radarUnavailable = True
if candidate in PQ_CARS:
if ret.flags & VolkswagenFlags.PQ:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerLimitTimer = 0.4
if candidate in PQ_CARS:
if ret.flags & VolkswagenFlags.PQ:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
else:

11
selfdrive/car/volkswagen/values.py
Unescape View File

@ -40,7 +40,7 @@ class CarControllerParams:
def __init__(self, CP):
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
if CP.carFingerprint in PQ_CARS:
if CP.flags & VolkswagenFlags.PQ:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
@ -110,8 +110,12 @@ class CANBUS:
class VolkswagenFlags(IntFlag):
# Detected flags
STOCK_HCA_PRESENT = 1
# Static Flags
PQ = 2
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):
@ -122,6 +126,9 @@ class VolkswagenMQBPlatformConfig(PlatformConfig):
class VolkswagenPQPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
def init(self):
self.flags |= VolkswagenFlags.PQ
@dataclass(frozen=True, kw_only=True)
class VolkswagenCarSpecs(CarSpecs):
@ -359,8 +366,6 @@ class CAR(Platforms):
)
PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
# with a manual trans won't return transmission firmware, but all other cars will.
#

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
b9d29ac9402cfc04bf3e48867415efa70c144029
de322b3898f8fedb57036b6cf4a0605968138929

3
selfdrive/test/process_replay/test_processes.py
Unescape View File

@ -156,7 +156,8 @@ if __name__ == "__main__":
assert full_test, "Need to run full test when updating refs"
try:
ref_commit = open(REF_COMMIT_FN).read().strip()
with open(REF_COMMIT_FN) as f:
ref_commit = f.read().strip()
except FileNotFoundError:
print("Couldn't find reference commit")
sys.exit(1)

18
selfdrive/ui/translations/main_zh-CHS.ts
Unescape View File

@ -68,23 +68,23 @@
</message>
<message>
<source>Hidden Network</source>
<translation type="unfinished"></translation>
<translation>隐藏的网络</translation>
</message>
<message>
<source>CONNECT</source>
<translation type="unfinished">CONNECT</translation>
<translation>连线</translation>
</message>
<message>
<source>Enter SSID</source>
<translation type="unfinished">输入SSID</translation>
<translation>输入 SSID</translation>
</message>
<message>
<source>Enter password</source>
<translation type="unfinished">输入密码</translation>
<translation>输入密码</translation>
</message>
<message>
<source>for &quot;%1&quot;</source>
<translation type="unfinished">网络名称：&quot;%1&quot;</translation>
<translation>网络名称：&quot;%1&quot;</translation>
</message>
</context>
<context>
@ -634,7 +634,7 @@ This may take up to a minute.</source>
</message>
<message>
<source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
<translation type="unfinished"></translation>
<translation>系统重置已触发。按下“确认”以清除所有内容和设置，按下“取消”以继续启动。</translation>
</message>
</context>
<context>
@ -744,15 +744,15 @@ This may take up to a minute.</source>
</message>
<message>
<source>Choose Software to Install</source>
<translation type="unfinished"></translation>
<translation>选择要安装的软件</translation>
</message>
<message>
<source>openpilot</source>
<translation type="unfinished">openpilot</translation>
<translation>openpilot</translation>
</message>
<message>
<source>Custom Software</source>
<translation type="unfinished"></translation>
<translation>定制软件</translation>
</message>
</context>
<context>

18
selfdrive/ui/translations/main_zh-CHT.ts
Unescape View File

@ -68,23 +68,23 @@
</message>
<message>
<source>Hidden Network</source>
<translation type="unfinished"></translation>
<translation>隱藏的網路</translation>
</message>
<message>
<source>CONNECT</source>
<translation type="unfinished">雲端服務</translation>
<translation>連線</translation>
</message>
<message>
<source>Enter SSID</source>
<translation type="unfinished">輸入 SSID</translation>
<translation>輸入 SSID</translation>
</message>
<message>
<source>Enter password</source>
<translation type="unfinished">輸入密碼</translation>
<translation>輸入密碼</translation>
</message>
<message>
<source>for &quot;%1&quot;</source>
<translation type="unfinished">給 &quot;%1&quot;</translation>
<translation>給 &quot;%1&quot;</translation>
</message>
</context>
<context>
@ -634,7 +634,7 @@ This may take up to a minute.</source>
</message>
<message>
<source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
<translation type="unfinished"></translation>
<translation>系統重設已啟動。按下「確認」以清除所有內容和設定，或按下「取消」以繼續開機。</translation>
</message>
</context>
<context>
@ -744,15 +744,15 @@ This may take up to a minute.</source>
</message>
<message>
<source>Choose Software to Install</source>
<translation type="unfinished"></translation>
<translation>選擇要安裝的軟體</translation>
</message>
<message>
<source>openpilot</source>
<translation type="unfinished">openpilot</translation>
<translation>openpilot</translation>
</message>
<message>
<source>Custom Software</source>
<translation type="unfinished"></translation>
<translation>自訂軟體</translation>
</message>
</context>
<context>

77
selfdrive/ui/ui.py
Unescape View File

@ -0,0 +1,77 @@
#!/usr/bin/env python3
import os
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
import cereal.messaging as messaging
from openpilot.system.hardware import HARDWARE
from PyQt5.QtCore import Qt, QTimer
from PyQt5.QtWidgets import QLabel, QWidget, QVBoxLayout, QStackedLayout, QApplication
from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
if __name__ == "__main__":
app = QApplication([])
win = QWidget()
set_main_window(win)
bg = QLabel("", alignment=Qt.AlignCenter)
alert1 = QLabel()
alert2 = QLabel()
vlayout = QVBoxLayout()
vlayout.addWidget(alert1, alignment=Qt.AlignCenter)
vlayout.addWidget(alert2, alignment=Qt.AlignCenter)
tmp = QWidget()
tmp.setLayout(vlayout)
stack = QStackedLayout(win)
stack.addWidget(tmp)
stack.addWidget(bg)
stack.setStackingMode(QStackedLayout.StackAll)
win.setObjectName("win")
win.setStyleSheet("""
#win {
background-color: black;
}
QLabel {
color: white;
font-size: 40px;
}
""")
sm = messaging.SubMaster(['deviceState', 'controlsState'])
def update():
sm.update(0)
onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started
if onroad:
cs = sm['controlsState']
color = ("grey" if str(cs.status) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1")
bg.setStyleSheet(f"font-size: 100px; background-color: {color};")
bg.show()
alert1.setText(cs.alertText1)
alert2.setText(cs.alertText2)
if not sm.alive['controlsState']:
alert1.setText("waiting for controls...")
else:
bg.hide()
alert1.setText("")
alert2.setText("offroad")
HARDWARE.set_screen_brightness(100 if onroad else 40)
os.system("echo 0 > /sys/class/backlight/panel0-backlight/bl_power")
timer = QTimer()
timer.timeout.connect(update)
timer.start(50)
app.exec_()
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