auto detect gearbox message

auto detect gearbox message

remove todos

remove todos

cereal

@@ -1 +1 @@
-Subproject commit 232e28c2bb049fa8b7c2da0a2add27645b5a6bc2
+Subproject commit 683f5bfb0d2880e55356f825774305632a033ecc

selfdrive/car/hyundai/carstate.py

@@ -1,6 +1,6 @@
 import copy
 from cereal import car
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, USE_FCA, EV_CAR, HYBRID_CAR
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
@@ -12,15 +12,15 @@ GearShifter = car.CarState.GearShifter
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
-      self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
-      self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
-    else:  # preferred and elect gear methods use same definition
+    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+    if self.CP.gearboxType in [1, 2]:
+      # preferred and elect gear methods use same definition
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
-
+    elif self.CP.gearboxType == 3:
+      self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
+    else:
+      self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -79,20 +79,19 @@ class CarState(CarStateBase):
       ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
       ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
 
-    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
-    # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
-      gear = cp.vl["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
-      gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
+    if self.CP.gearboxType == 1:
+      gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
+    elif self.CP.gearboxType == 2:
       gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
+    elif self.CP.gearboxType == 3:
+      gear = cp.vl["TCU12"]["CUR_GR"]
     else:
-      gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
+      # Last in priority, some cars have this message but CF_Clu_Gear is empty
+      gear = cp.vl["CLU15"]["CF_Clu_Gear"]
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if self.CP.carFingerprint in FEATURES["use_fca"]:
+    if self.CP.carFingerprint in USE_FCA:
       ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
       ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
     else:
@@ -227,32 +226,36 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if CP.gearboxType == 1:
       signals += [
-        ("CF_Clu_Gear", "CLU15", 0),
+        ("CF_Lvr_Gear", "LVR12", 0)
       ]
       checks += [
-        ("CLU15", 5)
+        ("LVR12", 100)
       ]
-    elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif CP.gearboxType == 2:
+      signals += [
+        ("Elect_Gear_Shifter", "ELECT_GEAR", 0)
+      ]
+      checks += [
+        ("ELECT_GEAR", 20)
+      ]
+    elif CP.gearboxType == 3:
       signals += [
         ("CUR_GR", "TCU12", 0)
       ]
       checks += [
         ("TCU12", 100)
       ]
-    elif CP.carFingerprint in FEATURES["use_elect_gears"]:
-      signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
-      checks += [("ELECT_GEAR", 20)]
     else:
       signals += [
-        ("CF_Lvr_Gear", "LVR12", 0)
+        ("CF_Clu_Gear", "CLU15", 0),
       ]
       checks += [
-        ("LVR12", 100)
+        ("CLU15", 5)
       ]
 
-    if CP.carFingerprint in FEATURES["use_fca"]:
+    if CP.carFingerprint in USE_FCA:
       signals += [
         ("FCA_CmdAct", "FCA11", 0),
         ("CF_VSM_Warn", "FCA11", 0),

selfdrive/car/hyundai/interface.py

@@ -253,6 +253,15 @@ class CarInterface(CarInterfaceBase):
     ret.enableCamera = True
     ret.enableBsm = 0x58b in fingerprint[0]
 
+    if 0x367 in fingerprint[0]:
+      ret.gearboxType = 1
+    elif 0x372 in fingerprint[0]:
+      ret.gearboxType = 2
+    elif 0x112 in fingerprint[0]:
+      ret.gearboxType = 3
+    else:  #
+      ret.gearboxType = 4
+
     return ret
 
   def update(self, c, can_strings):

selfdrive/car/hyundai/values.py

@@ -648,15 +648,10 @@ CHECKSUM = {
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
-FEATURES = {
-  # which message has the gear
-  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
-  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021]),
 
-  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
-}
+# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
+USE_FCA = set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
+
 
 HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021])  # these cars use a different gas signal
 EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])