from collections import deque import copy import math from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 CLUSTER_SAMPLE_RATE = 20 # frames class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] elif 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 self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] self.is_metric = False self.buttons_counter = 0 self.cruise_info = {} # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz self.cluster_speed = 0 self.cluster_speed_counter = CLUSTER_SAMPLE_RATE self.params = CarControllerParams(CP) def update(self, cp, cp_cam): if self.CP.carFingerprint in CANFD_CAR: return self.update_canfd(cp, cp_cam) ret = car.CarState.new_message() cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0 ret.wheelSpeeds = self.get_wheel_speeds( cp.vl["WHL_SPD11"]["WHL_SPD_FL"], cp.vl["WHL_SPD11"]["WHL_SPD_FR"], cp.vl["WHL_SPD11"]["WHL_SPD_RL"], cp.vl["WHL_SPD11"]["WHL_SPD_RR"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgoRaw < 0.1 self.cluster_speed_counter += 1 if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE: self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] self.cluster_speed_counter = 0 # Mimic how dash converts to imperial. # Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric # TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,): self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH) ret.vEgoCluster = self.cluster_speed * speed_conv ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] ret.yawRate = cp.vl["ESP12"]["YAW_RATE"] ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp( 50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"]) ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"] ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"] ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0 # cruise state if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False else: ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv # TODO: Find brake pressure ret.brake = 0 ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0 ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): if self.CP.carFingerprint in HYBRID_CAR: ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254. else: ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254. ret.gasPressed = ret.gas > 0 else: 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"]: gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] else: gear = cp.vl["LVR12"]["CF_Lvr_Gear"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) if not self.CP.openpilotLongitudinalControl: aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12" aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 ret.stockFcw = aeb_warning and not aeb_braking ret.stockAeb = aeb_warning and aeb_braking if self.CP.enableBsm: ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0 ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0 # save the entire LKAS11 and CLU11 self.lkas11 = copy.copy(cp_cam.vl["LKAS11"]) self.clu11 = copy.copy(cp.vl["CLU11"]) self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) return ret def update_canfd(self, cp, cp_cam): ret = car.CarState.new_message() self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR): if self.CP.carFingerprint in EV_CAR: ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. else: ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. ret.gasPressed = ret.gas > 1e-5 else: ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"]) ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 gear = cp.vl[self.gear_msg_canfd]["GEAR"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) # TODO: figure out positions ret.wheelSpeeds = self.get_wheel_speeds( cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgoRaw < 0.1 ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"] ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) if self.CP.enableBsm: ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 # cruise state # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0 if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False else: cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1 ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2: self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) return ret @staticmethod def get_can_parser(CP): if CP.carFingerprint in CANFD_CAR: return CarState.get_can_parser_canfd(CP) signals = [ # signal_name, signal_address ("WHL_SPD_FL", "WHL_SPD11"), ("WHL_SPD_FR", "WHL_SPD11"), ("WHL_SPD_RL", "WHL_SPD11"), ("WHL_SPD_RR", "WHL_SPD11"), ("YAW_RATE", "ESP12"), ("CF_Gway_DrvSeatBeltInd", "CGW4"), ("CF_Gway_DrvSeatBeltSw", "CGW1"), ("CF_Gway_DrvDrSw", "CGW1"), # Driver Door ("CF_Gway_AstDrSw", "CGW1"), # Passenger Door ("CF_Gway_RLDrSw", "CGW2"), # Rear left Door ("CF_Gway_RRDrSw", "CGW2"), # Rear right Door ("CF_Gway_TurnSigLh", "CGW1"), ("CF_Gway_TurnSigRh", "CGW1"), ("CF_Gway_ParkBrakeSw", "CGW1"), ("CYL_PRES", "ESP12"), ("CF_Clu_CruiseSwState", "CLU11"), ("CF_Clu_CruiseSwMain", "CLU11"), ("CF_Clu_SldMainSW", "CLU11"), ("CF_Clu_ParityBit1", "CLU11"), ("CF_Clu_VanzDecimal" , "CLU11"), ("CF_Clu_Vanz", "CLU11"), ("CF_Clu_SPEED_UNIT", "CLU11"), ("CF_Clu_DetentOut", "CLU11"), ("CF_Clu_RheostatLevel", "CLU11"), ("CF_Clu_CluInfo", "CLU11"), ("CF_Clu_AmpInfo", "CLU11"), ("CF_Clu_AliveCnt1", "CLU11"), ("CF_Clu_VehicleSpeed", "CLU15"), ("ACCEnable", "TCS13"), ("ACC_REQ", "TCS13"), ("DriverBraking", "TCS13"), ("StandStill", "TCS13"), ("PBRAKE_ACT", "TCS13"), ("ESC_Off_Step", "TCS15"), ("AVH_LAMP", "TCS15"), ("CR_Mdps_StrColTq", "MDPS12"), ("CF_Mdps_ToiActive", "MDPS12"), ("CF_Mdps_ToiUnavail", "MDPS12"), ("CF_Mdps_ToiFlt", "MDPS12"), ("CR_Mdps_OutTq", "MDPS12"), ("SAS_Angle", "SAS11"), ("SAS_Speed", "SAS11"), ] checks = [ # address, frequency ("MDPS12", 50), ("TCS13", 50), ("TCS15", 10), ("CLU11", 50), ("CLU15", 5), ("ESP12", 100), ("CGW1", 10), ("CGW2", 5), ("CGW4", 5), ("WHL_SPD11", 50), ("SAS11", 100), ] if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR: signals += [ ("MainMode_ACC", "SCC11"), ("VSetDis", "SCC11"), ("SCCInfoDisplay", "SCC11"), ("ACC_ObjDist", "SCC11"), ("ACCMode", "SCC12"), ] checks += [ ("SCC11", 50), ("SCC12", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: signals += [ ("FCA_CmdAct", "FCA11"), ("CF_VSM_Warn", "FCA11"), ("CF_VSM_DecCmdAct", "FCA11"), ] checks.append(("FCA11", 50)) else: signals += [ ("AEB_CmdAct", "SCC12"), ("CF_VSM_Warn", "SCC12"), ("CF_VSM_DecCmdAct", "SCC12"), ] if CP.enableBsm: signals += [ ("CF_Lca_IndLeft", "LCA11"), ("CF_Lca_IndRight", "LCA11"), ] checks.append(("LCA11", 50)) if CP.carFingerprint in (HYBRID_CAR | EV_CAR): if CP.carFingerprint in HYBRID_CAR: signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11")) else: signals.append(("Accel_Pedal_Pos", "E_EMS11")) checks.append(("E_EMS11", 50)) else: signals += [ ("PV_AV_CAN", "EMS12"), ("CF_Ems_AclAct", "EMS16"), ] checks += [ ("EMS12", 100), ("EMS16", 100), ] if CP.carFingerprint in FEATURES["use_cluster_gears"]: signals.append(("CF_Clu_Gear", "CLU15")) elif CP.carFingerprint in FEATURES["use_tcu_gears"]: signals.append(("CUR_GR", "TCU12")) checks.append(("TCU12", 100)) elif CP.carFingerprint in FEATURES["use_elect_gears"]: signals.append(("Elect_Gear_Shifter", "ELECT_GEAR")) checks.append(("ELECT_GEAR", 20)) else: signals.append(("CF_Lvr_Gear", "LVR12")) checks.append(("LVR12", 100)) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in CANFD_CAR: return CarState.get_cam_can_parser_canfd(CP) signals = [ # signal_name, signal_address ("CF_Lkas_LdwsActivemode", "LKAS11"), ("CF_Lkas_LdwsSysState", "LKAS11"), ("CF_Lkas_SysWarning", "LKAS11"), ("CF_Lkas_LdwsLHWarning", "LKAS11"), ("CF_Lkas_LdwsRHWarning", "LKAS11"), ("CF_Lkas_HbaLamp", "LKAS11"), ("CF_Lkas_FcwBasReq", "LKAS11"), ("CF_Lkas_HbaSysState", "LKAS11"), ("CF_Lkas_FcwOpt", "LKAS11"), ("CF_Lkas_HbaOpt", "LKAS11"), ("CF_Lkas_FcwSysState", "LKAS11"), ("CF_Lkas_FcwCollisionWarning", "LKAS11"), ("CF_Lkas_FusionState", "LKAS11"), ("CF_Lkas_FcwOpt_USM", "LKAS11"), ("CF_Lkas_LdwsOpt_USM", "LKAS11"), ] checks = [ ("LKAS11", 100) ] if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR: signals += [ ("MainMode_ACC", "SCC11"), ("VSetDis", "SCC11"), ("SCCInfoDisplay", "SCC11"), ("ACC_ObjDist", "SCC11"), ("ACCMode", "SCC12"), ] checks += [ ("SCC11", 50), ("SCC12", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: signals += [ ("FCA_CmdAct", "FCA11"), ("CF_VSM_Warn", "FCA11"), ("CF_VSM_DecCmdAct", "FCA11"), ] checks.append(("FCA11", 50)) else: signals += [ ("AEB_CmdAct", "SCC12"), ("CF_VSM_Warn", "SCC12"), ("CF_VSM_DecCmdAct", "SCC12"), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) @staticmethod def get_can_parser_canfd(CP): cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ "GEAR_SHIFTER" signals = [ ("WHEEL_SPEED_1", "WHEEL_SPEEDS"), ("WHEEL_SPEED_2", "WHEEL_SPEEDS"), ("WHEEL_SPEED_3", "WHEEL_SPEEDS"), ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), ("GEAR", gear_msg), ("STEERING_RATE", "STEERING_SENSORS"), ("STEERING_ANGLE", "STEERING_SENSORS"), ("STEERING_COL_TORQUE", "MDPS"), ("STEERING_OUT_TORQUE", "MDPS"), ("LKA_FAULT", "MDPS"), ("DriverBraking", "TCS"), ("ACCEnable", "TCS"), ("ACC_REQ", "TCS"), ("COUNTER", cruise_btn_msg), ("CRUISE_BUTTONS", cruise_btn_msg), ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"), ("LEFT_LAMP", "BLINKERS"), ("RIGHT_LAMP", "BLINKERS"), ("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"), ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), ] checks = [ ("WHEEL_SPEEDS", 100), (gear_msg, 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), ("CRUISE_BUTTONS_ALT", 50), ("BLINKERS", 4), ("DOORS_SEATBELTS", 4), ] if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): checks.append(("CRUISE_BUTTONS", 50)) if CP.enableBsm: signals += [ ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), ] checks += [ ("BLINDSPOTS_REAR_CORNERS", 20), ] if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: signals += [ ("ACCMode", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"), ("CRUISE_STANDSTILL", "SCC_CONTROL"), ] checks += [ ("SCC_CONTROL", 50), ] if CP.carFingerprint in EV_CAR: signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR"), ] checks += [ ("ACCELERATOR", 100), ] elif CP.carFingerprint in HYBRID_CAR: signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), ] checks += [ ("ACCELERATOR_ALT", 100), ] else: signals += [ ("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"), ] checks += [ ("ACCELERATOR_BRAKE_ALT", 100), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP)) @staticmethod def get_cam_can_parser_canfd(CP): signals = [] checks = [] if CP.flags & HyundaiFlags.CANFD_HDA2: signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] checks += [("CAM_0x2a4", 20)] elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: signals += [ ("COUNTER", "SCC_CONTROL"), ("NEW_SIGNAL_1", "SCC_CONTROL"), ("MainMode_ACC", "SCC_CONTROL"), ("ACCMode", "SCC_CONTROL"), ("CRUISE_INACTIVE", "SCC_CONTROL"), ("ZEROS_9", "SCC_CONTROL"), ("CRUISE_STANDSTILL", "SCC_CONTROL"), ("ZEROS_5", "SCC_CONTROL"), ("DISTANCE_SETTING", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"), ] checks += [ ("SCC_CONTROL", 50), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)