import crcmod from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): values = lkas11 values["CF_Lkas_LdwsSysState"] = sys_state values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 values["CF_Lkas_LdwsLHWarning"] = left_lane_depart values["CF_Lkas_LdwsRHWarning"] = right_lane_depart values["CR_Lkas_StrToqReq"] = apply_steer values["CF_Lkas_ActToi"] = 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): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 # FcwOpt_USM 5 = Orange blinking car + lanes # FcwOpt_USM 4 = Orange car + lanes # FcwOpt_USM 3 = Green blinking car + lanes # FcwOpt_USM 2 = Green car + lanes # FcwOpt_USM 1 = White car + lanes # FcwOpt_USM 0 = No car + lanes values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1 # SysWarning 4 = keep hands on wheel # SysWarning 5 = keep hands on wheel (red) # SysWarning 6 = keep hands on wheel (red) + beep # Note: the warning is hidden while the blinkers are on 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): # SysWarning 4 = keep hands on wheel + beep values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 # SysState 0 = no icons # SysState 1-2 = white car + lanes # SysState 3 = green car + lanes, green steering wheel # SysState 4 = green car + lanes values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1 values["CF_Lkas_LdwsOpt_USM"] = 2 # non-2 changes above SysState definition # these have no effect values["CF_Lkas_LdwsActivemode"] = 0 values["CF_Lkas_FcwOpt_USM"] = 0 elif car_fingerprint == 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"]: # 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"]: # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento checksum = sum(dat[:6]) % 256 else: # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger checksum = (sum(dat[:6]) + dat[7]) % 256 values["CF_Lkas_Chksum"] = checksum return packer.make_can_msg("LKAS11", 0, values) def create_clu11(packer, frame, clu11, button, car_fingerprint): values = clu11 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 return packer.make_can_msg("CLU11", bus, values) def create_lfahda_mfc(packer, enabled, hda_set_speed=0): values = { "LFA_Icon_State": 2 if enabled else 0, "HDA_Active": 1 if hda_set_speed else 0, "HDA_Icon_State": 2 if hda_set_speed else 0, "HDA_VSetReq": hda_set_speed, } return packer.make_can_msg("LFAHDA_MFC", 0, values) def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override): commands = [] scc11_values = { "MainMode_ACC": 1, "TauGapSet": 4, "VSetDis": set_speed if enabled else 0, "AliveCounterACC": idx % 0x10, "ObjValid": 1, # close lead makes controls tighter "ACC_ObjStatus": 1, # close lead makes controls tighter "ACC_ObjLatPos": 0, "ACC_ObjRelSpd": 0, "ACC_ObjDist": 1, # close lead makes controls tighter } commands.append(packer.make_can_msg("SCC11", 0, scc11_values)) scc12_values = { "ACCMode": 2 if enabled and long_override else 1 if enabled else 0, "StopReq": 1 if stopping else 0, "aReqRaw": accel, "aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw "CR_VSM_Alive": idx % 0xF, } scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2] scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10 commands.append(packer.make_can_msg("SCC12", 0, scc12_values)) scc14_values = { "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead } commands.append(packer.make_can_msg("SCC14", 0, scc14_values)) # note that some vehicles most likely have an alternate checksum/counter definition # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602 fca11_values = { "CR_FCA_Alive": idx % 0xF, "PAINT1_Status": 1, "FCA_DrvSetStatus": 1, "FCA_Status": 1, # AEB disabled } fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) return commands def create_acc_opt(packer): commands = [] scc13_values = { "SCCDrvModeRValue": 2, "SCC_Equip": 1, "Lead_Veh_Dep_Alert_USM": 2, } commands.append(packer.make_can_msg("SCC13", 0, scc13_values)) fca12_values = { "FCA_DrvSetState": 2, "FCA_USM": 1, # AEB disabled } commands.append(packer.make_can_msg("FCA12", 0, fca12_values)) return commands def create_frt_radar_opt(packer): frt_radar11_values = { "CF_FCA_Equip_Front_Radar": 1, } return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)