You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
348 lines
15 KiB
348 lines
15 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from panda import Panda
|
|
from common.conversions import Conversions as CV
|
|
from selfdrive.car.hyundai.hyundaicanfd import CanBus
|
|
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
|
|
EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
|
|
Buttons
|
|
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
|
|
from selfdrive.car import create_button_event, get_safety_config
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
from selfdrive.car.disable_ecu import disable_ecu
|
|
|
|
Ecu = car.CarParams.Ecu
|
|
ButtonType = car.CarState.ButtonEvent.Type
|
|
EventName = car.CarEvent.EventName
|
|
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
|
|
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
|
|
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
|
ret.carName = "hyundai"
|
|
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
|
|
|
|
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
|
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
|
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
|
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6}
|
|
|
|
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
|
|
CAN = CanBus(None, hda2, fingerprint)
|
|
|
|
if candidate in CANFD_CAR:
|
|
# detect HDA2 with ADAS Driving ECU
|
|
if hda2:
|
|
ret.flags |= HyundaiFlags.CANFD_HDA2.value
|
|
else:
|
|
# non-HDA2
|
|
if 0x1cf not in fingerprint[CAN.ECAN]:
|
|
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
|
|
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
|
|
if 0x130 not in fingerprint[CAN.ECAN]:
|
|
if 0x40 not in fingerprint[CAN.ECAN]:
|
|
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
|
|
else:
|
|
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
|
|
if candidate not in CANFD_RADAR_SCC_CAR:
|
|
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
|
|
else:
|
|
# Send LFA message on cars with HDA
|
|
if 0x485 in fingerprint[2]:
|
|
ret.flags |= HyundaiFlags.SEND_LFA.value
|
|
|
|
# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
|
|
if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
|
|
ret.flags |= HyundaiFlags.USE_FCA.value
|
|
|
|
ret.steerActuatorDelay = 0.1 # Default delay
|
|
ret.steerLimitTimer = 0.4
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
|
|
ret.mass = 3982. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.766
|
|
# Values from optimizer
|
|
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
|
|
ret.tireStiffnessFactor = 0.82
|
|
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
|
|
ret.mass = 1513.
|
|
ret.wheelbase = 2.84
|
|
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
|
|
ret.tireStiffnessFactor = 0.65
|
|
elif candidate == CAR.SONATA_LF:
|
|
ret.mass = 1536.
|
|
ret.wheelbase = 2.804
|
|
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
|
|
elif candidate == CAR.PALISADE:
|
|
ret.mass = 1999.
|
|
ret.wheelbase = 2.90
|
|
ret.steerRatio = 15.6 * 1.15
|
|
ret.tireStiffnessFactor = 0.63
|
|
elif candidate == CAR.ELANTRA:
|
|
ret.mass = 1275.
|
|
ret.wheelbase = 2.7
|
|
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
|
|
ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127
|
|
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
|
elif candidate == CAR.ELANTRA_2021:
|
|
ret.mass = 2800. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.72
|
|
ret.steerRatio = 12.9
|
|
ret.tireStiffnessFactor = 0.65
|
|
elif candidate == CAR.ELANTRA_HEV_2021:
|
|
ret.mass = 3017. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.72
|
|
ret.steerRatio = 12.9
|
|
ret.tireStiffnessFactor = 0.65
|
|
elif candidate == CAR.HYUNDAI_GENESIS:
|
|
ret.mass = 2060.
|
|
ret.wheelbase = 3.01
|
|
ret.steerRatio = 16.5
|
|
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
|
|
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
|
|
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.)
|
|
ret.wheelbase = 2.6
|
|
ret.steerRatio = 13.42 # Spec
|
|
ret.tireStiffnessFactor = 0.385
|
|
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
|
|
ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
|
|
ret.wheelbase = 2.7
|
|
ret.steerRatio = 13.73 # Spec
|
|
ret.tireStiffnessFactor = 0.385
|
|
if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
|
|
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
|
elif candidate == CAR.VELOSTER:
|
|
ret.mass = 2917. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.80
|
|
ret.steerRatio = 13.75 * 1.15
|
|
ret.tireStiffnessFactor = 0.5
|
|
elif candidate == CAR.TUCSON:
|
|
ret.mass = 3520. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.67
|
|
ret.steerRatio = 14.00 * 1.15
|
|
ret.tireStiffnessFactor = 0.385
|
|
elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
|
|
ret.mass = 1630. # average
|
|
ret.wheelbase = 2.756
|
|
ret.steerRatio = 16.
|
|
ret.tireStiffnessFactor = 0.385
|
|
elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
|
|
ret.mass = 1870. # weight from Limited trim - the only supported trim
|
|
ret.wheelbase = 3.000
|
|
# steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
|
|
ret.steerRatio = 14.2
|
|
|
|
# Kia
|
|
elif candidate == CAR.KIA_SORENTO:
|
|
ret.mass = 1985.
|
|
ret.wheelbase = 2.78
|
|
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
|
|
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
|
|
ret.mass = 3543. * CV.LB_TO_KG # average of all the cars
|
|
ret.wheelbase = 2.7
|
|
ret.steerRatio = 13.6 # average of all the cars
|
|
ret.tireStiffnessFactor = 0.385
|
|
if candidate == CAR.KIA_NIRO_PHEV:
|
|
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
|
elif candidate == CAR.KIA_SELTOS:
|
|
ret.mass = 1337.
|
|
ret.wheelbase = 2.63
|
|
ret.steerRatio = 14.56
|
|
elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
|
|
ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions
|
|
ret.wheelbase = 2.756
|
|
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
|
|
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
|
|
ret.mass = 3558. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.80
|
|
ret.steerRatio = 13.75
|
|
ret.tireStiffnessFactor = 0.5
|
|
if candidate == CAR.KIA_OPTIMA_G4:
|
|
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
|
elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
|
|
ret.mass = 1825.
|
|
ret.wheelbase = 2.78
|
|
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
|
|
elif candidate == CAR.KIA_FORTE:
|
|
ret.mass = 2878. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.80
|
|
ret.steerRatio = 13.75
|
|
ret.tireStiffnessFactor = 0.5
|
|
elif candidate == CAR.KIA_CEED:
|
|
ret.mass = 1450.
|
|
ret.wheelbase = 2.65
|
|
ret.steerRatio = 13.75
|
|
ret.tireStiffnessFactor = 0.5
|
|
elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
|
|
ret.mass = 3381. * CV.LB_TO_KG
|
|
ret.wheelbase = 2.85
|
|
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
|
|
ret.tireStiffnessFactor = 0.5
|
|
elif candidate == CAR.KIA_EV6:
|
|
ret.mass = 2055
|
|
ret.wheelbase = 2.9
|
|
ret.steerRatio = 16.
|
|
ret.tireStiffnessFactor = 0.65
|
|
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
|
|
ret.mass = 1948
|
|
ret.wheelbase = 2.97
|
|
ret.steerRatio = 14.26
|
|
ret.tireStiffnessFactor = 0.65
|
|
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
|
|
ret.mass = 1767. # SX Prestige trim support only
|
|
ret.wheelbase = 2.756
|
|
ret.steerRatio = 13.6
|
|
elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
|
|
ret.wheelbase = 2.81
|
|
ret.steerRatio = 13.5 # average of the platforms
|
|
if candidate == CAR.KIA_SORENTO_4TH_GEN:
|
|
ret.mass = 3957 * CV.LB_TO_KG
|
|
else:
|
|
ret.mass = 4537 * CV.LB_TO_KG
|
|
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
|
|
ret.mass = 2087.
|
|
ret.wheelbase = 3.09
|
|
ret.steerRatio = 14.23
|
|
|
|
# Genesis
|
|
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
|
|
ret.mass = 2205
|
|
ret.wheelbase = 2.9
|
|
# https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
|
|
ret.steerRatio = 12.6
|
|
elif candidate == CAR.GENESIS_G70:
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.mass = 1640.0
|
|
ret.wheelbase = 2.84
|
|
ret.steerRatio = 13.56
|
|
elif candidate == CAR.GENESIS_G70_2020:
|
|
ret.mass = 3673.0 * CV.LB_TO_KG
|
|
ret.wheelbase = 2.83
|
|
ret.steerRatio = 12.9
|
|
elif candidate == CAR.GENESIS_GV70_1ST_GEN:
|
|
ret.mass = 1950.
|
|
ret.wheelbase = 2.87
|
|
ret.steerRatio = 14.6
|
|
elif candidate == CAR.GENESIS_G80:
|
|
ret.mass = 2060.
|
|
ret.wheelbase = 3.01
|
|
ret.steerRatio = 16.5
|
|
elif candidate == CAR.GENESIS_G90:
|
|
ret.mass = 2200.
|
|
ret.wheelbase = 3.15
|
|
ret.steerRatio = 12.069
|
|
elif candidate == CAR.GENESIS_GV80:
|
|
ret.mass = 2258.
|
|
ret.wheelbase = 2.95
|
|
ret.steerRatio = 14.14
|
|
|
|
# *** longitudinal control ***
|
|
if candidate in CANFD_CAR:
|
|
ret.longitudinalTuning.kpV = [0.1]
|
|
ret.longitudinalTuning.kiV = [0.0]
|
|
ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
|
|
else:
|
|
ret.longitudinalTuning.kpV = [0.5]
|
|
ret.longitudinalTuning.kiV = [0.0]
|
|
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
|
|
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
|
|
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
|
|
|
ret.stoppingControl = True
|
|
ret.startingState = True
|
|
ret.vEgoStarting = 0.1
|
|
ret.startAccel = 1.0
|
|
ret.longitudinalActuatorDelayLowerBound = 0.5
|
|
ret.longitudinalActuatorDelayUpperBound = 0.5
|
|
|
|
# *** feature detection ***
|
|
if candidate in CANFD_CAR:
|
|
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
|
|
else:
|
|
ret.enableBsm = 0x58b in fingerprint[0]
|
|
|
|
# *** panda safety config ***
|
|
if candidate in CANFD_CAR:
|
|
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
|
|
if CAN.ECAN >= 4:
|
|
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
|
|
ret.safetyConfigs = cfgs
|
|
|
|
if ret.flags & HyundaiFlags.CANFD_HDA2:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
|
|
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
|
|
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
|
|
else:
|
|
if candidate in LEGACY_SAFETY_MODE_CAR:
|
|
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
|
|
else:
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
|
|
|
|
if candidate in CAMERA_SCC_CAR:
|
|
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
|
|
|
|
if ret.openpilotLongitudinalControl:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
|
|
if candidate in HYBRID_CAR:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
|
|
elif candidate in EV_CAR:
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
|
|
|
|
if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
|
|
ret.flags |= HyundaiFlags.ALT_LIMITS.value
|
|
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
|
|
|
|
ret.centerToFront = ret.wheelbase * 0.4
|
|
|
|
return ret
|
|
|
|
@staticmethod
|
|
def init(CP, logcan, sendcan):
|
|
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
|
|
addr, bus = 0x7d0, 0
|
|
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
|
|
addr, bus = 0x730, CanBus(CP).ECAN
|
|
disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
|
|
|
|
# for blinkers
|
|
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
|
disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
|
|
|
|
def _update(self, c):
|
|
ret = self.CS.update(self.cp, self.cp_cam)
|
|
|
|
if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
|
|
buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
|
|
# Handle CF_Clu_CruiseSwState changing buttons mid-press
|
|
if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
|
|
buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
|
|
|
|
ret.buttonEvents = buttonEvents
|
|
|
|
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
|
|
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
|
|
# Main button also can trigger an engagement on these cars
|
|
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
|
|
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
|
|
|
|
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
|
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
|
self.low_speed_alert = True
|
|
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
|
|
self.low_speed_alert = False
|
|
if self.low_speed_alert:
|
|
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
return ret
|
|
|
|
def apply(self, c, now_nanos):
|
|
return self.CC.update(c, self.CS, now_nanos)
|
|
|