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213 lines
8.2 KiB
213 lines
8.2 KiB
import crcmod
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from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags
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hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
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def create_lkas11(packer, frame, CP, apply_steer, steer_req,
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torque_fault, lkas11, sys_warning, sys_state, enabled,
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left_lane, right_lane,
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left_lane_depart, right_lane_depart):
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values = {s: lkas11[s] for s in [
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"CF_Lkas_LdwsActivemode",
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"CF_Lkas_LdwsSysState",
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"CF_Lkas_SysWarning",
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"CF_Lkas_LdwsLHWarning",
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"CF_Lkas_LdwsRHWarning",
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"CF_Lkas_HbaLamp",
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"CF_Lkas_FcwBasReq",
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"CF_Lkas_HbaSysState",
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"CF_Lkas_FcwOpt",
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"CF_Lkas_HbaOpt",
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"CF_Lkas_FcwSysState",
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"CF_Lkas_FcwCollisionWarning",
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"CF_Lkas_FusionState",
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"CF_Lkas_FcwOpt_USM",
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"CF_Lkas_LdwsOpt_USM",
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]}
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values["CF_Lkas_LdwsSysState"] = sys_state
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values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
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values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
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values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
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values["CR_Lkas_StrToqReq"] = apply_steer
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values["CF_Lkas_ActToi"] = steer_req
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values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
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values["CF_Lkas_MsgCount"] = frame % 0x10
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if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE,
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CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
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CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
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CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
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CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
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CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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# FcwOpt_USM 5 = Orange blinking car + lanes
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# FcwOpt_USM 4 = Orange car + lanes
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# FcwOpt_USM 3 = Green blinking car + lanes
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# FcwOpt_USM 2 = Green car + lanes
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# FcwOpt_USM 1 = White car + lanes
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# FcwOpt_USM 0 = No car + lanes
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values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
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# SysWarning 4 = keep hands on wheel
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# SysWarning 5 = keep hands on wheel (red)
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# SysWarning 6 = keep hands on wheel (red) + beep
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# Note: the warning is hidden while the blinkers are on
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values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
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# Likely cars lacking the ability to show individual lane lines in the dash
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elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
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# SysWarning 4 = keep hands on wheel + beep
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values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
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# SysState 0 = no icons
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# SysState 1-2 = white car + lanes
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# SysState 3 = green car + lanes, green steering wheel
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# SysState 4 = green car + lanes
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values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1
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values["CF_Lkas_LdwsOpt_USM"] = 2 # non-2 changes above SysState definition
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# these have no effect
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values["CF_Lkas_LdwsActivemode"] = 0
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values["CF_Lkas_FcwOpt_USM"] = 0
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elif CP.carFingerprint == CAR.HYUNDAI_GENESIS:
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# This field is actually LdwsActivemode
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# Genesis and Optima fault when forwarding while engaged
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values["CF_Lkas_LdwsActivemode"] = 2
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dat = packer.make_can_msg("LKAS11", 0, values)[2]
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if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
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# CRC Checksum as seen on 2019 Hyundai Santa Fe
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dat = dat[:6] + dat[7:8]
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checksum = hyundai_checksum(dat)
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elif CP.flags & HyundaiFlags.CHECKSUM_6B:
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# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
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checksum = sum(dat[:6]) % 256
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else:
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# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
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checksum = (sum(dat[:6]) + dat[7]) % 256
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values["CF_Lkas_Chksum"] = checksum
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return packer.make_can_msg("LKAS11", 0, values)
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def create_clu11(packer, frame, clu11, button, CP):
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values = {s: clu11[s] for s in [
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"CF_Clu_CruiseSwState",
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"CF_Clu_CruiseSwMain",
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"CF_Clu_SldMainSW",
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"CF_Clu_ParityBit1",
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"CF_Clu_VanzDecimal",
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"CF_Clu_Vanz",
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"CF_Clu_SPEED_UNIT",
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"CF_Clu_DetentOut",
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"CF_Clu_RheostatLevel",
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"CF_Clu_CluInfo",
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"CF_Clu_AmpInfo",
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"CF_Clu_AliveCnt1",
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]}
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values["CF_Clu_CruiseSwState"] = button
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values["CF_Clu_AliveCnt1"] = frame % 0x10
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# send buttons to camera on camera-scc based cars
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bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
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return packer.make_can_msg("CLU11", bus, values)
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def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
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values = {
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"LFA_Icon_State": 2 if enabled else 0,
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"HDA_Active": 1 if hda_set_speed else 0,
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"HDA_Icon_State": 2 if hda_set_speed else 0,
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"HDA_VSetReq": hda_set_speed,
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}
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return packer.make_can_msg("LFAHDA_MFC", 0, values)
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def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
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commands = []
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scc11_values = {
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"MainMode_ACC": 1,
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"TauGapSet": hud_control.leadDistanceBars + 1,
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"VSetDis": set_speed if enabled else 0,
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"AliveCounterACC": idx % 0x10,
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"ObjValid": 1, # close lead makes controls tighter
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"ACC_ObjStatus": 1, # close lead makes controls tighter
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"ACC_ObjLatPos": 0,
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"ACC_ObjRelSpd": 0,
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"ACC_ObjDist": 1, # close lead makes controls tighter
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}
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commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
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scc12_values = {
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"ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
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"StopReq": 1 if stopping else 0,
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"aReqRaw": accel,
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"aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
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"CR_VSM_Alive": idx % 0xF,
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}
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# show AEB disabled indicator on dash with SCC12 if not sending FCA messages.
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# these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal
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if not use_fca:
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scc12_values["CF_VSM_ConfMode"] = 1
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scc12_values["AEB_Status"] = 1 # AEB disabled
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scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
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scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
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commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
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scc14_values = {
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"ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
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"ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
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"JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
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"JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
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"ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
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"ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
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}
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commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
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# Only send FCA11 on cars where it exists on the bus
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if use_fca:
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# note that some vehicles most likely have an alternate checksum/counter definition
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# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
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fca11_values = {
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"CR_FCA_Alive": idx % 0xF,
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"PAINT1_Status": 1,
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"FCA_DrvSetStatus": 1,
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"FCA_Status": 1, # AEB disabled
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}
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fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
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fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
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commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
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return commands
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def create_acc_opt(packer):
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commands = []
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scc13_values = {
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"SCCDrvModeRValue": 2,
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"SCC_Equip": 1,
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"Lead_Veh_Dep_Alert_USM": 2,
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}
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commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
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# TODO: this needs to be detected and conditionally sent on unsupported long cars
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fca12_values = {
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"FCA_DrvSetState": 2,
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"FCA_USM": 1, # AEB disabled
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}
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commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
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return commands
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def create_frt_radar_opt(packer):
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frt_radar11_values = {
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"CF_FCA_Equip_Front_Radar": 1,
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}
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return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)
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