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177 lines
7.9 KiB
177 lines
7.9 KiB
from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
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from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
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CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
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UNSUPPORTED_LONGITUDINAL_CAR, Buttons
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from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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Ecu = car.CarParams.Ecu
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
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BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
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Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "hyundai"
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ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
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# These cars have been put into dashcam only due to both a lack of users and test coverage.
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# These cars likely still work fine. Once a user confirms each car works and a test route is
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# added to selfdrive/car/tests/routes.py, we can remove it from this list.
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# FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
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ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
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hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
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CAN = CanBus(None, hda2, fingerprint)
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if candidate in CANFD_CAR:
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# detect if car is hybrid
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if 0x105 in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlags.HYBRID.value
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elif candidate in EV_CAR:
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ret.flags |= HyundaiFlags.EV.value
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# detect HDA2 with ADAS Driving ECU
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if hda2:
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ret.flags |= HyundaiFlags.CANFD_HDA2.value
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if 0x110 in fingerprint[CAN.CAM]:
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ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
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else:
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# non-HDA2
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if 0x1cf not in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
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# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
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if 0x130 not in fingerprint[CAN.ECAN]:
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if 0x40 not in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
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else:
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ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
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if candidate not in CANFD_RADAR_SCC_CAR:
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ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
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else:
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# TODO: detect EV and hybrid
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if candidate in HYBRID_CAR:
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ret.flags |= HyundaiFlags.HYBRID.value
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elif candidate in EV_CAR:
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ret.flags |= HyundaiFlags.EV.value
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# Send LFA message on cars with HDA
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if 0x485 in fingerprint[2]:
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ret.flags |= HyundaiFlags.SEND_LFA.value
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# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
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ret.flags |= HyundaiFlags.USE_FCA.value
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ret.steerActuatorDelay = 0.1 # Default delay
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ret.steerLimitTimer = 0.4
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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# *** longitudinal control ***
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if candidate in CANFD_CAR:
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ret.longitudinalTuning.kpV = [0.1]
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ret.longitudinalTuning.kiV = [0.0]
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ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
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else:
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ret.longitudinalTuning.kpV = [0.5]
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ret.longitudinalTuning.kiV = [0.0]
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ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
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ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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ret.stoppingControl = True
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ret.startingState = True
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ret.vEgoStarting = 0.1
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ret.startAccel = 1.0
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ret.longitudinalActuatorDelayLowerBound = 0.5
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ret.longitudinalActuatorDelayUpperBound = 0.5
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# *** feature detection ***
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if candidate in CANFD_CAR:
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ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
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else:
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ret.enableBsm = 0x58b in fingerprint[0]
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# *** panda safety config ***
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if candidate in CANFD_CAR:
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cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
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if CAN.ECAN >= 4:
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cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
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ret.safetyConfigs = cfgs
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if ret.flags & HyundaiFlags.CANFD_HDA2:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
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if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
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if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
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if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
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else:
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if candidate in LEGACY_SAFETY_MODE_CAR:
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
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else:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
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if candidate in CAMERA_SCC_CAR:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
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if ret.openpilotLongitudinalControl:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
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if ret.flags & HyundaiFlags.HYBRID:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
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elif ret.flags & HyundaiFlags.EV:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
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if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
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ret.flags |= HyundaiFlags.ALT_LIMITS.value
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
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ret.centerToFront = ret.wheelbase * 0.4
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return ret
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@staticmethod
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def init(CP, logcan, sendcan):
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if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
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addr, bus = 0x7d0, 0
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if CP.flags & HyundaiFlags.CANFD_HDA2.value:
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addr, bus = 0x730, CanBus(CP).ECAN
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disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
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# for blinkers
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if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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if self.CS.CP.openpilotLongitudinalControl:
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ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
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# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
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# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
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# Main button also can trigger an engagement on these cars
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allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
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events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
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# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
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if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
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self.low_speed_alert = True
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if ret.vEgo > (self.CP.minSteerSpeed + 4.):
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self.low_speed_alert = False
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if self.low_speed_alert:
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events.add(car.CarEvent.EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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return ret
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