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Hyundai CAN Longitudinal: Enable for Camera SCC cars (#1282) 

* Hyundai CAN: Longitudinal support for Camera SCC cars

* fix OP long checking fcw/aeb

* can error

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Jason Wen 2024-11-21 17:25:07 -05:00 committed by GitHub
parent e57375f1e2
commit 6c68673cfd
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
4 changed files with 19 additions and 16 deletions
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6
opendbc/car/hyundai/carcontroller.py
View File

@ -90,7 +90,7 @@ class CarController(CarControllerBase):
# *** common hyundai stuff ***
# tester present - w/ no response (keeps relevant ECU disabled)
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
if self.frame % 100 == 0 and not (self.CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)) and self.CP.openpilotLongitudinalControl:
# for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
@ -147,7 +147,7 @@ class CarController(CarControllerBase):
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca))
CC.cruiseControl.override, use_fca, self.CP))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@ -155,7 +155,7 @@ class CarController(CarControllerBase):
# 5 Hz ACC options
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(hyundaican.create_acc_opt(self.packer))
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
# 2 Hz front radar options
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:

4
opendbc/car/hyundai/carstate.py
View File

@ -153,7 +153,7 @@ class CarState(CarStateBase):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if not self.CP.openpilotLongitudinalControl:
if not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC:
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
@ -372,7 +372,7 @@ class CarState(CarStateBase):
("LKAS11", 100)
]
if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAMERA_SCC:
if not CP.openpilotLongitudinalControl or CP.flags & HyundaiFlags.CAMERA_SCC:
cam_messages += [
("SCC11", 50),
("SCC12", 50),

19
opendbc/car/hyundai/hyundaican.py
View File

@ -123,7 +123,7 @@ def create_lfahda_mfc(packer, enabled):
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
commands = []
scc11_values = {
@ -169,7 +169,8 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
# Only send FCA11 on cars where it exists on the bus
if use_fca:
# On Camera SCC cars, FCA11 is not disabled, so we forward stock FCA11 back to the car forward hooks
if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
# note that some vehicles most likely have an alternate checksum/counter definition
# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
fca11_values = {
@ -184,7 +185,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
return commands
def create_acc_opt(packer):
def create_acc_opt(packer, CP):
commands = []
scc13_values = {
@ -195,11 +196,13 @@ def create_acc_opt(packer):
commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
# TODO: this needs to be detected and conditionally sent on unsupported long cars
fca12_values = {
"FCA_DrvSetState": 2,
"FCA_USM": 1, # AEB disabled
}
commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
# On Camera SCC cars, FCA12 is not disabled, so we forward stock FCA12 back to the car forward hooks
if not (CP.flags & HyundaiFlags.CAMERA_SCC):
fca12_values = {
"FCA_DrvSetState": 2,
"FCA_USM": 1, # AEB disabled
}
commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
return commands

6
opendbc/car/hyundai/interface.py
View File

@ -1,7 +1,7 @@
from panda import Panda
from opendbc.car import Bus, get_safety_config, structs
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
@ -68,7 +68,7 @@ class CarInterface(CarInterfaceBase):
else:
# Shared configuration for non CAN-FD cars
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
ret.enableBsm = 0x58b in fingerprint[0]
# Send LFA message on cars with HDA
@ -128,7 +128,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def init(CP, can_recv, can_send):
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, CanBus(CP).ECAN