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Hyundai CAN: Log ABS/ESP Activation to `espActive` (#32743) 

* Hyundai CAN: Log active ABS to accFaulted

* Add comments

* `espActive` to CarState and CarEvent.EventName

* re-order

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Wen 2024-06-24 19:14:57 -08:00 committed by GitHub
parent 0922ab2b8d
commit 36eafc0dc6
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4 changed files with 10 additions and 0 deletions
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2
cereal/car.capnp
View File

@ -116,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
paramsdTemporaryError @50;
paramsdPermanentError @119;
actuatorsApiUnavailable @120;
espActive @121;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
@ -194,6 +195,7 @@ struct CarState {
espDisabled @32 :Bool;
accFaulted @42 :Bool;
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
espActive @51 :Bool;
# cruise state
cruiseState @10 :CruiseState;

1
selfdrive/car/hyundai/carstate.py
View File

@ -119,6 +119,7 @@ class CarState(CarStateBase):
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):

2
selfdrive/car/interfaces.py
View File

@ -280,6 +280,8 @@ class CarInterfaceBase(ABC):
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.espActive:
events.add(EventName.espActive)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:

5
selfdrive/controls/lib/events.py
View File

@ -831,6 +831,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
EventName.espActive: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
},
EventName.controlsMismatch: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),