Hyundai: rename HDA2 platform to CANFD (#25411)

* Hyundai: rename HDA2 platform to CANFD

* bump panda

* bump panda

* cleanup panda safety config
old-commit-hash: 5f35c669a6

cereal

@@ -1 +1 @@
-Subproject commit fbd45de6e6bc71b4561eaef65dd86fce952c5d55
+Subproject commit 5ab19700178f01c14f362735532ee2662ab755fc

panda

@@ -1 +1 @@
-Subproject commit 486af7950348530309778240f235fd75a30f1842
+Subproject commit 06592b5c0e6f1aa83e4c8f95ecb1bf86b9277528

selfdrive/car/hyundai/carcontroller.py

@@ -4,8 +4,8 @@ from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai import hda2can, hyundaican
+from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -69,23 +69,23 @@ class CarController:
 
     can_sends = []
 
-    if self.CP.carFingerprint in HDA2_CAR:
+    if self.CP.carFingerprint in CANFD_CAR:
       # steering control
-      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+      can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
 
       if self.frame % 5 == 0:
-        can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
       # cruise cancel
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         if CC.cruiseControl.cancel:
           for _ in range(20):
-            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
           self.last_button_frame = self.frame
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
           self.last_button_frame = self.frame
     else:
 

selfdrive/car/hyundai/carstate.py

@@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -19,7 +19,7 @@ class CarState(CarStateBase):
     self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
     elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -35,8 +35,8 @@ class CarState(CarStateBase):
     self.params = CarControllerParams(CP)
 
   def update(self, cp, cp_cam):
-    if self.CP.carFingerprint in HDA2_CAR:
+    if self.CP.carFingerprint in CANFD_CAR:
-      return self.update_hda2(cp, cp_cam)
+      return self.update_canfd(cp, cp_cam)
 
     ret = car.CarState.new_message()
 
@@ -133,7 +133,7 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_hda2(self, cp, cp_cam):
+  def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
     ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@@ -183,8 +183,8 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
-      return CarState.get_can_parser_hda2(CP)
+      return CarState.get_can_parser_canfd(CP)
 
     signals = [
       # signal_name, signal_address
@@ -318,7 +318,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
       signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
       checks = [("CAM_0x2a4", 20)]
       return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
@@ -373,7 +373,7 @@ class CarState(CarStateBase):
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
 
   @staticmethod
-  def get_can_parser_hda2(CP):
+  def get_can_parser_canfd(CP):
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),

selfdrive/car/hyundai/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "hyundai"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
@@ -238,8 +237,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2055 + STD_CARGO_KG
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
-                           get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -279,15 +276,28 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
 
-    # these cars require a special panda safety mode due to missing counters and checksums in the messages
+    # panda safety config
-    if candidate in LEGACY_SAFETY_MODE_CAR:
+    if candidate in CANFD_CAR:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+    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)]
 
-    # set appropriate safety param for gas signal
+      # set appropriate safety param for gas signal
-    if candidate in HYBRID_CAR:
+      if candidate in HYBRID_CAR:
-      ret.safetyConfigs[0].safetyParam = 2
+        ret.safetyConfigs[0].safetyParam = 2
-    elif candidate in EV_CAR:
+      elif candidate in EV_CAR:
-      ret.safetyConfigs[0].safetyParam = 1
+        ret.safetyConfigs[0].safetyParam = 1
+
+      if ret.openpilotLongitudinalControl:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
+
+      if candidate in CAMERA_SCC_CAR:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
     ret.centerToFront = ret.wheelbase * 0.4
 
@@ -302,12 +312,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.enableBsm = 0x58b in fingerprint[0]
 
-    if ret.openpilotLongitudinalControl:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
-
-    if candidate in CAMERA_SCC_CAR:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-
     return ret
 
   @staticmethod

selfdrive/car/hyundai/values.py

@@ -20,7 +20,7 @@ class CarControllerParams:
     self.STEER_DRIVER_FACTOR = 1
     self.STEER_THRESHOLD = 150
 
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
       self.STEER_MAX = 270
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
@@ -1280,7 +1280,7 @@ FEATURES = {
   "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
-HDA2_CAR = {CAR.KIA_EV6, }
+CANFD_CAR = {CAR.KIA_EV6, }
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }