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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
This commit is contained in:
Adeeb Shihadeh 2022-08-11 22:49:49 -07:00 committed by GitHub
parent d2de0b4e58
commit c55b3fd7ee
7 changed files with 42 additions and 38 deletions
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2
cereal

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

2
panda

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

14
selfdrive/car/hyundai/carcontroller.py
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@ -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.values import Buttons, CarControllerParams, HDA2_CAR, CAR
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
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:

18
selfdrive/car/hyundai/carstate.py
View File

@ -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:
return self.update_hda2(cp, cp_cam)
if self.CP.carFingerprint in CANFD_CAR:
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:
return CarState.get_can_parser_hda2(CP)
if CP.carFingerprint in CANFD_CAR:
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"),

0
selfdrive/car/hyundai/hda2can.py → selfdrive/car/hyundai/hyundaicanfd.py
View File

26
selfdrive/car/hyundai/interface.py
View File

@ -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)
@ -279,9 +276,16 @@ 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 CANFD_CAR:
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
if candidate in HYBRID_CAR:
@ -289,6 +293,12 @@ class CarInterface(CarInterfaceBase):
elif candidate in EV_CAR:
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
# TODO: get actual value, for now starting with reasonable value for
@ -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

4
selfdrive/car/hyundai/values.py
View File

@ -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, }