Hyundai-Kia-Genesis (HKG) (#1362)
* hkg * Cleanup * Update readme * more fixes and cleanup * Old genesis * Typoe * Test car models * Update comment * Fix brake pressed * Update release notes * Fix vEgo * Add sonata * Add sonata values * Temporarily remove doors check. It doesn't work * Sonata uses crc8 * Fix tests * Changes for LFA * Add comment * Does this improve the hud? * Proper signal name * Force the right value * some ui stuff * more comments * Show lane lines on sonata * cleanup dash * fix last ui issues * Fix doors * update CI Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Willem Melching
GitHub
parent
6e388948e3
commit
7d78cef34b
12
README.md
12
README.md
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@ -132,15 +132,23 @@ Community Maintained Cars and Features
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| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Genesis | G80 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
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| Genesis | G90 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
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| GMC | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
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| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Hyundai | Elantra 2017-19<sup>2</sup> | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2018<sup>2</sup> | All | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2015-16<sup>2</sup> | SCC + LKAS | Stock | 19mph | 37mph |
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| Hyundai | Ioniq 2017<sup>2</sup> | SCC + LKAS | Stock | 0mph | 32mph |
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| Hyundai | Ioniq 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 32mph |
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| Hyundai | Kona 2017-19<sup>2</sup> | SCC + LKAS | Stock | 22mph | 0mph |
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| Hyundai | Kona 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe 2019<sup>2</sup> | All | Stock | 0mph | 0mph |
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| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Kia | Forte 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Optima 2017<sup>2</sup> | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
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| Kia | Optima 2019<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Sorento 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
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| Kia | Sorento 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Stinger 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Nissan | Leaf 2019 | Propilot | Stock | 0mph | 0mph |
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| Nissan | X-Trail 2018 | Propilot | Stock | 0mph | 0mph |
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@ -1,9 +1,9 @@
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Version 0.7.5 (2020-xx-xx)
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========================
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* Right-Hand Drive support for both driving and driver monitoring!
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* New driving model:
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* New driver monitoring model: overall improvement on comma two
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* Driver camera preview in settings to improve mounting position
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* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
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* 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
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Version 0.7.4 (2020-03-20)
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2
opendbc
2
opendbc
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@ -1 +1 @@
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Subproject commit a57e7ddbd72c92241d5d6442da9d47c55e95a8cf
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Subproject commit b69398525a4f3d590305df171572415568e365aa
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2
panda
2
panda
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@ -1 +1 @@
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Subproject commit bc90b60f973ddf422ea78ce8fb83fbf88448694f
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Subproject commit 435cabe7f7a02a0c732725b97cbb7192a68a406d
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@ -1,47 +1,103 @@
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from cereal import car
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11
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from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
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from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
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from opendbc.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
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right_lane, left_lane_depart, right_lane_depart):
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sys_warning = (visual_alert == VisualAlert.steerRequired)
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# initialize to no line visible
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sys_state = 1
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if left_lane and right_lane or sys_warning: #HUD alert only display when LKAS status is active
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if enabled or sys_warning:
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sys_state = 3
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else:
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sys_state = 4
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elif left_lane:
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sys_state = 5
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elif right_lane:
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sys_state = 6
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# initialize to no warnings
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left_lane_warning = 0
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right_lane_warning = 0
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if left_lane_depart:
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left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
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if right_lane_depart:
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right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
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return sys_warning, sys_state, left_lane_warning, right_lane_warning
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.apply_steer_last = 0
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self.car_fingerprint = CP.carFingerprint
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self.lkas11_cnt = 0
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self.cnt = 0
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self.last_resume_cnt = 0
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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self.resume_cnt = 0
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self.last_resume_frame = 0
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self.last_lead_distance = 0
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def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
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### Steering Torque
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def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
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left_lane, right_lane, left_lane_depart, right_lane_depart):
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# Steering Torque
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new_steer = actuators.steer * SteerLimitParams.STEER_MAX
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams)
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self.steer_rate_limited = new_steer != apply_steer
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if not enabled:
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apply_steer = 0
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# disable if steer angle reach 90 deg, otherwise mdps fault in some models
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lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
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steer_req = 1 if enabled else 0
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# fix for Genesis hard fault at low speed
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if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
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lkas_active = 0
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if not lkas_active:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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sys_warning, sys_state, left_lane_warning, right_lane_warning =\
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process_hud_alert(enabled, self.car_fingerprint, visual_alert,
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left_lane, right_lane, left_lane_depart, right_lane_depart)
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can_sends = []
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self.lkas11_cnt = self.cnt % 0x10
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self.clu11_cnt = self.cnt % 0x10
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can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
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enabled, CS.lkas11, hud_alert, keep_stock=True))
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can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
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CS.lkas11, sys_warning, sys_state, enabled,
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left_lane, right_lane,
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left_lane_warning, right_lane_warning))
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if pcm_cancel_cmd:
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
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elif CS.out.cruiseState.standstill and (self.cnt - self.last_resume_cnt) > 5:
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self.last_resume_cnt = self.cnt
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
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elif CS.out.cruiseState.standstill:
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# run only first time when the car stopped
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if self.last_lead_distance == 0:
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# get the lead distance from the Radar
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self.last_lead_distance = CS.lead_distance
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self.resume_cnt = 0
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# when lead car starts moving, create 6 RES msgs
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elif CS.lead_distance != self.last_lead_distance and (frame - self.last_resume_frame) > 5:
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL))
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self.resume_cnt += 1
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# interval after 6 msgs
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if self.resume_cnt > 5:
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self.last_resume_frame = frame
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self.clu11_cnt = 0
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# reset lead distnce after the car starts moving
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elif self.last_lead_distance != 0:
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self.last_lead_distance = 0
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint == CAR.SONATA:
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can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
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self.cnt += 1
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return can_sends
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@ -6,12 +6,14 @@ from selfdrive.config import Conversions as CV
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GearShifter = car.CarState.GearShifter
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class CarState(CarStateBase):
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class CarState(CarStateBase):
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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ret.doorOpen = False # FIXME
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ret.doorOpen = any([cp.vl["CGW1"]['CF_Gway_DrvDrSw'],cp.vl["CGW1"]['CF_Gway_AstDrSw'],
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cp.vl["CGW2"]['CF_Gway_RLDrSw'], cp.vl["CGW2"]['CF_Gway_RRDrSw']])
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ret.seatbeltUnlatched = cp.vl["CGW1"]['CF_Gway_DrvSeatBeltSw'] == 0
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ret.wheelSpeeds.fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
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@ -28,14 +30,15 @@ class CarState(CarStateBase):
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ret.yawRate = cp.vl["ESP12"]['YAW_RATE']
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ret.leftBlinker = cp.vl["CGW1"]['CF_Gway_TSigLHSw'] != 0
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ret.rightBlinker = cp.vl["CGW1"]['CF_Gway_TSigRHSw'] != 0
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ret.steeringTorque = cp.vl["MDPS11"]['CR_Mdps_DrvTq']
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ret.steeringTorque = cp.vl["MDPS12"]['CR_Mdps_StrColTq']
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ret.steeringTorqueEps = cp.vl["MDPS12"]['CR_Mdps_OutTq']
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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# cruise state
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ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
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ret.cruiseState.available = True
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ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
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ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
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if ret.cruiseState.enabled:
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is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
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speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
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@ -43,56 +46,72 @@ class CarState(CarStateBase):
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else:
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ret.cruiseState.speed = 0
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ret.brake = 0 # FIXME
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# TODO: Find brake pressure
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ret.brake = 0
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ret.brakePressed = cp.vl["TCS13"]['DriverBraking'] != 0
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ret.brakeLights = ret.brakePressed
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ret.gas = cp.vl["EMS12"]['PV_AV_CAN'] / 100
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ret.gasPressed = cp.vl["EMS16"]["CF_Ems_AclAct"] != 0
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ret.espDisabled = cp.vl["TCS15"]['ESC_Off_Step'] != 0
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# Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
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gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
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if gear == 5:
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gear_shifter = GearShifter.drive
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elif gear == 6:
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gear_shifter = GearShifter.neutral
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elif gear == 0:
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gear_shifter = GearShifter.park
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elif gear == 7:
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gear_shifter = GearShifter.reverse
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# TODO: Check this
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ret.brakeLights = bool(cp.vl["TCS13"]['BrakeLight'] or ret.brakePressed)
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#TODO: find pedal signal for EV/HYBRID Cars
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if (cp.vl["TCS13"]["DriverOverride"] == 0 and cp.vl["TCS13"]['ACC_REQ'] == 1):
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pedal_gas = 0
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else:
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gear_shifter = GearShifter.unknown
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pedal_gas = cp.vl["EMS12"]['TPS']
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ret.gasPressed = pedal_gas > 1e-3
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ret.gas = pedal_gas
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# TODO: refactor gear parsing in function
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# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
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if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
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gear_shifter_cluster = GearShifter.drive
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elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
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gear_shifter_cluster = GearShifter.neutral
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elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
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gear_shifter_cluster = GearShifter.park
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elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
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gear_shifter_cluster = GearShifter.reverse
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else:
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gear_shifter_cluster = GearShifter.unknown
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# Gear Selecton via TCU12
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gear2 = cp.vl["TCU12"]["CUR_GR"]
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if gear2 == 0:
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gear_tcu = GearShifter.park
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elif gear2 == 14:
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gear_tcu = GearShifter.reverse
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elif gear2 > 0 and gear2 < 9: # unaware of anything over 8 currently
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gear_tcu = GearShifter.drive
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else:
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gear_tcu = GearShifter.unknown
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# gear shifter
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if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
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ret.gearShifter = gear_shifter_cluster
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if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
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ret.gearShifter = GearShifter.drive
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elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
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ret.gearShifter = GearShifter.neutral
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elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
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ret.gearShifter = GearShifter.park
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elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.unknown
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# Gear Selecton via TCU12
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elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
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ret.gearShifter = gear_tcu
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gear = cp.vl["TCU12"]["CUR_GR"]
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if gear == 0:
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ret.gearShifter = GearShifter.park
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elif gear == 14:
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ret.gearShifter = GearShifter.reverse
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elif gear > 0 and gear < 9: # unaware of anything over 8 currently
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ret.gearShifter = GearShifter.drive
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else:
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ret.gearShifter = GearShifter.unknown
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# Gear Selecton - This is only compatible with optima hybrid 2017
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elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
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gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
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if gear in (5, 8): # 5: D, 8: sport mode
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ret.gearShifter = GearShifter.drive
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elif gear == 6:
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ret.gearShifter = GearShifter.neutral
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elif gear == 0:
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ret.gearShifter = GearShifter.park
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elif gear == 7:
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.unknown
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# Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
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else:
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ret.gearShifter = gear_shifter
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gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
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if gear in (5, 8): # 5: D, 8: sport mode
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ret.gearShifter = GearShifter.drive
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elif gear == 6:
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ret.gearShifter = GearShifter.neutral
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elif gear == 0:
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ret.gearShifter = GearShifter.park
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elif gear == 7:
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.unknown
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# save the entire LKAS11 and CLU11
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self.lkas11 = cp_cam.vl["LKAS11"]
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@ -100,13 +119,12 @@ class CarState(CarStateBase):
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self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
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self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
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self.steer_warning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
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self.brake_error = 0
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self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
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return ret
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@staticmethod
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("WHL_SPD_FL", "WHL_SPD11", 0),
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@ -119,16 +137,16 @@ class CarState(CarStateBase):
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("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
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("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
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("CF_Gway_DrvDrSw", "CGW1", 0), # Driver Door
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("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door
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("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door
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("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door
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("CF_Gway_TSigLHSw", "CGW1", 0),
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("CF_Gway_TurnSigLh", "CGW1", 0),
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("CF_Gway_TSigRHSw", "CGW1", 0),
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("CF_Gway_TurnSigRh", "CGW1", 0),
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("CF_Gway_ParkBrakeSw", "CGW1", 0),
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("BRAKE_ACT", "EMS12", 0),
|
||||
("PV_AV_CAN", "EMS12", 0),
|
||||
("CF_Ems_AclAct", "EMS16", 0),
|
||||
|
||||
("CYL_PRES", "ESP12", 0),
|
||||
|
||||
("CF_Clu_CruiseSwState", "CLU11", 0),
|
||||
|
|
@ -144,54 +162,76 @@ class CarState(CarStateBase):
|
|||
("CF_Clu_AmpInfo", "CLU11", 0),
|
||||
("CF_Clu_AliveCnt1", "CLU11", 0),
|
||||
|
||||
("CF_Clu_InhibitD", "CLU15", 0),
|
||||
("CF_Clu_InhibitP", "CLU15", 0),
|
||||
("CF_Clu_InhibitN", "CLU15", 0),
|
||||
("CF_Clu_InhibitR", "CLU15", 0),
|
||||
|
||||
("CF_Lvr_Gear", "LVR12",0),
|
||||
("CUR_GR", "TCU12",0),
|
||||
|
||||
("ACCEnable", "TCS13", 0),
|
||||
("ACC_REQ", "TCS13", 0),
|
||||
("BrakeLight", "TCS13", 0),
|
||||
("DriverBraking", "TCS13", 0),
|
||||
("DriverOverride", "TCS13", 0),
|
||||
|
||||
("ESC_Off_Step", "TCS15", 0),
|
||||
|
||||
("CF_Lvr_GearInf", "LVR11", 0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
|
||||
|
||||
("CR_Mdps_DrvTq", "MDPS11", 0),
|
||||
|
||||
("CR_Mdps_StrColTq", "MDPS12", 0),
|
||||
("CF_Mdps_ToiActive", "MDPS12", 0),
|
||||
("CF_Mdps_ToiUnavail", "MDPS12", 0),
|
||||
("CF_Mdps_FailStat", "MDPS12", 0),
|
||||
("CR_Mdps_OutTq", "MDPS12", 0),
|
||||
|
||||
("VSetDis", "SCC11", 0),
|
||||
("SCCInfoDisplay", "SCC11", 0),
|
||||
("ACCMode", "SCC12", 1),
|
||||
|
||||
("SAS_Angle", "SAS11", 0),
|
||||
("SAS_Speed", "SAS11", 0),
|
||||
|
||||
("MainMode_ACC", "SCC11", 0),
|
||||
("VSetDis", "SCC11", 0),
|
||||
("SCCInfoDisplay", "SCC11", 0),
|
||||
("ACC_ObjDist", "SCC11", 0),
|
||||
("ACCMode", "SCC12", 1),
|
||||
|
||||
("TPS", "EMS12", 0),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# address, frequency
|
||||
("MDPS12", 50),
|
||||
("MDPS11", 100),
|
||||
("TCS15", 10),
|
||||
("TCS13", 50),
|
||||
("TCS15", 10),
|
||||
("CLU11", 50),
|
||||
("ESP12", 100),
|
||||
("EMS12", 100),
|
||||
("EMS16", 100),
|
||||
("CGW1", 10),
|
||||
("CGW4", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SAS11", 100),
|
||||
("SCC11", 50),
|
||||
("SCC12", 50),
|
||||
("SAS11", 100)
|
||||
("EMS12", 100),
|
||||
]
|
||||
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
|
||||
signals += [
|
||||
("CF_Clu_InhibitD", "CLU15", 0),
|
||||
("CF_Clu_InhibitP", "CLU15", 0),
|
||||
("CF_Clu_InhibitN", "CLU15", 0),
|
||||
("CF_Clu_InhibitR", "CLU15", 0),
|
||||
]
|
||||
checks += [
|
||||
("CLU15", 5)
|
||||
]
|
||||
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
|
||||
signals += [
|
||||
("CUR_GR", "TCU12",0)
|
||||
]
|
||||
checks += [
|
||||
("TCU12", 100)
|
||||
]
|
||||
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
|
||||
signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
|
||||
checks += [("ELECT_GEAR", 20)]
|
||||
else:
|
||||
signals += [
|
||||
("CF_Lvr_Gear","LVR12",0)
|
||||
]
|
||||
checks += [
|
||||
("LVR12", 100)
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
|
|
@ -200,13 +240,13 @@ class CarState(CarStateBase):
|
|||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("CF_Lkas_Bca_R", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsSysState", "LKAS11", 0),
|
||||
("CF_Lkas_SysWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_HbaLamp", "LKAS11", 0),
|
||||
("CF_Lkas_FcwBasReq", "LKAS11", 0),
|
||||
("CF_Lkas_ToiFlt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaOpt", "LKAS11", 0),
|
||||
|
|
|
|||
|
|
@ -1,31 +1,47 @@
|
|||
import crcmod
|
||||
from selfdrive.car.hyundai.values import CHECKSUM
|
||||
from selfdrive.car.hyundai.values import CAR, CHECKSUM
|
||||
|
||||
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
|
||||
|
||||
def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
|
||||
values = {
|
||||
"CF_Lkas_Bca_R": 3 if enabled else 0,
|
||||
"CF_Lkas_LdwsSysState": 3 if steer_req else 1,
|
||||
"CF_Lkas_SysWarning": hud_alert,
|
||||
"CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_LdwsRHWarning": lkas11["CF_Lkas_LdwsRHWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_HbaLamp": lkas11["CF_Lkas_HbaLamp"] if keep_stock else 0,
|
||||
"CF_Lkas_FcwBasReq": lkas11["CF_Lkas_FcwBasReq"] if keep_stock else 0,
|
||||
"CR_Lkas_StrToqReq": apply_steer,
|
||||
"CF_Lkas_ActToi": steer_req,
|
||||
"CF_Lkas_ToiFlt": 0,
|
||||
"CF_Lkas_HbaSysState": lkas11["CF_Lkas_HbaSysState"] if keep_stock else 1,
|
||||
"CF_Lkas_FcwOpt": lkas11["CF_Lkas_FcwOpt"] if keep_stock else 0,
|
||||
"CF_Lkas_HbaOpt": lkas11["CF_Lkas_HbaOpt"] if keep_stock else 3,
|
||||
"CF_Lkas_MsgCount": cnt,
|
||||
"CF_Lkas_FcwSysState": lkas11["CF_Lkas_FcwSysState"] if keep_stock else 0,
|
||||
"CF_Lkas_FcwCollisionWarning": lkas11["CF_Lkas_FcwCollisionWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_FusionState": lkas11["CF_Lkas_FusionState"] if keep_stock else 0,
|
||||
"CF_Lkas_Chksum": 0,
|
||||
"CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
|
||||
"CF_Lkas_LdwsOpt_USM": lkas11["CF_Lkas_LdwsOpt_USM"] if keep_stock else 3,
|
||||
}
|
||||
|
||||
def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
|
||||
lkas11, sys_warning, sys_state, enabled,
|
||||
left_lane, right_lane,
|
||||
left_lane_depart, right_lane_depart):
|
||||
values = lkas11
|
||||
values["CF_Lkas_LdwsSysState"] = sys_state
|
||||
values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
|
||||
values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
|
||||
values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
|
||||
values["CR_Lkas_StrToqReq"] = apply_steer
|
||||
values["CF_Lkas_ActToi"] = steer_req
|
||||
values["CF_Lkas_ToiFlt"] = 0
|
||||
values["CF_Lkas_MsgCount"] = frame % 0x10
|
||||
values["CF_Lkas_Chksum"] = 0
|
||||
|
||||
if car_fingerprint == CAR.SONATA:
|
||||
values["CF_Lkas_Bca_R"] = int(left_lane) + (int(right_lane) << 1)
|
||||
values["CF_Lkas_LdwsOpt_USM"] = 2
|
||||
|
||||
# FcwOpt_USM 5 = Orange blinking car + lanes
|
||||
# FcwOpt_USM 4 = Orange car + lanes
|
||||
# FcwOpt_USM 3 = Green blinking car + lanes
|
||||
# FcwOpt_USM 2 = Green car + lanes
|
||||
# FcwOpt_USM 1 = White car + lanes
|
||||
# FcwOpt_USM 0 = No car + lanes
|
||||
values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
|
||||
|
||||
# 4 is keep hands on wheel
|
||||
# 5 is keep hands on wheel (red)
|
||||
# 6 is keep hands on wheel (red) + beep
|
||||
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
|
||||
|
||||
elif car_fingerprint == CAR.HYUNDAI_GENESIS:
|
||||
# This field is actually LdwsActivemode
|
||||
# Genesis and Optima fault when forwarding while engaged
|
||||
values["CF_Lkas_Bca_R"] = 2
|
||||
elif car_fingerprint == CAR.KIA_OPTIMA:
|
||||
values["CF_Lkas_Bca_R"] = 0
|
||||
|
||||
dat = packer.make_can_msg("LKAS11", 0, values)[2]
|
||||
|
||||
|
|
@ -36,7 +52,7 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
|
|||
elif car_fingerprint in CHECKSUM["6B"]:
|
||||
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
|
||||
checksum = sum(dat[:6]) % 256
|
||||
elif car_fingerprint in CHECKSUM["7B"]:
|
||||
else:
|
||||
# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
|
||||
checksum = (sum(dat[:6]) + dat[7]) % 256
|
||||
|
||||
|
|
@ -44,20 +60,29 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
|
|||
|
||||
return packer.make_can_msg("LKAS11", 0, values)
|
||||
|
||||
def create_clu11(packer, clu11, button):
|
||||
|
||||
def create_clu11(packer, frame, clu11, button):
|
||||
values = clu11
|
||||
values["CF_Clu_CruiseSwState"] = button
|
||||
values["CF_Clu_CruiseSwState"] = frame % 0x10
|
||||
return packer.make_can_msg("CLU11", 0, values)
|
||||
|
||||
|
||||
def create_lfa_mfa(packer, frame, enabled):
|
||||
values = {
|
||||
"CF_Clu_CruiseSwState": button,
|
||||
"CF_Clu_CruiseSwMain": clu11["CF_Clu_CruiseSwMain"],
|
||||
"CF_Clu_SldMainSW": clu11["CF_Clu_SldMainSW"],
|
||||
"CF_Clu_ParityBit1": clu11["CF_Clu_ParityBit1"],
|
||||
"CF_Clu_VanzDecimal": clu11["CF_Clu_VanzDecimal"],
|
||||
"CF_Clu_Vanz": clu11["CF_Clu_Vanz"],
|
||||
"CF_Clu_SPEED_UNIT": clu11["CF_Clu_SPEED_UNIT"],
|
||||
"CF_Clu_DetentOut": clu11["CF_Clu_DetentOut"],
|
||||
"CF_Clu_RheostatLevel": clu11["CF_Clu_RheostatLevel"],
|
||||
"CF_Clu_CluInfo": clu11["CF_Clu_CluInfo"],
|
||||
"CF_Clu_AmpInfo": clu11["CF_Clu_AmpInfo"],
|
||||
"CF_Clu_AliveCnt1": 0,
|
||||
"ACTIVE": enabled,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("CLU11", 0, values)
|
||||
# ACTIVE 1 = Green steering wheel icon
|
||||
|
||||
# LFA_USM 2 & 3 = LFA cancelled, fast loud beeping
|
||||
# LFA_USM 0 & 1 = No mesage
|
||||
|
||||
# LFA_SysWarning 1 = "Switching to HDA", short beep
|
||||
# LFA_SysWarning 2 = "Switching to Smart Cruise control", short beep
|
||||
# LFA_SysWarning 3 = LFA error
|
||||
|
||||
# ACTIVE2: nothing
|
||||
# HDA_USM: nothing
|
||||
|
||||
return packer.make_can_msg("LFAHDA_MFC", 0, values)
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_alerts, FINGERPRINTS
|
||||
from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
|
@ -20,9 +20,6 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.safetyModel = car.CarParams.SafetyModel.hyundai
|
||||
ret.radarOffCan = True
|
||||
|
||||
# Hyundai port is a community feature, since we don't own one to test
|
||||
ret.communityFeature = True
|
||||
|
||||
ret.steerActuatorDelay = 0.1 # Default delay
|
||||
ret.steerRateCost = 0.5
|
||||
ret.steerLimitTimer = 0.4
|
||||
|
|
@ -32,14 +29,20 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
ret.wheelbase = 2.766
|
||||
|
||||
# Values from optimizer
|
||||
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
|
||||
tire_stiffness_factor = 0.82
|
||||
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.SONATA:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 1513. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.84
|
||||
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.KIA_SORENTO:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 1985. + STD_CARGO_KG
|
||||
|
|
@ -48,7 +51,7 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.ELANTRA:
|
||||
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.mass = 1275. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.7
|
||||
|
|
@ -57,15 +60,21 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.GENESIS:
|
||||
elif candidate == CAR.HYUNDAI_GENESIS:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 2060. + STD_CARGO_KG
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
|
||||
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.KIA_OPTIMA:
|
||||
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
|
||||
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
|
||||
ret.mass = 2200
|
||||
ret.wheelbase = 3.15
|
||||
ret.steerRatio = 12.069
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
|
||||
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 3558. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.80
|
||||
|
|
@ -81,6 +90,48 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.KONA:
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.mass = 1275. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.73 #Spec
|
||||
tire_stiffness_factor = 0.385
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
elif candidate == CAR.IONIQ:
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.mass = 1275. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.73 #Spec
|
||||
tire_stiffness_factor = 0.385
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.KONA_EV:
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.mass = 1685. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.73 #Spec
|
||||
tire_stiffness_factor = 0.385
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
elif candidate == CAR.IONIQ_EV_LTD:
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.73 #Spec
|
||||
tire_stiffness_factor = 0.385
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.KIA_FORTE:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 3558. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.80
|
||||
ret.steerRatio = 13.75
|
||||
tire_stiffness_factor = 0.5
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
|
||||
|
|
@ -108,6 +159,7 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.buttonEvents = []
|
||||
|
||||
events = self.create_common_events(ret)
|
||||
#TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
|
|
@ -123,10 +175,8 @@ class CarInterface(CarInterfaceBase):
|
|||
return self.CS.out
|
||||
|
||||
def apply(self, c):
|
||||
|
||||
hud_alert = get_hud_alerts(c.hudControl.visualAlert)
|
||||
|
||||
can_sends = self.CC.update(c.enabled, self.CS, c.actuators,
|
||||
c.cruiseControl.cancel, hud_alert)
|
||||
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
||||
c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
|
||||
c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
|
|
|||
|
|
@ -1,5 +1,77 @@
|
|||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
from cereal import car
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.interfaces import RadarInterfaceBase
|
||||
from selfdrive.car.hyundai.values import DBC
|
||||
|
||||
|
||||
def get_radar_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("ACC_ObjStatus", "SCC11", 0),
|
||||
("ACC_ObjLatPos", "SCC11", 0),
|
||||
("ACC_ObjDist", "SCC11", 0),
|
||||
("ACC_ObjRelSpd", "SCC11", 0),
|
||||
]
|
||||
checks = [
|
||||
# address, frequency
|
||||
("SCC11", 50),
|
||||
]
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
pass
|
||||
def __init__(self, CP):
|
||||
# radar
|
||||
self.pts = {}
|
||||
self.delay = 0 # Delay of radar
|
||||
self.rcp = get_radar_can_parser(CP)
|
||||
self.updated_messages = set()
|
||||
self.trigger_msg = 0x420
|
||||
self.track_id = 0
|
||||
self.radar_off_can = CP.radarOffCan
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.radar_off_can:
|
||||
if 'NO_RADAR_SLEEP' not in os.environ:
|
||||
time.sleep(0.05) # radard runs on RI updates
|
||||
|
||||
return car.RadarData.new_message()
|
||||
|
||||
vls = self.rcp.update_strings(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
|
||||
rr = self._update(self.updated_messages)
|
||||
self.updated_messages.clear()
|
||||
|
||||
return rr
|
||||
|
||||
def _update(self, updated_messages):
|
||||
ret = car.RadarData.new_message()
|
||||
cpt = self.rcp.vl
|
||||
errors = []
|
||||
if not self.rcp.can_valid:
|
||||
errors.append("canError")
|
||||
ret.errors = errors
|
||||
|
||||
valid = cpt["SCC11"]['ACC_ObjStatus']
|
||||
if valid:
|
||||
for ii in range(2):
|
||||
if ii not in self.pts:
|
||||
self.pts[ii] = car.RadarData.RadarPoint.new_message()
|
||||
self.pts[ii].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[ii].dRel = cpt["SCC11"]['ACC_ObjDist'] # from front of car
|
||||
self.pts[ii].yRel = -cpt["SCC11"]['ACC_ObjLatPos'] # in car frame's y axis, left is negative
|
||||
self.pts[ii].vRel = cpt["SCC11"]['ACC_ObjRelSpd']
|
||||
self.pts[ii].aRel = float('nan')
|
||||
self.pts[ii].yvRel = float('nan')
|
||||
self.pts[ii].measured = True
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
return ret
|
||||
|
|
|
|||
|
|
@ -2,16 +2,7 @@ from cereal import car
|
|||
from selfdrive.car import dbc_dict
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
def get_hud_alerts(visual_alert):
|
||||
if visual_alert == VisualAlert.steerRequired:
|
||||
return 5
|
||||
else:
|
||||
return 0
|
||||
|
||||
# Steer torque limits
|
||||
|
||||
class SteerLimitParams:
|
||||
STEER_MAX = 255 # 409 is the max, 255 is stock
|
||||
STEER_DELTA_UP = 3
|
||||
|
|
@ -20,13 +11,26 @@ class SteerLimitParams:
|
|||
STEER_DRIVER_MULTIPLIER = 2
|
||||
STEER_DRIVER_FACTOR = 1
|
||||
|
||||
|
||||
class CAR:
|
||||
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
|
||||
GENESIS = "HYUNDAI GENESIS 2018"
|
||||
KIA_OPTIMA = "KIA OPTIMA SX 2019"
|
||||
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
|
||||
GENESIS_G80 = "GENESIS G80 2017"
|
||||
GENESIS_G90 = "GENESIS G90 2017"
|
||||
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
|
||||
IONIQ = "HYUNDAI IONIQ HYBRID PREMIUM 2017"
|
||||
IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
|
||||
KIA_FORTE = "KIA FORTE E 2018"
|
||||
KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
|
||||
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
|
||||
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
|
||||
KIA_STINGER = "KIA STINGER GT2 2018"
|
||||
KONA = "HYUNDAI KONA 2019"
|
||||
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
|
||||
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
|
||||
SANTA_FE_1 = "HYUNDAI SANTA FE has no scc"
|
||||
SONATA = "HYUNDAI SONATA 2020"
|
||||
|
||||
|
||||
class Buttons:
|
||||
NONE = 0
|
||||
|
|
@ -38,12 +42,42 @@ FINGERPRINTS = {
|
|||
CAR.ELANTRA: [{
|
||||
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
}],
|
||||
CAR.GENESIS: [{
|
||||
CAR.ELANTRA_GT_I30: [{
|
||||
66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8
|
||||
},
|
||||
{
|
||||
66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8
|
||||
},
|
||||
{
|
||||
66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
}],
|
||||
CAR.HYUNDAI_GENESIS: [{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
|
||||
},
|
||||
{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
|
||||
},
|
||||
{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4
|
||||
},
|
||||
{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
|
||||
},
|
||||
{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
|
||||
}],
|
||||
CAR.SANTA_FE: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
|
||||
},
|
||||
{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
|
||||
},
|
||||
{
|
||||
67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
|
||||
}],
|
||||
CAR.SONATA: [
|
||||
{67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3},
|
||||
],
|
||||
CAR.KIA_OPTIMA: [
|
||||
{
|
||||
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
|
|
@ -58,13 +92,39 @@ FINGERPRINTS = {
|
|||
CAR.KIA_STINGER: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
CAR.SANTA_FE: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
|
||||
CAR.GENESIS_G80: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
|
||||
},
|
||||
{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
|
||||
}
|
||||
],
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8
|
||||
},
|
||||
{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8
|
||||
}],
|
||||
CAR.GENESIS_G90: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
|
||||
}],
|
||||
CAR.IONIQ: [{
|
||||
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1173: 8, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1322: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470:8, 1476: 8, 1535: 8
|
||||
}],
|
||||
CAR.IONIQ_EV_LTD: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1425: 2, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1507: 8, 1535: 8
|
||||
}],
|
||||
CAR.KONA: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 909: 8, 916: 8, 1040: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8,1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2004: 8, 2009: 8, 2012: 8
|
||||
}],
|
||||
CAR.KONA_EV: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
|
||||
}],
|
||||
CAR.KIA_FORTE: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
CAR.KIA_OPTIMA_H: [{
|
||||
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
|
||||
},
|
||||
{
|
||||
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
|
||||
}],
|
||||
}
|
||||
|
||||
ECU_FINGERPRINT = {
|
||||
|
|
@ -72,23 +132,33 @@ ECU_FINGERPRINT = {
|
|||
}
|
||||
|
||||
CHECKSUM = {
|
||||
"crc8": [CAR.SANTA_FE],
|
||||
"6B": [CAR.KIA_SORENTO, CAR.GENESIS],
|
||||
"7B": [CAR.KIA_STINGER, CAR.ELANTRA, CAR.KIA_OPTIMA],
|
||||
"crc8": [CAR.SANTA_FE, CAR.SONATA],
|
||||
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
|
||||
}
|
||||
|
||||
FEATURES = {
|
||||
"use_cluster_gears": [CAR.ELANTRA], # Use Cluster for Gear Selection, rather than Transmission
|
||||
"use_tcu_gears": [CAR.KIA_OPTIMA], # Use TCU Message for Gear Selection
|
||||
"use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30], # Use Cluster for Gear Selection, rather than Transmission
|
||||
"use_tcu_gears": [CAR.KIA_OPTIMA], # Use TCU Message for Gear Selection
|
||||
"use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV], # Use TCU Message for Gear Selection
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 100
|
||||
STEER_THRESHOLD = 150
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
3523742130b9e0554bab4ac5bc5ab535f1342e90
|
||||
9638f1d5495e92b2d633a193f00a65f8268b170c
|
||||
|
|
@ -19,7 +19,7 @@ segments = [
|
|||
("TOYOTA", "77611a1fac303767|2020-02-29--13-29-33--3"), # TOYOTA.COROLLA_TSS2
|
||||
("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"), # GM.ACADIA
|
||||
("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"), # CHRYSLER.PACIFICA
|
||||
("HYUNDAI", "38bfd238edecbcd7|2018-08-29--22-02-15--4"), # HYUNDAI.SANTA_FE
|
||||
("HYUNDAI", "5b7c365c50084530|2020-04-15--16-13-24--3"), # HYUNDAI.SONATA
|
||||
#("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"), # CHRYSLER.JEEP_CHEROKEE
|
||||
("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"), # SUBARU.IMPREZA
|
||||
("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"), # VW.GOLF
|
||||
|
|
|
|||
|
|
@ -172,6 +172,10 @@ routes = {
|
|||
'carFingerprint': HYUNDAI.KIA_OPTIMA,
|
||||
'enableCamera': True,
|
||||
},
|
||||
"5b7c365c50084530|2020-04-15--16-13-24": {
|
||||
'carFingerprint': HYUNDAI.SONATA,
|
||||
'enableCamera': True,
|
||||
},
|
||||
"f7b6be73e3dfd36c|2019-05-12--18-07-16": {
|
||||
'carFingerprint': TOYOTA.AVALON,
|
||||
'enableCamera': False,
|
||||
|
|
@ -336,6 +340,7 @@ routes = {
|
|||
'carFingerprint': NISSAN.LEAF,
|
||||
'enableCamera': True,
|
||||
},
|
||||
|
||||
}
|
||||
|
||||
passive_routes = [
|
||||
|
|
@ -352,8 +357,8 @@ non_tested_cars = [
|
|||
CHRYSLER.JEEP_CHEROKEE,
|
||||
CHRYSLER.JEEP_CHEROKEE_2019,
|
||||
CHRYSLER.PACIFICA_2018,
|
||||
CHRYSLER.PACIFICA_2020,
|
||||
CHRYSLER.PACIFICA_2018_HYBRID,
|
||||
CHRYSLER.PACIFICA_2020,
|
||||
GM.CADILLAC_ATS,
|
||||
GM.HOLDEN_ASTRA,
|
||||
GM.MALIBU,
|
||||
|
|
@ -361,9 +366,19 @@ non_tested_cars = [
|
|||
HONDA.CRV,
|
||||
HONDA.RIDGELINE,
|
||||
HYUNDAI.ELANTRA,
|
||||
HYUNDAI.GENESIS,
|
||||
HYUNDAI.ELANTRA_GT_I30,
|
||||
HYUNDAI.GENESIS_G80,
|
||||
HYUNDAI.GENESIS_G90,
|
||||
HYUNDAI.HYUNDAI_GENESIS,
|
||||
HYUNDAI.IONIQ,
|
||||
HYUNDAI.IONIQ_EV_LTD,
|
||||
HYUNDAI.KIA_FORTE,
|
||||
HYUNDAI.KIA_OPTIMA,
|
||||
HYUNDAI.KIA_OPTIMA_H,
|
||||
HYUNDAI.KIA_SORENTO,
|
||||
HYUNDAI.KIA_STINGER,
|
||||
HYUNDAI.KONA,
|
||||
HYUNDAI.KONA_EV,
|
||||
TOYOTA.CAMRYH,
|
||||
TOYOTA.CHR,
|
||||
TOYOTA.CHRH,
|
||||
|
|
|
|||
Loading…
Reference in New Issue