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Hyundai CAN FD: universal BSM detection (#3247)

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* Hyundai CAN FD: improve blindspot detection

* new detection

* update name

* update dbc

* bool it
This commit is contained in:
Jason Wen
2026-03-27 23:53:00 -07:00
committed by GitHub
parent 8d8f1dded9
commit 76cecd38c6
3 changed files with 29 additions and 15 deletions
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4
opendbc/car/hyundai/carstate.py
View File

@@ -250,8 +250,8 @@ class CarState(CarStateBase):
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
cp.vl["BLINKERS"][right_blinker_sig])
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
ret.leftBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_LtIndSta"])
ret.rightBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_RtIndSta"])
# cruise state
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement

2
opendbc/car/hyundai/interface.py
View File

@@ -41,7 +41,7 @@ class CarInterface(CarInterfaceBase):
# this needs to be figured out for cars without an ADAS ECU
ret.alphaLongitudinalAvailable = False
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
ret.enableBsm = 0x1ba in fingerprint[CAN.ECAN]
# Check if the car is hybrid. Only HEV/PHEV cars have 0xFA on E-CAN.
if 0xFA in fingerprint[CAN.ECAN]:

38
opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
View File

@@ -454,19 +454,33 @@ BO_ 437 FR_CMR_03_50ms: 32 FR_CMR
SG_ Relative_Velocity : 200|12@1+ (0.05,-100) [-100|104.75] "m/s" XXX
SG_ Longitudinal_Distance : 212|12@1+ (0.05,0) [0|204.75] "m" XXX
BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX
SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX
SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX
BO_ 442 ADAS_CMD_50_50ms: 24 XXX
SG_ ADAS_CMD_Crc50Val : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ ADAS_CMD_AlvCnt50Val : 16|8@1+ (1,0) [0|255] "" XXX
SG_ BCW_Sta : 24|1@0+ (1,0) [0|1] "" XXX
SG_ BCW_OnOffEquipSta : 28|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_LtIndSta : 30|1@0+ (1,0) [0|3] "" XXX
SG_ BCW_RtIndSta : 32|1@1+ (1,0) [0|3] "" XXX
SG_ BCW_LtSndWrngSta : 34|2@1+ (1,0) [0|3] "" XXX
SG_ BCW_RtSndWrngSta : 36|10@1+ (1,0) [0|1023] "" XXX
SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
SG_ FL_INDICATOR_ALT : 138|1@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR_ALT : 141|1@0+ (1,0) [0|1] "" XXX
SG_ FR_INDICATOR : 54|2@0+ (1,0) [0|3] "" XXX
SG_ BCW_SnstvtyModRetVal : 56|3@1+ (1,0) [0|7] "" XXX
SG_ BCW_IndSta : 59|3@1+ (1,0) [0|7] "" XXX
SG_ BCA_OnOffEquip2Sta : 62|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Sta : 64|1@0+ (1,0) [0|1] "" XXX
SG_ BCA_OnOffEquipSta : 68|1@0+ (1,0) [0|1] "" XXX
SG_ BCA_DRV_WarnSta : 76|4@1+ (1,0) [0|15] "" XXX
SG_ BCA_Plus_Deccel_Req : 80|4@1+ (1,0) [0|15] "" XXX
SG_ BCA_Plus_BrkCmdSta : 84|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Plus_LtWrngSta : 86|2@1+ (1,0) [0|3] "" XXX
SG_ BCA_Plus_RtWrngSta : 88|5@1+ (1,0) [0|31] "" XXX
SG_ BCA_Plus_FuncStat : 93|3@1+ (1,0) [0|7] "" XXX
SG_ BCA_Plus_Sta : 96|1@0+ (1,0) [0|1] "" XXX
SG_ Brake_Control_RL : 110|2@1+ (1,0) [0|3] "" XXX
SG_ Brake_Control_RR : 118|2@1+ (1,0) [0|3] "" XXX
SG_ OSMrrLamp_LtIndSta : 128|2@1+ (1,0) [0|3] "" XXX
SG_ OSMrrLamp_RtIndSta : 130|6@1+ (1,0) [0|63] "" XXX
BO_ 463 CRUISE_BUTTONS: 8 XXX
SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX