from openpilot.common.numpy_fast import clip
from openpilot.selfdrive.car import CanBusBase
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
[docs]
class CanBus(CanBusBase):
def __init__(self, CP, hda2=None, fingerprint=None) -> None:
super().__init__(CP, fingerprint)
if hda2 is None:
assert CP is not None
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split
# a different bus, since the steering is done by different ECUs.
self._a, self._e = 1, 0
if hda2:
self._a, self._e = 0, 1
self._a += self.offset
self._e += self.offset
self._cam = 2 + self.offset
@property
def ECAN(self):
return self._e
@property
def ACAN(self):
return self._a
@property
def CAM(self):
return self._cam
[docs]
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
ret = []
values = {
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1,
"TORQUE_REQUEST": apply_steer,
"LKA_ASSIST": 0,
"STEER_REQ": 1 if lat_active else 0,
"STEER_MODE": 0,
"HAS_LANE_SAFETY": 0, # hide LKAS settings
"NEW_SIGNAL_1": 0,
"NEW_SIGNAL_2": 0,
}
if CP.flags & HyundaiFlags.CANFD_HDA2:
hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
else:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret
[docs]
def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
msg_bytes = 32 if hda2_alt_steering else 24
values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
values["SET_ME_0"] = 0
values["SET_ME_0_2"] = 0
values["LEFT_LANE_LINE"] = 0
values["RIGHT_LANE_LINE"] = 0
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
[docs]
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# TODO: why do we copy different values here?
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"NEW_SIGNAL_1",
"MainMode_ACC",
"ACCMode",
"ZEROS_9",
"CRUISE_STANDSTILL",
"ZEROS_5",
"DISTANCE_SETTING",
"VSetDis",
]}
else:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"ACCMode",
"VSetDis",
"CRUISE_STANDSTILL",
]}
values.update({
"ACCMode": 4,
"aReqRaw": 0.0,
"aReqValue": 0.0,
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
[docs]
def create_lfahda_cluster(packer, CAN, enabled):
values = {
"HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 2 if enabled else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
[docs]
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
a_val, a_raw = 0, 0
else:
a_raw = accel
a_val = clip(accel, accel_last - jn, accel_last + jn)
values = {
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
"MainMode_ACC": 1,
"StopReq": 1 if stopping else 0,
"aReqValue": a_val,
"aReqRaw": a_raw,
"VSetDis": set_speed,
"JerkLowerLimit": jerk if enabled else 1,
"JerkUpperLimit": 3.0,
"ACC_ObjDist": 1,
"ObjValid": 0,
"OBJ_STATUS": 2,
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
"DISTANCE_SETTING": hud_control.leadDistanceBars,
}
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
[docs]
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
ret = []
values = {
}
ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
blink = 0
if left_blink:
blink = 3
elif right_blink:
blink = 4
values = {
"BLINKER_CONTROL": blink,
}
ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
return ret
[docs]
def create_adrv_messages(packer, CAN, frame):
# messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control
ret = []
values = {
}
ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
if frame % 2 == 0:
values = {
'AEB_SETTING': 0x1, # show AEB disabled icon
'SET_ME_2': 0x2,
'SET_ME_FF': 0xff,
'SET_ME_FC': 0xfc,
'SET_ME_9': 0x9,
}
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
if frame % 5 == 0:
values = {
'SET_ME_1C': 0x1c,
'SET_ME_FF': 0xff,
'SET_ME_TMP_F': 0xf,
'SET_ME_TMP_F_2': 0xf,
}
ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
values = {
'SET_ME_E1': 0xe1,
'SET_ME_3A': 0x3a,
}
ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
if frame % 20 == 0:
values = {
'SET_ME_15': 0x15,
}
ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
if frame % 100 == 0:
values = {
'SET_ME_22': 0x22,
'SET_ME_41': 0x41,
}
ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
return ret