Merge remote-tracking branch 'commaai/opendbc/master' into gv70-2022-…

…hda2

opendbc/car/hyundai/carcontroller.py

@@ -6,7 +6,7 @@
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.carstate import CarState
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR
 from opendbc.car.interfaces import CarControllerBase
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -103,7 +103,7 @@ def update(self, CC, CS, now_nanos):
         can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
 
     # CAN-FD platforms
-    if self.CP.carFingerprint in CANFD_CAR:
+    if self.CP.flags & HyundaiFlags.CANFD:
       hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 

opendbc/car/hyundai/carstate.py

@@ -7,8 +7,7 @@
 from opendbc.car import create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
-                                                   CANFD_CAR, Buttons, CarControllerParams
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, Buttons, CarControllerParams
 from opendbc.car.interfaces import CarStateBase
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -33,11 +32,11 @@ def __init__(self, CP):
                           "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
                           "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
                           "GEAR_SHIFTER"
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & HyundaiFlags.CANFD:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
+    elif self.CP.flags & HyundaiFlags.TCU_GEARS:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
     else:  # preferred and elect gear methods use same definition
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
@@ -59,11 +58,11 @@ def __init__(self, CP):
     self.params = CarControllerParams(CP)
 
   def update(self, cp, cp_cam, *_) -> structs.CarState:
-    if self.CP.carFingerprint in CANFD_CAR:
+    if self.CP.flags & HyundaiFlags.CANFD:
       return self.update_canfd(cp, cp_cam)
 
     ret = structs.CarState()
-    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
+    cp_cruise = cp_cam if self.CP.flags & HyundaiFlags.CAMERA_SCC else cp
     self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
     speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
 
@@ -142,9 +141,9 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     # as this seems to be standard over all cars, but is not the preferred method.
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
+    elif self.CP.flags & HyundaiFlags.TCU_GEARS:
       gear = cp.vl["TCU12"]["CUR_GR"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@@ -263,7 +262,7 @@ def update_canfd(self, cp, cp_cam) -> structs.CarState:
     return ret
 
   def get_can_parser(self, CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & HyundaiFlags.CANFD:
       return self.get_can_parser_canfd(CP)
 
     messages = [
@@ -282,7 +281,7 @@ def get_can_parser(self, CP):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
+    if not CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CAMERA_SCC):
       messages += [
         ("SCC11", 50),
         ("SCC12", 50),
@@ -303,9 +302,9 @@ def get_can_parser(self, CP):
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("ELECT_GEAR", 20))
-    elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    elif CP.flags & HyundaiFlags.CLUSTER_GEARS:
       pass
-    elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
+    elif CP.flags & HyundaiFlags.TCU_GEARS:
       messages.append(("TCU12", 100))
     else:
       messages.append(("LVR12", 100))
@@ -314,14 +313,14 @@ def get_can_parser(self, CP):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & HyundaiFlags.CANFD:
       return CarState.get_cam_can_parser_canfd(CP)
 
     messages = [
       ("LKAS11", 100)
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
+    if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAMERA_SCC:
       messages += [
         ("SCC11", 50),
         ("SCC12", 50),

opendbc/car/hyundai/fingerprints.py

@@ -1075,6 +1075,7 @@
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.03 99211-CU000 221118',
+      b'\xf1\x00JW1 MFC  AT AUS RHD 1.00 1.03 99211-CU100 221118',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',

opendbc/car/hyundai/interface.py

@@ -1,8 +1,8 @@
 from panda import Panda
 from opendbc.car import get_safety_config, structs
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
-                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, LEGACY_SAFETY_MODE_CAR, \
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.interfaces import CarInterfaceBase
@@ -22,7 +22,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     hda2 = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
     CAN = CanBus(None, fingerprint, hda2)
 
-    if candidate in CANFD_CAR:
+    if ret.flags & HyundaiFlags.CANFD:
       # Shared configuration for CAN-FD cars
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
@@ -39,7 +39,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         # non-HDA2
         if 0x1cf not in fingerprint[CAN.ECAN]:
           ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
-        if candidate not in CANFD_RADAR_SCC_CAR:
+        if not ret.flags & HyundaiFlags.RADAR_SCC:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
 
       # Some HDA2 cars have alternative messages for gear checks
@@ -77,13 +77,13 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
         ret.flags |= HyundaiFlags.USE_FCA.value
 
-      if candidate in LEGACY_SAFETY_MODE_CAR:
+      if ret.flags & HyundaiFlags.LEGACY:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
         ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
       else:
         ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
 
-      if candidate in CAMERA_SCC_CAR:
+      if ret.flags & HyundaiFlags.CAMERA_SCC:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
     # Common lateral control setup
@@ -93,6 +93,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    if ret.flags & HyundaiFlags.ALT_LIMITS:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
+
     # Common longitudinal control setup
 
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
@@ -116,10 +119,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     if candidate == CAR.KIA_OPTIMA_G4_FL:
       ret.steerActuatorDelay = 0.2
 
-    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
-      ret.flags |= HyundaiFlags.ALT_LIMITS.value
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
-
     # Dashcam cars are missing a test route, or otherwise need validation
     # TODO: Optima Hybrid 2017 uses a different SCC12 checksum
     ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }

opendbc/car/hyundai/tests/test_hyundai.py

@@ -2,6 +2,7 @@
 
 import pytest
 
+from panda import Panda
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
@@ -61,6 +62,13 @@ def test_feature_detection(self):
       CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False)
       assert CP.radarUnavailable != radar
 
+  def test_alternate_limits(self):
+    # Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
+    fingerprint = gen_empty_fingerprint()
+    for car_model in CAR:
+      CP = CarInterface.get_params(car_model, fingerprint, [], False, False)
+      assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_ALT_LIMITS)
+
   def test_can_features(self):
     # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
     assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()

opendbc/car/hyundai/values.py

@@ -25,7 +25,7 @@ def __init__(self, CP):
     self.STEER_THRESHOLD = 150
     self.STEER_STEP = 1  # 100 Hz
 
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & HyundaiFlags.CANFD:
       self.STEER_MAX = 270
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
@@ -78,6 +78,7 @@ class HyundaiFlags(IntFlag):
 
   # The radar does SCC on these cars when HDA I, rather than the camera
   RADAR_SCC = 2 ** 14
+  # The camera does SCC on these cars, rather than the radar
   CAMERA_SCC = 2 ** 15
   CHECKSUM_CRC8 = 2 ** 16
   CHECKSUM_6B = 2 ** 17
@@ -88,6 +89,8 @@ class HyundaiFlags(IntFlag):
   # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
   UNSUPPORTED_LONGITUDINAL = 2 ** 19
 
+  # These CAN FD cars do not accept communication control to disable the ADAS ECU,
+  # responds with 0x7F2822 - 'conditions not correct'
   CANFD_NO_RADAR_DISABLE = 2 ** 20
 
   CLUSTER_GEARS = 2 ** 21
@@ -217,17 +220,17 @@ class CAR(Platforms):
   HYUNDAI_KONA = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))],
     CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CLUSTER_GEARS,
+    flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.ALT_LIMITS,
   )
   HYUNDAI_KONA_EV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV,
+    flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
   )
   HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
     CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
+    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
   )
   HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
@@ -238,7 +241,7 @@ class CAR(Platforms):
   HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
     CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID,
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.ALT_LIMITS,
   )
   HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
@@ -498,9 +501,9 @@ class CAR(Platforms):
   GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
     ],
-    CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
+    CarSpecs(mass=2205, wheelbase=2.9, steerRatio=17.6),
     flags=HyundaiFlags.EV,
   )
   GENESIS_G70 = HyundaiPlatformConfig(
@@ -745,13 +748,10 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 }
 
 CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
-CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)
+CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
 
-# These CAN FD cars do not accept communication control to disable the ADAS ECU,
-# responds with 0x7F2822 - 'conditions not correct'
-CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)
+CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
 
-# The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
 
 HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)
@@ -760,6 +760,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 
 LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
 
+# TODO: another PR with (HyundaiFlags.LEGACY | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.CAMERA_SCC |
+#       HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
 
 DBC = CAR.create_dbc_map()