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Hyundai CAN-FD: Add CAN fingerprint fallback checks for HDA2 detection #1285

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merged 9 commits into from
Sep 27, 2024
Merged

Hyundai CAN-FD: Add CAN fingerprint fallback checks for HDA2 detection #1285

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459bb6d
Hyundai CAN-FD: Add CAN fingerprint fallback checks for HDA2 detection
sunnyhaibin Sep 25, 2024
6ec9359
fix test
sunnyhaibin Sep 25, 2024
b2eca17
Merge remote-tracking branch 'commaai/opendbc/master' into hyundai-ca…
sunnyhaibin Sep 26, 2024
b657a96
just 1 source
sunnyhaibin Sep 26, 2024
ed5ca8f
update unit test
sunnyhaibin Sep 26, 2024
331e415
comment
sunnyhaibin Sep 26, 2024
db921e2
simplify
sunnyhaibin Sep 26, 2024
7b8f46c
move hda2 to the end of arg so it's cleaner
sunnyhaibin Sep 27, 2024
f0a4a50
Update opendbc/car/hyundai/interface.py
sunnyhaibin Sep 27, 2024
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6 changes: 5 additions & 1 deletion opendbc/car/hyundai/interface.py
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Expand Up @@ -18,7 +18,11 @@ class CarInterface(CarInterfaceBase):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
ret.carName = "hyundai"

hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
# Check the CAM bus fingerprint for known HDA2 steering messages (0x50 or 0x110) to determine if it is an HDA2 car.
# The hda2 flag to initialize CanBus is not critical here since we only care about CAM bus steering messages.
cam_can = CanBus(None, False, fingerprint).CAM
hda2 = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]

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CAN = CanBus(None, hda2, fingerprint)

if candidate in CANFD_CAR:
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14 changes: 9 additions & 5 deletions opendbc/car/hyundai/tests/test_hyundai.py
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Expand Up @@ -6,6 +6,7 @@
from opendbc.car.structs import CarParams
from opendbc.car.fw_versions import build_fw_dict
from opendbc.car.hyundai.interface import CarInterface
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
Expand Down Expand Up @@ -44,17 +45,20 @@
class TestHyundaiFingerprint:
def test_feature_detection(self):
# HDA2
for has_adas in (True, False):
car_fw = [CarParams.CarFw(ecu=Ecu.adas if has_adas else Ecu.fwdCamera)]
CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), car_fw, False, False)
assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == has_adas
for hda2 in (True, False):
fingerprint = gen_empty_fingerprint()
if hda2:
cam_can = CanBus(None, False, fingerprint).CAM
fingerprint[cam_can] = [0x50, 0x110] # HDA2 steering messages
CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False)
assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == hda2
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# radar available
for radar in (True, False):
fingerprint = gen_empty_fingerprint()
if radar:
fingerprint[1][RADAR_START_ADDR] = 8
CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, car_fw, False, False)
CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False)
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assert CP.radarUnavailable != radar

def test_can_features(self):
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