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HDA2 enable #237

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b52bf0d
fix.. carrot_man..
ajouatom Dec 15, 2025
f19fdad
test blinker (left)_
ajouatom Dec 17, 2025
f1bac28
fix.
ajouatom Dec 17, 2025
703e310
5w autolane cluster test
thftgr Dec 17, 2025
cd13bf6
차선변경 적용, 커브 반영
thftgr Dec 17, 2025
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옆두부
thftgr Dec 18, 2025
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thftgr Dec 21, 2025
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18 changes: 9 additions & 9 deletions opendbc_repo/opendbc/car/hyundai/carcontroller.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,7 @@ def update(self, CC, CS, now_nanos):
self.steerDeltaDownLC = steerDeltaDownLC
else:
self.steerDeltaDownLC = self.steerDeltaDown

self.soft_hold_mode = 1 if params.get_int("AutoCruiseControl") > 1 else 2
self.hapticFeedbackWhenSpeedCamera = int(params.get_int("HapticFeedbackWhenSpeedCamera"))

Expand All @@ -184,7 +184,7 @@ def update(self, CC, CS, now_nanos):
else:
self.params.STEER_DELTA_UP = self.steerDeltaUp
self.params.STEER_DELTA_DOWN = self.steerDeltaDown

angle_control = self.CP.flags & HyundaiFlags.ANGLE_CONTROL

# steering torque
Expand All @@ -196,7 +196,7 @@ def update(self, CC, CS, now_nanos):
self.angle_limit_counter, self.max_angle_frames,
MAX_ANGLE_CONSECUTIVE_FRAMES)

#apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
#apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
# CS.out.steeringAngleDeg, CC.latActive, self.params.ANGLE_LIMITS)

MAX_LAT_ACCEL = 8.0
Expand All @@ -211,7 +211,7 @@ def update(self, CC, CS, now_nanos):
rate_deg_s = calc_rate_limit_by_lat_accel(self.apply_angle_last, CS.out.vEgoRaw, self.CP.wheelbase, MAX_LAT_ACCEL, MAX_RATE_LOW, MAX_RATE_HIGH)
if not same_dir:
rate_deg_s = min(rate_deg_s * UNWIND_SCALE, UNWIND_MAX)

rate_deg_per_tick = rate_deg_s * DT_CTRL
apply_angle = np.clip(actuators.steeringAngleDeg,
self.apply_angle_last - rate_deg_per_tick,
Expand Down Expand Up @@ -274,7 +274,7 @@ def update(self, CC, CS, now_nanos):

active_speed_decel = hud_control.activeCarrot == 3 and self.activeCarrot != 3 # 3: Speed Decel
self.activeCarrot = hud_control.activeCarrot
if active_speed_decel and self.speedCameraHapticEndFrame < 0: # 과속카메라 감속시작
if active_speed_decel and self.speedCameraHapticEndFrame < 0: # 과속카메라 감속시작
self.speedCameraHapticEndFrame = self.frame + (8.0 / DT_CTRL) #8초간 켜줌.
elif not active_speed_decel:
self.speedCameraHapticEndFrame = -1
Expand Down Expand Up @@ -331,7 +331,7 @@ def update(self, CC, CS, now_nanos):

# LFA and HDA icons
if self.frame % 5 == 0 and camera_scc:
can_sends.extend(hyundaicanfd.create_lfahda_cluster(self.packer, CS, self.CAN, CC.longActive, CC.latActive))
can_sends.extend(hyundaicanfd.create_lfahda_cluster(self.packer, CS, self.CAN, CC.longActive, CC.latActive, self.canfd_debug))

# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
Expand Down Expand Up @@ -365,7 +365,7 @@ def update(self, CC, CS, now_nanos):
can_sends.extend(hyundaicanfd.forward_button_message(self.packer, self.CAN, self.frame, CS, send_button, self.MainMode_ACC_trigger, self.LFA_trigger))
else:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))

else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
Expand All @@ -384,7 +384,7 @@ def update(self, CC, CS, now_nanos):
#jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
if camera_scc:

can_sends.extend(hyundaican.create_acc_commands_scc(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, casper_opt, CS, self.soft_hold_mode))
Expand Down Expand Up @@ -609,7 +609,7 @@ def check_carrot_cruise(self, CC, CS, hud_control, stopping, accel, a_target):
self.carrot_cruise_accel = max(carrot_cruise, self.carrot_cruise_accel - 1.0 * DT_CTRL) # 점진적으로 줄임.
if self.carrot_cruise == 0:
self.carrot_cruise_accel = CS.out.aEgo

def make_jerk(self, CP, CS, accel, actuators, hud_control):
if actuators.longControlState == LongCtrlState.stopping:
self.jerk = self.jerk_u_min / 2 - CS.out.aEgo
Expand Down
34 changes: 26 additions & 8 deletions opendbc_repo/opendbc/car/hyundai/carstate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,12 @@ def __init__(self, CP):
self.adrv_info_160 = None
self.adrv_info_162 = None
self.hda_info_4a3 = None
self.cluster_speed_limit = None
self.new_msg_4b4 = None

self.hda2_counter = 99
self.new_msg_4b9 = None

self.tcs_info_373 = None
self.mdps_info = {}
self.steer_touch_info = {}
Expand Down Expand Up @@ -123,7 +128,7 @@ def __init__(self, CP):

fingerprints_str = Params().get("FingerPrints", encoding='utf-8')
fingerprints = ast.literal_eval(fingerprints_str)
#print("fingerprints =", fingerprints)
# print("fingerprints =", fingerprints)
ecu_disabled = False
if self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC):
ecu_disabled = True
Expand All @@ -138,7 +143,7 @@ def __init__(self, CP):
self.SCC14 = True if 905 in fingerprints[bus_cruise] else False
self.FCA11 = False
self.FCA11_bus = Bus.cam

self.HAS_LFA_BUTTON = True if 913 in fingerprints[0] else False
self.CRUISE_BUTTON_ALT = True if 1007 in fingerprints[0] else False

Expand All @@ -151,8 +156,10 @@ def __init__(self, CP):
self.ADRV_0x1ea = True if 0x1ea in fingerprints[cam_bus] else False
self.ADRV_0x160 = True if 0x160 in fingerprints[cam_bus] else False
self.LFAHDA_CLUSTER = True if 480 in fingerprints[cam_bus] else False
self.CLUSTER_SPEED_LIMIT = True if 0x1fa in fingerprints[pt_bus] else False
self.HDA_INFO_4A3 = True if 0x4a3 in fingerprints[pt_bus] else False
self.NEW_MSG_4B4 = True if 0x4b4 in fingerprints[pt_bus] else False

self.GEAR = True if 69 in fingerprints[pt_bus] else False
self.GEAR_ALT = True if 64 in fingerprints[pt_bus] else False
self.CAM_0x362 = True if 0x362 in fingerprints[alt_bus] else False
Expand All @@ -163,7 +170,7 @@ def __init__(self, CP):

self.cp_bsm = None
self.time_zone = "UTC"

self.controls_ready_count = 0

def update(self, can_parsers) -> structs.CarState:
Expand Down Expand Up @@ -459,7 +466,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
ret.steeringAngleDeg = cp.vl["MDPS"]["STEERING_ANGLE_2"] * -1
else:
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1

ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
Expand All @@ -470,7 +477,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
if self.STEER_TOUCH_2AF:
self.steer_touch_info = cp.vl["STEER_TOUCH_2AF"]

blinkers_info = cp.vl["BLINKERS"]
blinkers_info = cp.vl["BLINKERS"]
left_blinker_lamp = blinkers_info["LEFT_LAMP"] or blinkers_info["LEFT_LAMP_ALT"]
right_blinker_lamp = blinkers_info["RIGHT_LAMP"] or blinkers_info["RIGHT_LAMP_ALT"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, left_blinker_lamp, right_blinker_lamp)
Expand All @@ -497,7 +504,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
self.MainMode_ACC = cp_cam.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
self.ACCMode = cp_cam.vl["SCC_CONTROL"]["ACCMode"]
self.LFA_ICON = cp_cam.vl["LFAHDA_CLUSTER"]["HDA_LFA_SymSta"]

if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
Expand All @@ -524,7 +531,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:

if self.LFAHDA_CLUSTER:
self.lfahda_cluster_info = cp_cam.vl["LFAHDA_CLUSTER"]

corner = False
self.adrv_info_161 = cp_cam.vl["ADRV_0x161"] if self.CCNC_0x161 else None
self.adrv_info_162 = cp_cam.vl["CCNC_0x162"] if self.CCNC_0x162 else None
Expand All @@ -545,8 +552,10 @@ def update_canfd(self, can_parsers) -> structs.CarState:
ret.leftLatDist = self.adrv_info_1ea["LF_DETECT_LATERAL"]
ret.rightLatDist = self.adrv_info_1ea["RF_DETECT_LATERAL"]
self.adrv_info_160 = cp_cam.vl["ADRV_0x160"] if self.ADRV_0x160 else None
self.cluster_speed_limit = cp.vl["CLUSTER_SPEED_LIMIT"] if self.CLUSTER_SPEED_LIMIT else None

self.hda_info_4a3 = cp.vl["HDA_INFO_4A3"] if self.HDA_INFO_4A3 else None

if self.hda_info_4a3 is not None:
speedLimit = self.hda_info_4a3["SPEED_LIMIT"]
if not self.is_metric:
Expand All @@ -560,8 +569,17 @@ def update_canfd(self, can_parsers) -> structs.CarState:
self.time_zone = ZoneInfo(NUMERIC_TO_TZ.get(country_code, "UTC"))

self.new_msg_4b4 = cp.vl["NEW_MSG_4B4"] if self.NEW_MSG_4B4 else None

# self.new_msg_4b8 = cp.vl["NEW_MSG_4B8"] # if self.NEW_MSG_4B8 else None
# self.new_msg_4b9 = cp.vl["NEW_MSG_4B9"] # if self.NEW_MSG_4B9 else None
# self.new_msg_4ba = cp.vl["NEW_MSG_4BA"] # if self.NEW_MSG_4BA else None
# self.new_msg_4be = cp.vl["NEW_MSG_4BE"] # if self.NEW_MSG_4BE else None
# self.new_msg_4bf = cp.vl["NEW_MSG_4BF"] # if self.NEW_MSG_4BF else None
# self.new_msg_4c1 = cp.vl["NEW_MSG_4C1"] # if self.NEW_MSG_4C1 else None
# self.new_msg_4dc = cp.vl["NEW_MSG_4DC"] # if self.NEW_MSG_4DC else None

self.tcs_info_373 = cp.vl["TCS"]

ret.gearStep = cp.vl["GEAR"]["GEAR_STEP"] if self.GEAR else 0
if 1 <= ret.gearStep <= 8 and ret.gearShifter == GearShifter.unknown:
ret.gearShifter = GearShifter.drive
Expand Down
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