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clearpilot: initial commit of full source

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Brian Hanson
2026-04-11 06:25:25 +00:00
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selfdrive/car/hyundai/hyundaicanfd.py Executable file
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from openpilot.common.numpy_fast import clip
from openpilot.selfdrive.car import CanBusBase
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
from openpilot.common.params import Params
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
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
# Im sure there is a better way to do this
params_memory = Params("/dev/shm/params")
no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1)
ret = []
values = {
"LKA_MODE": 2,
"LKA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0, # right mode icon
"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
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)
def create_buttons(packer, CP, CAN, cnt, btn):
values = {
"COUNTER": cnt,
"SET_ME_1": 1,
"CRUISE_BUTTONS": btn,
}
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
# null
# {'CHECKSUM': [], 'COUNTER': [], 'NEW_SIGNAL_1': [], 'SET_ME_1': [], 'DISTANCE_UNIT': [],
# 'NEW_SIGNAL_2': [], 'ADAPT
# IVE_CRUISE_MAIN_BTN': [], 'NEW_SIGNAL_3': [], 'LFA_BTN': [], 'CRUISE_BUTTONS': [],
# 'NEW_SIGNAL_4': [], 'NORMAL_CRUI
# SE_MAIN_BTN': [], 'NEW_SIGNAL_5': [], 'SET_ME_2': [], 'NEW_SIGNAL_6': [], 'BYTE6': [],
# 'BYTE7': [], 'BYTE8': [], 'B
# YTE9': [], 'BYTE10': [], 'BYTE11': [], 'BYTE12': [], 'BYTE13': [], 'BYTE14': [],
# 'BYTE15': []}
# holding down up button
# {'CHECKSUM': [5774.0], 'COUNTER': [63.0], 'NEW_SIGNAL_1': [0.0], 'SET_ME_1':
# [0.0], 'DISTANCE_UNIT': [1.0], 'NEW_SIGNAL_2': [4.0], 'ADAPTIVE_CRUISE_MAIN_BTN':
# [0.0], 'NEW_SIGNAL_3': [0.0], 'LFA_BTN': [0.0], 'CRUISE_BUTTONS': [1.0],
# 'NEW_SIGNAL_4': [0.0], 'NORMAL_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_5': [0.0],
# 'SET_ME_2': [2.0], 'NEW_SIGNAL_6': [1.0], 'BYTE6': [32.0], 'BYTE7': [0.0],
# 'BYTE8': [26.0], 'BYTE9': [0.0], 'BYTE10': [0.0], 'BYTE11': [0.0], 'BYTE12':
# [0.0], 'BYTE13': [0.0], 'BYTE14': [0.0], 'BYTE15': [0.0]}
# {'CHECKSUM': [14783.0], 'COUNTER': [150.0], 'NEW_SIGNAL_1': [0.0],
# 'SET_ME_1': [0.0], 'DISTANCE_UNIT': [1.0], 'NEW_
# SIGNAL_2': [6.0], 'ADAPTIVE_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_3': [0.0],
# 'LFA_BTN': [0.0], 'CRUISE_BUTTONS': [1.
# 0], 'NEW_SIGNAL_4': [0.0], 'NORMAL_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_5':
# [0.0], 'SET_ME_2': [2.0], 'NEW_SIGNAL_6
# ': [1.0], 'BYTE6': [37.0], 'BYTE7': [0.0], 'BYTE8': [30.0], 'BYTE9': [0.0],
# 'BYTE10': [0.0], 'BYTE11': [0.0], 'BYTE
# 12': [0.0], 'BYTE13': [0.0], 'BYTE14': [0.0], 'BYTE15': [0.0]}
# {'CHECKSUM': [61602.0], 'COUNTER': [153.0], 'NEW_SIGNAL_1': [0.0], 'SET_ME_1':
# [0.0], 'DISTANCE_UNIT': [1.0], 'NEW_
# SIGNAL_2': [0.0], 'ADAPTIVE_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_3': [0.0],
# 'LFA_BTN': [1.0], 'CRUISE_BUTTONS': [1.
# 0], 'NEW_SIGNAL_4': [0.0], 'NORMAL_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_5':
# [0.0], 'SET_ME_2': [2.0], 'NEW_SIGNAL_6
# ': [1.0], 'BYTE6': [38.0], 'BYTE7': [0.0], 'BYTE8': [31.0], 'BYTE9': [0.0],
# 'BYTE10': [0.0], 'BYTE11': [0.0], 'BYTE
# 12': [0.0], 'BYTE13': [0.0], 'BYTE14': [0.0], 'BYTE15': [0.0]}
def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
return
params_memory = Params("/dev/shm/params")
CarCruiseDisplayActual = params_memory.get_float("CarCruiseDisplayActual")
values = {
"COUNTER": cnt,
"NEW_SIGNAL_1": 0.0,
"DISTANCE_UNIT": 1.0,
"SET_ME_1": 0.0,
"NEW_SIGNAL_2": 0.0,
"ADAPTIVE_CRUISE_MAIN_BTN": 0.0,
"NEW_SIGNAL_3": 0.0,
"CRUISE_BUTTONS": 1.0, #btn * 1.0,
"NEW_SIGNAL_4": 0.0,
"NORMAL_CRUISE_MAIN_BTN": 0.0,
"NEW_SIGNAL_5": 0.0,
"SET_ME_2": 2.0,
"NEW_SIGNAL_5": 1.0,
# "BYTE_6": CarCruiseDisplayActual+1, # Target
# "BYTE_7": 0.0,
# "BYTE_8": CarCruiseDisplayActual, # Current cruise sets
# "BYTE_9": 0.0,
# "BYTE_10": 0.0,
# "BYTE_11": 0.0,
# "BYTE_12": 0.0,
# "BYTE_13": 0.0,
# "BYTE_14": 0.0,
# "BYTE_15": 0.0,
}
bus = CAN.ECAN # if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
# def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
# template.update({
# "CRUISE_BUTTONS": btn
# })
# bus = CAN.ECAN # if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
# return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, template)
def create_acc_set_speed(packer, CP, CAN, cruise_info_copy, speed):
# why are we executing this at all?
# 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": 1, # testing 1 instead of 4
"VSetDis": speed
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# This does nothing on the tucson
# 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, # testing 1 instead of 4
"aReqRaw": 0.0,
"aReqValue": 0.0,
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
# CLEARPILOT changed HDA icons
# This doesn't appear to do anything on my tucson
def create_lfahda_cluster(packer, CAN, experimental, lat_active):
values = {
"HDA_ICON": 0, # Literally shows HDA. Maybe we use this to indicate experimental mode
"LFA_ICON": 2 if experimental else 0
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
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)
def create_acc_control_alt(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)
# Disabled blinker messages
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
ret = []
return 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
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