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Hyundai: split car controller by CAN FD #1990

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merged 5 commits into from
Mar 12, 2025
Merged

Hyundai: split car controller by CAN FD #1990

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76cbc90
split main can sends part
sshane Mar 12, 2025
2f2d529
use_clu11 was confusing
sshane Mar 12, 2025
b278569
better
sshane Mar 12, 2025
23afc52
bet
sshane Mar 12, 2025
25848f1
clean up
sshane Mar 12, 2025
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140 changes: 74 additions & 66 deletions opendbc/car/hyundai/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
from opendbc.car.common.conversions import Conversions as CV
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, CAR
from opendbc.car.interfaces import CarControllerBase
Expand Down Expand Up @@ -72,6 +71,7 @@ def update(self, CC, CS, now_nanos):
apply_torque = 0

# Hold torque with induced temporary fault when cutting the actuation bit
# FIXME: we don't use this with CAN FD?
torque_fault = CC.latActive and not apply_steer_req

self.apply_torque_last = apply_torque
Expand All @@ -81,10 +81,6 @@ def update(self, CC, CS, now_nanos):
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)

# HUD messages
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
hud_control)

can_sends = []

# *** common hyundai stuff ***
Expand All @@ -101,67 +97,13 @@ def update(self, CC, CS, now_nanos):
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))

# CAN-FD platforms
# *** CAN/CAN FD specific ***
if self.CP.flags & HyundaiFlags.CANFD:
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl

# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque))

# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and lka_steering:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))

# LFA and HDA icons
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))

# blinkers
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))

if self.CP.openpilotLongitudinalControl:
if lka_steering:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
else:
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control))
self.accel_last = accel
else:
# button presses
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
can_sends.extend(self.create_canfd_msgs(apply_steer_req, apply_torque, set_speed_in_units, accel,
stopping, hud_control, CS, CC))
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,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))

if not self.CP.openpilotLongitudinalControl:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))

if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
# TODO: unclear if this is needed
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, self.CP))

# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))

# 5 Hz ACC options
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))

# 2 Hz front radar options
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
can_sends.extend(self.create_can_msgs(apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel,
stopping, hud_control, actuators, CS, CC))

new_actuators = actuators.as_builder()
new_actuators.torque = apply_torque / self.params.STEER_MAX
Expand All @@ -171,9 +113,20 @@ def update(self, CC, CS, now_nanos):
self.frame += 1
return new_actuators, can_sends

def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool):
def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC):
can_sends = []
if use_clu11:

# HUD messages
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
hud_control)

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,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))

# Button messages
if not self.CP.openpilotLongitudinalControl:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif CC.cruiseControl.resume:
Expand All @@ -183,7 +136,62 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame

if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
# TODO: unclear if this is needed
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, self.CP))

# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))

# 5 Hz ACC options
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))

# 2 Hz front radar options
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))

return can_sends

def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, accel, stopping, hud_control, CS, CC):
can_sends = []

lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl

# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque))

# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and lka_steering:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))

# LFA and HDA icons
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))

# blinkers
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))

if self.CP.openpilotLongitudinalControl:
if lka_steering:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
else:
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control))
self.accel_last = accel
else:
# button presses
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel
if CC.cruiseControl.cancel:
Expand Down