Merge pull request commaai#2 from emmertex/hyundai-dev

Merge changes from emmertex/hyundai-dev ...9-12-18

README.md

@@ -46,8 +46,8 @@ Supported Cars
 | Acura              | ILX 2016              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
 | Acura              | ILX 2017              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
 | Acura              | RDX 2018              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| GM<sup>3</sup>     | Volt 2017             | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
-| GM<sup>3</sup>     | Volt 2018             | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>     | Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>     | Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
 | Honda              | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
 | Honda              | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
 | Honda              | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
@@ -77,7 +77,7 @@ Supported Cars
 | Toyota             | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
 | Toyota             | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
 | Toyota             | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 | Toyota             | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 | Toyota             | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 | Toyota             | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |

RELEASES.md

@@ -2,7 +2,7 @@ Version 0.5.3 (2018-09-03)
 ========================
  * Hyundai Santa Fe support!
  * Honda Pilot 2019 support thanks to energee!
- * Toyota Hyghlander support thanks to daehahn!
+ * Toyota Highlander support thanks to daehahn!
  * Improve steering tuning for Honda Odyssey
 
 Version 0.5.2 (2018-08-16)

selfdrive/car/gm/carcontroller.py

@@ -55,7 +55,7 @@ def actuator_hystereses(final_pedal, pedal_steady):
 
 
 class CarController(object):
-  def __init__(self, canbus, car_fingerprint):
+  def __init__(self, canbus, car_fingerprint, allow_controls):
     self.pedal_steady = 0.
     self.start_time = sec_since_boot()
     self.chime = 0
@@ -64,6 +64,7 @@ def __init__(self, canbus, car_fingerprint):
     self.steer_idx = 0
     self.apply_steer_last = 0
     self.car_fingerprint = car_fingerprint
+    self.allow_controls = allow_controls
 
     # Setup detection helper. Routes commands to
     # an appropriate CAN bus number.
@@ -77,6 +78,10 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
              hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
     """ Controls thread """
 
+    # Sanity check.
+    if not self.allow_controls:
+      return
+
     P = self.params
 
     # Send CAN commands.

selfdrive/car/gm/interface.py

@@ -21,19 +21,17 @@ class CM:
   LOW_CHIME = 0x86
   HIGH_CHIME = 0x87
 
-# GM cars have 4 CAN buses, which creates many ways
-# of how the car can be connected to.
-# This ia a helper class for the interface to be setup-agnostic.
-# Supports single Panda setup (connected to OBDII port),
-# and a CAN forwarding setup (connected to camera module connector).
-
 class CanBus(object):
   def __init__(self):
     self.powertrain = 0
     self.obstacle = 1
     self.chassis = 2
     self.sw_gmlan = 3
 
+# 384 = "ASCMLKASteeringCmd"
+# 715 = "ASCMGasRegenCmd"
+CONTROL_MSGS = [384, 715]
+
 class CarInterface(object):
   def __init__(self, CP, sendcan=None):
     self.CP = CP
@@ -54,7 +52,7 @@ def __init__(self, CP, sendcan=None):
     # sending if read only is False
     if sendcan is not None:
       self.sendcan = sendcan
-      self.CC = CarController(canbus, CP.carFingerprint)
+      self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -73,8 +71,11 @@ def get_params(candidate, fingerprint):
 
     ret.enableCruise = False
 
-    # TODO: gate this on detection
-    ret.enableCamera = True
+    # Presence of a camera on the object bus is ok.
+    # Have to go passive if ASCM is online (ACC-enabled cars),
+    # or camera is on powertrain bus (LKA cars without ACC).
+    ret.enableCamera = not any(x for x in CONTROL_MSGS if x in fingerprint)
+
     std_cargo = 136
 
     if candidate == CAR.VOLT:

selfdrive/car/hyundai/carstate.py

@@ -44,6 +44,11 @@ def get_can_parser(CP):
     ("CF_Clu_AmpInfo", "CLU11", 0),
     ("CF_Clu_AliveCnt1", "CLU11", 0),
 
+    ("CF_Clu_InhibitD", "CLU15", 0),
+    ("CF_Clu_InhibitP", "CLU15", 0),
+    ("CF_Clu_InhibitN", "CLU15", 0),
+    ("CF_Clu_InhibitR", "CLU15", 0),
+
     ("CF_Lvr_Gear","LVR12",0),
 
     ("ACCEnable", "TCS13", 0),
@@ -205,14 +210,13 @@ def update(self, cp, cp_cam):
     self.car_gas = cp.vl["EMS12"]['TPS']
 
     # Gear Selecton - This should be compatible with all Kia/Hyundai with Auto's
-    gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
-    if gear == 5:
+    if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
       self.gear_shifter = "drive"
-    elif gear == 6:
+    elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
       self.gear_shifter = "neutral"
-    elif gear == 0:
+    elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
       self.gear_shifter = "park"
-    elif gear == 7:
+    elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
       self.gear_shifter = "reverse"
     else:
       self.gear_shifter = "unknown"

selfdrive/car/toyota/interface.py

@@ -147,9 +147,9 @@ def get_params(candidate, fingerprint):
     # to a negative value, so it won't matter.
     # hybrid models can't do stop and go even though the stock ACC can't
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
-                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]:
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       ret.minEnableSpeed = -1.
-    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER]: # TODO: hack ICE to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
 
     centerToRear = ret.wheelbase - ret.centerToFront
@@ -244,7 +244,7 @@ def update(self, c):
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = 0.
-    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command
       ret.cruiseState.standstill = False