aLeadK&vLeadK, EV6BSM, CanParserDisplay

common/params.cc

@@ -290,6 +290,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RadarReactionFactor", PERSISTENT},
     {"EnableRadarTracks", PERSISTENT},
     {"EnableRadarTracksResult", PERSISTENT | CLEAR_ON_MANAGER_START},
+    {"CanParserResult", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION },
     {"HotspotOnBoot", PERSISTENT},
     {"HyundaiCameraSCC", PERSISTENT},
     {"CanfdHDA2", PERSISTENT},

opendbc_repo/opendbc/can/parser.cc

@@ -4,6 +4,7 @@
 #include <limits>
 #include <stdexcept>
 #include <sstream>
+#include <unistd.h>
 
 #include "opendbc/can/common.h"
 
@@ -210,8 +211,10 @@ void CANParser::UpdateCans(const CanData &can, std::set<uint32_t> &updated_addre
   bus_timeout = (can.nanos - last_nonempty_nanos) > bus_timeout_threshold;
 }
 
-int error_print_count = 0;
 void CANParser::UpdateValid(uint64_t nanos) {
+  static uint64_t last_log_time = 0;
+  const uint64_t LOG_INTERVAL = 2e9;
+
   const bool show_missing = (nanos - first_nanos) > 8e9;
 
   bool _valid = true;
@@ -227,14 +230,22 @@ void CANParser::UpdateValid(uint64_t nanos) {
     const bool timed_out = (nanos - state.last_seen_nanos) > state.check_threshold;
     if (state.check_threshold > 0 && (missing || timed_out)) {
       if (show_missing && !bus_timeout) {
+        char str[256];
+        const char* parser_result_params = "/data/params/d/CanParserResult";
         if (missing) {
-            if (error_print_count++ < 20) {
+          if ((nanos - last_log_time) > LOG_INTERVAL) {
-                LOGE_100("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
+            last_log_time = nanos;
-            }
+            LOGE_100("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
+            sprintf(str, "echo -n \"0x%X '%s' NOT SEEN\" > %s", state.address, state.name.c_str(), parser_result_params);
+            system(str);
+          }
         } else if (timed_out) {
-            if (error_print_count++ < 20) {
+          if ((nanos - last_log_time) > LOG_INTERVAL) {
-                LOGE_100("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
+            last_log_time = nanos;
-            }
+            LOGE_100("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
+            sprintf(str, "echo -n \"0x%X '%s' TIMED OUT\" > %s", state.address, state.name.c_str(), parser_result_params);
+            system(str);
+          }
         }
       }
       _valid = false;

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
 
     cam_can = CanBus(None, fingerprint).CAM if camera_scc == 0 else 1
     hda2 = False #0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
-    hda2 = hda2 or params.get_bool("CanfdHDA2")
+    hda2 = hda2 or params.get_int("CanfdHDA2") > 0
     CAN = CanBus(None, fingerprint, hda2)
 
     if params.get_int("CanfdDebug") == -1:
@@ -187,7 +187,7 @@ class CarInterface(CarInterfaceBase):
     # *** feature detection ***
     if ret.flags & HyundaiFlags.CANFD:
       #if candidate in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.HYUNDAI_IONIQ_5_N, CAR.KIA_EV9) and hda2: ##카니발4th & hda2 인경우에만 BSM이 ADAS에서 나옴.
-      if 0x161 in fingerprint[CAN.ECAN] and hda2:
+      if (0x161 in fingerprint[CAN.ECAN] and hda2) or params.get_int("CanfdHDA2") == 2: # EV6일부모델은 BSM이 ADAS에서 나옴.
         ret.extFlags |= HyundaiExtFlags.BSM_IN_ADAS.value
       print(f"$$$$$ CanFD ECAN = {CAN.ECAN}")
       if 0x1fa in fingerprint[CAN.ECAN]:

scripts/add/events_ko.py

@@ -355,6 +355,16 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   personality = str(personality).title()
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
 
+def car_parser_result(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  results = Params().get("CanParserResult")
+  if results is None:
+    results = ""
+  return Alert(
+    "CAN 오류: Check Connections",
+    results,
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.)
+  
 
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
@@ -898,22 +908,24 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
+    ET.PERMANENT: car_parser_result,
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN 오류 : 장치를 점검하세요"),
-    ET.PERMANENT: Alert(
+    #ET.PERMANENT: Alert(
-      "CAN 오류 : 장치를 점검하세요",
+    #  "CAN 오류 : 장치를 점검하세요",
-      "",
+    #  "",
-      AlertStatus.normal, AlertSize.small,
+    #  AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
+    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("CAN 오류 : 장치를 점검하세요"),
   },
 
   EventName.canBusMissing: {
+    ET.PERMANENT: car_parser_result,
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus 연결 끈김"),
-    ET.PERMANENT: Alert(
+    #ET.PERMANENT: Alert(
-      "CAN Bus 오류 : 케이블을 점검하세요",
+    #  "CAN Bus 오류 : 케이블을 점검하세요",
-      "",
+    #  "",
-      AlertStatus.normal, AlertSize.small,
+    #  AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
+    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("CAN Bus 오류 : 장치를 점검하세요"),
   },
 

selfdrive/carrot_settings.json

@@ -1150,12 +1150,12 @@
       "group": "시작",
       "name": "CanfdHDA2",
       "title": "CANFD HDA2지원(0)",
-      "descr": "HDA2 강제인식, 일부CANFD차량 오류발생시 켜야함.",
+      "descr": "1: HDA2 강제인식, 2: HDA2+BSM",
       "egroup": "START",
       "etitle": "CANFD HDA2(0)",
       "edescr": "",
       "min": 0,
-      "max": 1,
+      "max": 2,
       "default": 0,
       "unit": 1
     },

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -321,8 +321,8 @@ class LongitudinalMpc:
     v_ego = self.x0[1]
     if lead is not None and lead.status:
       x_lead = lead.dRel
-      v_lead = lead.vLead
+      v_lead = lead.vLeadK
-      a_lead = lead.aLead
+      a_lead = lead.aLeadK
       a_lead_tau = lead.aLeadTau
     else:
       # Fake a fast lead car, so mpc can keep running in the same mode

selfdrive/controls/radard.py

@@ -408,6 +408,7 @@ class RadarD:
     self.kalman_params = KalmanParams(DT_MDL)
 
     self.v_ego = 0.0
+    print("###RadarD.. : delay = ", delay, int(round(delay / DT_MDL))+1)
     self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
     self.last_v_ego_frame = -1
 
@@ -423,6 +424,7 @@ class RadarD:
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
+
     leads_v3 = sm['modelV2'].leadsV3
     if sm.recv_frame['carState'] != self.last_v_ego_frame:
       self.v_ego = sm['carState'].vEgo

selfdrive/selfdrived/events.py

@@ -355,7 +355,16 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   personality = str(personality).title()
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
 
-
+def car_parser_result(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  results = Params().get("CanParserResult")
+  if results is None:
+    results = ""
+  return Alert(
+    "CAN Error: Check Connections!!",
+    results,
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.)
+  
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -891,22 +900,24 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
+    ET.PERMANENT: car_parser_result,
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
-    ET.PERMANENT: Alert(
+    #ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
+    #  "CAN Error: Check Connections",
-      "",
+    #  "",
-      AlertStatus.normal, AlertSize.small,
+    #  AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
+    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
   },
 
   EventName.canBusMissing: {
+    ET.PERMANENT: car_parser_result,
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus Disconnected"),
-    ET.PERMANENT: Alert(
+    #ET.PERMANENT: Alert(
-      "CAN Bus Disconnected: Likely Faulty Cable",
+    #  "CAN Bus Disconnected: Likely Faulty Cable",
-      "",
+    #  "",
-      AlertStatus.normal, AlertSize.small,
+    #  AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
+    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("CAN Bus Disconnected: Check Connections"),
   },
 

selfdrive/ui/qt/offroad/settings.cc

@@ -775,7 +775,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   startToggles->addItem(selectCarBtn);
   startToggles->addItem(new ParamControl("HyundaiCameraSCC", "HYUNDAI: CAMERA SCC", "Connect the SCC's CAN line to CAM", "../assets/offroad/icon_shell.png", this));
   startToggles->addItem(new ParamControl("EnableRadarTracks", "Enable RadarTrack", "", "../assets/offroad/icon_shell.png", this));
-  startToggles->addItem(new ParamControl("CanfdHDA2", "CANFD: HDA2 mode", "", "../assets/offroad/icon_shell.png", this));
+  startToggles->addItem(new CValueControl("CanfdHDA2", "CANFD: HDA2 mode", "1:HDA2,2:HDA2+BSM", "../assets/offroad/icon_shell.png", 0, 2, 1));
   startToggles->addItem(new CValueControl("AutoCruiseControl", "Auto Cruise control", "Softhold, Auto Cruise ON/OFF control", "../assets/offroad/icon_road.png", 0, 3, 1));
   startToggles->addItem(new CValueControl("CruiseOnDist", "CRUISE: Auto ON distance(0cm)", "When GAS/Brake is OFF, Cruise ON when the lead car gets closer.", "../assets/offroad/icon_road.png", 0, 2500, 50));
   startToggles->addItem(new CValueControl("AutoEngage", "Auto Engage control on start", "1:SteerEnable, 2:Steer/Cruise Engage", "../assets/offroad/icon_road.png", 0, 2, 1));