247 lines
11 KiB
Python
247 lines
11 KiB
Python
from iqdbc.car import Bus, get_safety_config, structs, uds
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from iqdbc.car.hyundai.hyundaicanfd import CanBus
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from iqdbc.car.hyundai.values import HyundaiFlags, CAR, DBC, \
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CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
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UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags
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from iqdbc.car.hyundai.radar_interface import RADAR_START_ADDR
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from iqdbc.car.interfaces import CarInterfaceBase
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from iqdbc.car.disable_ecu import disable_ecu
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from iqdbc.car.hyundai.carcontroller import CarController
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from iqdbc.car.hyundai.carstate import CarState
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from iqdbc.car.hyundai.radar_interface import RadarInterface
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from iqdbc.iqpilot.car.hyundai.escc import ESCC_MSG
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from iqdbc.iqpilot.car.hyundai.longitudinal.helpers import get_longitudinal_tune
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from iqdbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
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ButtonType = structs.CarState.ButtonEvent.Type
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Ecu = structs.CarParams.Ecu
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# Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
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ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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RadarInterface = RadarInterface
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DRIVABLE_GEARS = (structs.CarState.GearShifter.sport, structs.CarState.GearShifter.manumatic)
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
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ret.brand = "hyundai"
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# "LKA steering" if LKAS or LKAS_ALT messages are seen coming from the camera.
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# Generally means our LKAS message is forwarded to another ECU (commonly ADAS ECU)
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# that finally retransmits our steering command in LFA or LFA_ALT to the MDPS.
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# "LFA steering" if camera directly sends LFA to the MDPS
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cam_can = CanBus(None, fingerprint).CAM
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lka_steering = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
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CAN = CanBus(None, fingerprint, lka_steering)
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if ret.flags & HyundaiFlags.CANFD:
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# Shared configuration for CAN-FD cars
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ret.alphaLongitudinalAvailable = candidate not in CANFD_UNSUPPORTED_LONGITUDINAL_CAR
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if lka_steering and Ecu.adas not in [fw.ecu for fw in car_fw]:
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# this needs to be figured out for cars without an ADAS ECU
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ret.alphaLongitudinalAvailable = False
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ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
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# Check if the car is hybrid. Only HEV/PHEV cars have 0xFA on E-CAN.
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if 0xFA in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlags.HYBRID.value
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if lka_steering:
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# detect LKA steering
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ret.flags |= HyundaiFlags.CANFD_LKA_STEERING.value
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if 0x110 in fingerprint[CAN.CAM]:
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ret.flags |= HyundaiFlags.CANFD_LKA_STEERING_ALT.value
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else:
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# no LKA steering
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if 0x1cf not in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
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if not ret.flags & HyundaiFlags.RADAR_SCC:
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ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
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# Some LKA steering cars have alternative messages for gear checks
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# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
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if 0x130 not in fingerprint[CAN.ECAN]:
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if 0x40 not in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
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else:
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ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
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cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
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if CAN.ECAN >= 4:
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cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
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ret.safetyConfigs = cfgs
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if ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING.value
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if ret.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT.value
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if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
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if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
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else:
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# Shared configuration for non CAN-FD cars
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ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
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ret.enableBsm = 0x58b in fingerprint[0]
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# Send LFA message on cars with HDA
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if 0x485 in fingerprint[2]:
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ret.flags |= HyundaiFlags.SEND_LFA.value
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# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
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ret.flags |= HyundaiFlags.USE_FCA.value
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if ret.flags & HyundaiFlags.LEGACY:
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
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else:
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
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if ret.flags & HyundaiFlags.CAMERA_SCC:
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ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
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# These cars have the LFA button on the steering wheel
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if 0x391 in fingerprint[0]:
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ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
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# Common lateral control setup
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ret.centerToFront = ret.wheelbase * 0.4
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.4
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if ret.flags & HyundaiFlags.ALT_LIMITS:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.ALT_LIMITS.value
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if ret.flags & HyundaiFlags.ALT_LIMITS_2:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.ALT_LIMITS_2.value
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# see https://github.com/commaai/iqdbc/pull/1137/
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ret.dashcamOnly = True
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# Common longitudinal control setup
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ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
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ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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ret.longitudinalActuatorDelay = 0.5
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if ret.openpilotLongitudinalControl:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value
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if ret.flags & HyundaiFlags.HYBRID:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.HYBRID_GAS.value
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elif ret.flags & HyundaiFlags.EV:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.EV_GAS.value
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elif ret.flags & HyundaiFlags.FCEV:
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ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value
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# Car specific configuration overrides
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if candidate == CAR.KIA_OPTIMA_G4_FL:
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ret.steerActuatorDelay = 0.2
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# Dashcam cars are missing a test route, or otherwise need validation
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# TODO: Optima Hybrid 2017 uses a different SCC12 checksum
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if candidate in (CAR.KIA_OPTIMA_H,):
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ret.dashcamOnly = True
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return ret
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@staticmethod
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def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
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car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
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# identical logic used in _get_params
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# "LKA steering" if LKAS or LKAS_ALT messages are seen coming from the camera.
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# Generally means our LKAS message is forwarded to another ECU (commonly ADAS ECU)
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# that finally retransmits our steering command in LFA or LFA_ALT to the MDPS.
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# "LFA steering" if camera directly sends LFA to the MDPS
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cam_can = CanBus(None, fingerprint).CAM
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lka_steering = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
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CAN = CanBus(None, fingerprint, lka_steering)
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if not stock_cp.flags & HyundaiFlags.CANFD:
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# TODO-IQ: add route with ESCC message for process replay
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if ESCC_MSG in fingerprint[0]:
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ret.flags |= HyundaiFlagsIQ.ENHANCED_SCC.value
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if ret.flags & HyundaiFlagsIQ.ENHANCED_SCC:
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ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.ESCC
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stock_cp.radarUnavailable = False
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if stock_cp.flags & HyundaiFlags.HAS_LDA_BUTTON:
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ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.HAS_LDA_BUTTON
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if stock_cp.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC):
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stock_cp.radarUnavailable = False
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if stock_cp.flags & HyundaiFlags.ALT_LIMITS_2:
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stock_cp.dashcamOnly = False
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if ret.flags & HyundaiFlagsIQ.NON_SCC:
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stock_cp.alphaLongitudinalAvailable = False
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stock_cp.openpilotLongitudinalControl = False
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stock_cp.pcmCruise = True
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ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.NON_SCC
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# untested non-SCC platforms, need user validations
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if stock_cp.carFingerprint in (CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC, CAR.KIA_FORTE_2021_NON_SCC,
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CAR.KIA_SELTOS_2023_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC):
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stock_cp.dashcamOnly = True
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if stock_cp.flags & HyundaiFlags.CANFD:
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if 0x1fa in fingerprint[CAN.ECAN]:
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ret.flags |= HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE.value
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else:
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# Detect smartMDPS, which bypasses EPS low-speed lockout, allowing iqpilot to send steering commands down to 0
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if 0x2AA in fingerprint[0]:
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stock_cp.minSteerSpeed = 0.0
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stock_cp.flags &= ~HyundaiFlags.MIN_STEER_32_MPH.value
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if 0x544 in fingerprint[0]:
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ret.flags |= HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE.value
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if 0x53E in fingerprint[2]:
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ret.flags |= HyundaiFlagsIQ.HAS_LKAS12.value
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return ret
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@staticmethod
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def _get_longitudinal_tuning_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams) -> structs.IQCarParams:
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if ret.flags & (HyundaiFlagsIQ.LONG_TUNING_DYNAMIC | HyundaiFlagsIQ.LONG_TUNING_PREDICTIVE):
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get_longitudinal_tune(stock_cp)
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return ret
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@staticmethod
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def init(CP, CP_IQ, can_recv, can_send, communication_control=None):
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# 0x80 silences response
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if communication_control is None:
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communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
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if CP.openpilotLongitudinalControl and not ((CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)) or
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(CP_IQ.flags & HyundaiFlagsIQ.ENHANCED_SCC)):
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addr, bus = 0x7d0, CanBus(CP).ECAN if CP.flags & HyundaiFlags.CANFD else 0
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if CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
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addr, bus = 0x730, CanBus(CP).ECAN
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disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control)
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# for blinkers
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if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=communication_control)
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@staticmethod
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def deinit(CP, can_recv, can_send):
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communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX, uds.MESSAGE_TYPE.NORMAL])
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CarInterface.init(CP, can_recv, can_send, communication_control)
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