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HKG: Revert wheel speed safety changes #1846

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Merged
merged 2 commits into from
Feb 25, 2025
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HKG: Revert wheel speed safety changes #1846

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b5e0291
Revert "Hyundai CAN-FD Safety: Update vehicle speed conversion accura…
jyoung8607 Feb 25, 2025
efb71f4
Revert "Hyundai CAN-FD: Update wheel speed signal parsing (#1844)"
jyoung8607 Feb 25, 2025
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8 changes: 4 additions & 4 deletions opendbc/car/hyundai/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -219,10 +219,10 @@ def update_canfd(self, can_parsers) -> structs.CarState:

# TODO: figure out positions
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["WHL_SpdFLVal"],
cp.vl["WHEEL_SPEEDS"]["WHL_SpdFRVal"],
cp.vl["WHEEL_SPEEDS"]["WHL_SpdRLVal"],
cp.vl["WHEEL_SPEEDS"]["WHL_SpdRRVal"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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8 changes: 4 additions & 4 deletions opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
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Expand Up @@ -41,10 +41,10 @@ BO_ 160 WHEEL_SPEEDS: 24 XXX
SG_ MOVING_BACKWARD : 57|1@0+ (1,0) [0|1] "" XXX
SG_ MOVING_FORWARD2 : 58|1@0+ (1,0) [0|1] "" XXX
SG_ MOVING_BACKWARD2 : 59|1@0+ (1,0) [0|1] "" XXX
SG_ WHL_SpdFLVal : 64|14@1+ (0.03125,0) [0|0] "km^h" XXX
SG_ WHL_SpdFRVal : 80|14@1+ (0.03125,0) [0|0] "km^h" XXX
SG_ WHL_SpdRLVal : 96|14@1+ (0.03125,0) [0|0] "km^h" XXX
SG_ WHL_SpdRRVal : 112|14@1+ (0.03125,0) [0|0] "km^h" XXX
SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "kph" XXX
SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "kph" XXX
SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "kph" XXX
SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "kph" XXX

BO_ 234 MDPS: 24 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
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14 changes: 3 additions & 11 deletions opendbc/safety/safety/safety_hyundai_canfd.h
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Expand Up @@ -108,17 +108,9 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {

// vehicle moving
if (addr == 0xa0) {
uint32_t fl = (GET_BYTES(to_push, 8, 2)) & 0x3FFFU;
uint32_t fr = (GET_BYTES(to_push, 10, 2)) & 0x3FFFU;
uint32_t rl = (GET_BYTES(to_push, 12, 2)) & 0x3FFFU;
uint32_t rr = (GET_BYTES(to_push, 14, 2)) & 0x3FFFU;

uint32_t speed_avg = (fr + rr + rl + fl) / 4U;

vehicle_moving = (speed_avg > HYUNDAI_STANDSTILL_THRSLD);

// average of all 4 wheel speeds. Conversion: raw * 0.03125 / 3.6 = m/s
UPDATE_VEHICLE_SPEED(speed_avg * 0.03125 / 3.6);
uint32_t front_left_speed = GET_BYTES(to_push, 8, 2);
uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2);
vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
}
}

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2 changes: 1 addition & 1 deletion opendbc/safety/tests/test_hyundai_canfd.py
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Expand Up @@ -56,7 +56,7 @@ def _torque_cmd_msg(self, torque, steer_req=1):
return self.packer.make_can_msg_panda(self.STEER_MSG, self.STEER_BUS, values)

def _speed_msg(self, speed):
values = {f"WHL_Spd{pos}Val": speed * 0.03125 for pos in ["FL", "FR", "RL", "RR"]}
values = {f"WHEEL_SPEED_{i}": speed * 0.03125 for i in range(1, 5)}
return self.packer.make_can_msg_panda("WHEEL_SPEEDS", self.PT_BUS, values)

def _user_brake_msg(self, brake):
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