Sync: commaai/opendbc:master into sunnypilot/opendbc:master-new

.github/workflows/tests.yml

@@ -7,13 +7,9 @@ on:
       - master-new
   pull_request:
 
-# TODO: enable this
-#env:
-#  PYTHONWARNINGS: error,default::DeprecationWarning
-
 jobs:
-  unit-tests:
-    name: unit tests
+  tests:
+    name: ./test.sh
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -22,31 +18,4 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
     - uses: actions/checkout@v4
-    - name: install uv and dependencies
-      run: |
-        curl -LsSf https://astral.sh/uv/install.sh | sh
-        uv venv
-        # TODO: remove setuptools once https://github.com/cython/cython/issues/5751 is fixed
-        uv pip install -e .[testing,docs] setuptools
-    - run: uv run scons -j8
-    - run: uv run pytest .
-
-  static-analysis:
-    name: static analysis
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: commaai/timeout@v1
-    - uses: actions/checkout@v4
-    - name: setup python
-      run: |
-        curl -LsSf https://astral.sh/uv/install.sh | sh
-        uv venv
-        uv pip install -e . pre-commit
-    - name: cache pre-commit environments
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pre-commit
-        key: ${{ runner.os }}-pre-commit-${{ hashFiles('.pre-commit-config.yaml') }}
-        restore-keys: |
-          ${{ runner.os }}-pre-commit-
-    - run: uv run pre-commit run --all
+    - run: ./test.sh

README.md

@@ -39,11 +39,15 @@ Everything you need to know to use, contribute, and extend opendbc are in these
 git clone https://github.com/commaai/opendbc.git
 cd opendbc
 
+# you probably just want to use this. it's an all-in-one for dependency
+# installation, compiling, linting, and tests. it's also what runs in CI
+./test.sh
+
+# here are the individual commands it runs
 pip3 install -e .[testing,docs]  # install dependencies
 scons -j8                        # build with 8 cores
 pytest .                         # run the tests
 pre-commit run --all-files       # run the linter
-./test.sh                        # all-in-one for setup, build, lint, and test
 ```
 
 [`examples/`](examples/) contains small example programs that can read state from the car and control the steering, gas, and brakes.

docs/CARS.md

@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 343 Known Cars
+# Support Information for 344 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -30,12 +30,12 @@
 |comma|body|All|[Upstream](#upstream)|
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
-|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|[Upstream](#upstream)|
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
-|Ford|Explorer 2020-23|Co-Pilot360 Assist+|[Upstream](#upstream)|
-|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|[Upstream](#upstream)|
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|F-150 2022-23|Co-Pilot360 Active 2.0|[Under review](#under-review)|
 |Ford|F-150 Hybrid 2022-23|Co-Pilot360 Active 2.0|[Under review](#under-review)|
 |Ford|F-150 Lightning 2021-23|Co-Pilot360 Active 2.0|[Under review](#under-review)|
@@ -64,6 +64,7 @@
 |Genesis|GV70 Electrified (with HDA II) 2023|Highway Driving Assist II|[Upstream](#upstream)|
 |Genesis|GV80 2023|All|[Upstream](#upstream)|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|[Upstream](#upstream)|
+|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Dashcam mode](#dashcam)|
 |Honda|Accord 2018-22|All|[Upstream](#upstream)|
 |Honda|Accord 2023-24|All|[Community](#community)|
 |Honda|Accord Hybrid 2018-22|All|[Upstream](#upstream)|
@@ -76,7 +77,7 @@
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|CR-V 2024|All|[Community](#community)|
-|Honda|CR-V Hybrid 2017-21|Honda Sensing|[Upstream](#upstream)|
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|CR-V Hybrid 2024|All|[Community](#community)|
 |Honda|e 2020|All|[Upstream](#upstream)|
 |Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
@@ -181,7 +182,7 @@
 |Lexus|ES 2017-18|All|[Upstream](#upstream)|
 |Lexus|ES 2019-24|All|[Upstream](#upstream)|
 |Lexus|ES Hybrid 2017-18|All|[Upstream](#upstream)|
-|Lexus|ES Hybrid 2019-24|All|[Upstream](#upstream)|
+|Lexus|ES Hybrid 2019-25|All|[Upstream](#upstream)|
 |Lexus|GS F 2016|All|[Upstream](#upstream)|
 |Lexus|IS 2017-19|All|[Upstream](#upstream)|
 |Lexus|IS 2022-23|All|[Upstream](#upstream)|
@@ -199,14 +200,14 @@
 |Lexus|RX Hybrid 2017-19|All|[Upstream](#upstream)|
 |Lexus|RX Hybrid 2020-22|All|[Upstream](#upstream)|
 |Lexus|UX Hybrid 2019-23|All|[Upstream](#upstream)|
-|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|[Upstream](#upstream)|
-|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|[Upstream](#upstream)|
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|[Upstream](#upstream)|
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|[Upstream](#upstream)|
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Mazda|3 2017-18|All|[Dashcam mode](#dashcam)|
 |Mazda|6 2017-20|All|[Dashcam mode](#dashcam)|
 |Mazda|CX-5 2017-21|All|[Dashcam mode](#dashcam)|
-|Mazda|CX-5 2022-24|All|[Upstream](#upstream)|
+|Mazda|CX-5 2022-25|All|[Upstream](#upstream)|
 |Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
 |Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
 |Nissan|Altima 2019-20|ProPILOT Assist|[Upstream](#upstream)|

opendbc/car/docs.py

@@ -11,7 +11,7 @@
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType
+from opendbc.car.docs_definitions import CarDocs, Device, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType
 from opendbc.car.car_helpers import interfaces, get_interface_attr
 from opendbc.car.values import Platform, PLATFORMS
 from opendbc.car.mock.values import CAR as MOCK
@@ -89,7 +89,7 @@ def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
   footnotes = [fn.value.text for fn in get_all_footnotes()]
   cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
                                  group_by_make=group_by_make, footnotes=footnotes,
-                                 Column=Column)
+                                 Device=Device, Column=Column)
   return cars_md
 
 

opendbc/car/gm/carstate.py

@@ -5,7 +5,7 @@
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.numpy_fast import mean
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR
+from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
 
 ButtonType = structs.CarState.ButtonEvent.Type
 TransmissionType = structs.CarParams.TransmissionType
@@ -123,14 +123,18 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      # This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
-      ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
+      if self.CP.carFingerprint not in ALT_ACCS:
+        ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
+        # This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
+        ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
+        if self.CP.pcmCruise:
+          # openpilot controls nonAdaptive when not pcmCruise
+          ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
+      else:
+        ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
+
       if self.CP.carFingerprint not in SDGM_CAR:
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
-        ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
 
     if self.CP.enableBsm:
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
@@ -166,24 +170,26 @@ def get_can_parsers(CP):
       ("ECMAcceleratorPos", 80),
     ]
 
+    if CP.transmissionType == TransmissionType.direct:
+      pt_messages.append(("EBCMRegenPaddle", 50))
+
     if CP.enableBsm:
       pt_messages.append(("BCMBlindSpotMonitor", 10))
 
-    # Used to read back last counter sent to PT by camera
+    cam_messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera:
       pt_messages += [
         ("ASCMLKASteeringCmd", 0),
       ]
-
-    if CP.transmissionType == TransmissionType.direct:
-      pt_messages.append(("EBCMRegenPaddle", 50))
-
-    cam_messages = []
-    if CP.networkLocation == NetworkLocation.fwdCamera:
       cam_messages += [
         ("ASCMLKASteeringCmd", 10),
-        ("ASCMActiveCruiseControlStatus", 25),
       ]
+
+      if CP.carFingerprint in ALT_ACCS:
+        pt_messages.append(("ECMCruiseControl", 10))
+      else:
+        cam_messages.append(("ASCMActiveCruiseControlStatus", 25))
+
       if CP.carFingerprint not in SDGM_CAR:
         cam_messages += [
           ("AEBCmd", 10),

opendbc/car/gm/fingerprints.py

@@ -66,6 +66,9 @@
   CAR.CHEVROLET_TRAVERSE: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
   }],
+  CAR.GMC_YUKON: [{
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1355: 8, 1611: 8
+  }],
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

opendbc/car/gm/interface.py

@@ -7,7 +7,7 @@
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.radar_interface import RADAR_HEADER_MSG
-from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, CanBus
+from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus
 from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -113,6 +113,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
+      if candidate in ALT_ACCS:
+        ret.experimentalLongitudinalAvailable = False
+        ret.openpilotLongitudinalControl = False
+        ret.minEnableSpeed = -1.  # engage speed is decided by PCM
+
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
@@ -203,4 +208,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.GMC_YUKON:
+      ret.steerActuatorDelay = 0.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      ret.dashcamOnly = True  # Needs steerRatio, tireStiffness, and lat accel factor tuning
+
     return ret

opendbc/car/gm/values.py

@@ -175,6 +175,10 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
     GMCarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
   )
+  GMC_YUKON = GMPlatformConfig(
+    [GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
+    GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
+  )
 
 
 class CruiseButtons:
@@ -253,7 +257,10 @@ class CanBus:
 EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.GMC_YUKON}
+
+# Alt ASCMActiveCruiseControlStatus
+ALT_ACCS = {CAR.GMC_YUKON}
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_TRAVERSE}

opendbc/car/honda/fingerprints.py

@@ -800,22 +800,26 @@
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-3M0-K840\x00\x00',
       b'77959-3V0-A820\x00\x00',
+      b'77959-3V0-A910\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'8S102-3M6-P030\x00\x00',
       b'8S102-3W0-A060\x00\x00',
       b'8S102-3W0-AB10\x00\x00',
+      b'8S102-3W0-AB20\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-3M6-M010\x00\x00',
       b'57114-3W0-A040\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-6EH-A010\x00\x00',
+      b'28101-6EH-A110\x00\x00',
       b'28101-6JC-M310\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-3W0-A020\x00\x00',
+      b'46114-3W0-A050\x00\x00',
     ],
   },
   CAR.ACURA_ILX: {

opendbc/car/hyundai/carcontroller.py

@@ -97,7 +97,7 @@ def update(self, CC, CS, now_nanos):
     # *** common hyundai stuff ***
 
     # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or self.ESCC.enabled) and \
+    if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) or self.ESCC.enabled) and \
             self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
@@ -157,7 +157,7 @@ def update(self, CC, CS, now_nanos):
         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,
+                                                        CC.cruiseControl.override, use_fca, self.CP,
                                                         CS.main_cruise_enabled, self.ESCC))
 
       # 20 Hz LFA MFA message
@@ -166,7 +166,7 @@ def update(self, CC, CS, now_nanos):
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer, self.ESCC))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP, self.ESCC))
 
       # 2 Hz front radar options
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl and not self.ESCC.enabled:

opendbc/car/hyundai/carstate.py

@@ -39,11 +39,13 @@ def __init__(self, CP):
                           "GEAR_SHIFTER"
     if CP.flags & HyundaiFlags.CANFD:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
+    elif CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
+      self.shifter_values = can_define.dv["ELECT_GEAR"]["Elect_Gear_Shifter"]
     elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
     elif self.CP.flags & HyundaiFlags.TCU_GEARS:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
-    else:  # preferred and elect gear methods use same definition
+    else:
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
     self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
@@ -158,7 +160,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl:
+    if not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC:
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -389,7 +391,7 @@ def get_can_parsers(self, CP):
       ("LKAS11", 100)
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAMERA_SCC:
+    if CP.flags & HyundaiFlags.CAMERA_SCC:
       cam_messages += [
         ("SCC11", 50),
         ("SCC12", 50),