WIP Ioniq5 pe with sync

[devtekve]

Requires #68

Summary by Sourcery

Adds support for angle-based steering control for Hyundai CAN-FD vehicles, specifically the Ioniq 5 PE and Kia EV9. This includes new safety checks, parameter adjustments, and message creation logic to handle angle-based commands instead of torque-based commands. Also updates the car fingerprint to include the Ioniq 5 PE.

New Features:

• Adds angle-based steering control for Hyundai CAN-FD vehicles.
• Adds support for Ioniq 5 PE and Kia EV9.

Tests:

• Adds tests for angle-based steering control.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request introduces steering angle control support for Hyundai CAN-FD platform, specifically for vehicles like the Ioniq 5 PE and Kia EV9. It includes changes to safety limits, car controller logic, and car state estimation to accommodate angle-based control. Additionally, the Ioniq 5 PE is added to the list of supported cars, and wheel speed calculation is refactored for CAN-FD cars.

Sequence diagram for steering control with angle

sequenceDiagram
    participant CarController
    participant CarState
    participant hyundaicanfd

    CarController->>CarState: CS.out.steeringAngleDeg
    CarController->>CarController: apply_std_steer_angle_limits(actuators.steeringAngleDeg, ...)
    alt driver torque override
        CarController->>CarState: CS.out.steeringTorque
        CarController->>CarController: lkas_max_torque update
    end
    CarController->>hyundaicanfd: create_steering_messages(apply_angle, lkas_max_torque)
    hyundaicanfd-->>CarController: CAN messages

Loading

Updated class diagram for CarControllerParams

classDiagram
    class CarControllerParams {
        float ACCEL_MIN
        float ACCEL_MAX
        AngleRateLimit ANGLE_RATE_LIMIT_UP
        AngleRateLimit ANGLE_RATE_LIMIT_DOWN
        int ANGLE_MAX_TORQUE
        int ANGLE_DRIVER_TORQUE_ALLOWANCE
        int ANGLE_MIN_TORQUE
        int STEER_ANGLE_MAX
        int STEER_DELTA_UP
        int STEER_DELTA_DOWN
        float STEER_MAX
        float STEER_DRIVER_TORQUE_ALLOWANCE
        float STEER_DRIVER_TORQUE_OVERRIDE
        float STEER_DRIVER_TORQUE_FACTOR
    }
    class AngleRateLimit {
        float[] speed_bp
        float[] angle_v
    }
    CarControllerParams -- AngleRateLimit : has

Loading

Updated class diagram for HyundaiFlags

classDiagram
    class HyundaiFlags {
        CANFD_LKA_STEERING
        CANFD_LKA_STEERING_ALT
        FCEV_GAS
        ALT_LIMITS_2
        CANFD_ANGLE_STEERING
        FLAG_HYUNDAI_ESCC
        FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
        CAMERA_SCC
        RADAR_SCC
        EV
        HYBRID
         gasoline
        DISABLE_CAN_CHECKS
        SEND_LFA_MESSAGES
        CANFD_CAMERA_SCC
    }

Loading

Updated class diagram for HyundaiSafetyFlags

classDiagram
    class HyundaiSafetyFlags {
        CANFD_LKA_STEERING
        CANFD_LKA_STEERING_ALT
        FCEV_GAS
        ALT_LIMITS_2
        CANFD_ANGLE_STEERING
        FLAG_HYUNDAI_ESCC
        FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
        CAMERA_SCC
    }

Loading

File-Level Changes

Change	Details	Files
Added steering angle support for Hyundai CAN-FD platform, enabling angle-based control for vehicles like Ioniq 5 PE and Kia EV9.	Added CANFD_ANGLE_STEERING flag to HyundaiFlags and HyundaiSafetyFlags. Modified safety_hyundai_canfd.h to include angle-based steering checks and limits. Updated hyundaicanfd.py to create steering messages for angle-based control. Modified carcontroller.py to handle angle-based steering control logic. Added ANGLE_MAX_TORQUE, ANGLE_DRIVER_TORQUE_ALLOWANCE, and ANGLE_MIN_TORQUE parameters to CarControllerParams. Updated carstate.py to handle new signals related to steering angle. Added new tests in test_hyundai_canfd.py for angle-based steering safety. Added torque data overrides for angle control cars. Updated interface.py to set steerControlType to angle when CANFD_ANGLE_STEERING flag is enabled. Updated safety_nissan.h and test_nissan.py to use a reasonable steering angle limit. Updated safety_tesla.py to use a reasonable steering angle limit.	opendbc/safety/safety/safety_hyundai_canfd.h opendbc/safety/tests/test_hyundai_canfd.py opendbc/car/hyundai/carcontroller.py opendbc/car/hyundai/hyundaicanfd.py opendbc/car/hyundai/values.py opendbc/car/hyundai/carstate.py opendbc/car/hyundai/fingerprints.py opendbc/car/interface.py opendbc/car/torque_data/override.toml docs/CARS.md opendbc/car/nissan/values.py opendbc/safety/safety/safety_nissan.h opendbc/car/tests/routes.py opendbc/safety/tests/test_nissan.py opendbc/safety/tests/test_tesla.py
Added Ioniq 5 PE to the list of supported cars.	Added HYUNDAI_IONIQ_5_PE to CAR enum in values.py. Added fingerprint data for HYUNDAI_IONIQ_5_PE in fingerprints.py. Updated CARS.md to include HYUNDAI_IONIQ_5_PE.	opendbc/car/hyundai/values.py opendbc/car/hyundai/fingerprints.py docs/CARS.md
Refactored wheel speed calculation in carstate.py for CAN-FD cars.	Updated update_canfd function to use WHL_Spd{pos}Val signals for wheel speed calculation. Corrected scaling factor for wheel speed values. Updated standstill check to use all four wheel speeds.	opendbc/car/hyundai/carstate.py

---

Tips and commands

Interacting with Sourcery

• Trigger a new review: Comment @sourcery-ai review on the pull request.
• Continue discussions: Reply directly to Sourcery's review comments.
• Generate a GitHub issue from a review comment: Ask Sourcery to create an
  issue from a review comment by replying to it. You can also reply to a
  review comment with @sourcery-ai issue to create an issue from it.
• Generate a pull request title: Write @sourcery-ai anywhere in the pull
  request title to generate a title at any time. You can also comment
  @sourcery-ai title on the pull request to (re-)generate the title at any time.
• Generate a pull request summary: Write @sourcery-ai summary anywhere in
  the pull request body to generate a PR summary at any time exactly where you
  want it. You can also comment @sourcery-ai summary on the pull request to
  (re-)generate the summary at any time.
• Generate reviewer's guide: Comment @sourcery-ai guide on the pull
  request to (re-)generate the reviewer's guide at any time.
• Resolve all Sourcery comments: Comment @sourcery-ai resolve on the
  pull request to resolve all Sourcery comments. Useful if you've already
  addressed all the comments and don't want to see them anymore.
• Dismiss all Sourcery reviews: Comment @sourcery-ai dismiss on the pull
  request to dismiss all existing Sourcery reviews. Especially useful if you
  want to start fresh with a new review - don't forget to comment
  @sourcery-ai review to trigger a new review!
• Generate a plan of action for an issue: Comment @sourcery-ai plan on
  an issue to generate a plan of action for it.

Customizing Your Experience

Access your dashboard to:

• Enable or disable review features such as the Sourcery-generated pull request
  summary, the reviewer's guide, and others.
• Change the review language.
• Add, remove or edit custom review instructions.
• Adjust other review settings.

Getting Help

• Contact our support team for questions or feedback.
• Visit our documentation for detailed guides and information.
• Keep in touch with the Sourcery team by following us on X/Twitter, LinkedIn or GitHub.