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Merge pull request commaai#3 from emmertex/alca-dev
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alca-dev:  merge latest changes (10-22-18)
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@James-T1
James-T1 authored Oct 23, 2018
2 parents 368dc7f + 868178f commit 7b02a2c
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72 changes: 55 additions & 17 deletions selfdrive/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,61 @@ def get_can_parser(CP):

class CarState(object):
def __init__(self, CP):
#labels for buttons
self.btns_init = [["alca","ALC",["MadMax","Normal","Wifey"]], \
["","",[""]], \
["","",[""]], \
["sound","SND",[""]], \
["", "",[""]], \
["", "", [""]]]

#if (CP.carFingerprint == CAR.MODELS):
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 44.]
self.CL_MAX_ANGLE_DELTA = [1.8, .3]

# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16. , 8.]


# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5. , 5.]

# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, 1.5]

self.CL_LANE_PASS_BP = [10., 20., 44.]
self.CL_LANE_PASS_TIME = [40.,10., 3.]

# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [.358, 0.084, 0.042] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75

self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s

# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]

# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = 1.

#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7 ,0.30, 0.20]

#duration to wait (in seconds) with blinkers on before starting to turn
self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS

self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
Expand Down Expand Up @@ -176,23 +231,6 @@ def __init__(self, CP):
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0

#BB init ui buttons
def init_ui_buttons(self):
btns = []
btns.append(UIButton("alca", "ALC", 0, "", 0))
btns.append(UIButton("", "", 0, "", 1))
btns.append(UIButton("", "", 0, "", 2))
btns.append(UIButton("sound", "SND", 1, "", 3))
btns.append(UIButton("", "", 0, "", 4))
btns.append(UIButton("", "", 0, "", 5))
return btns

#BB update ui buttons
def update_ui_buttons(self,id,btn_status):
if self.cstm_btns.btns[id].btn_status > 0:
self.cstm_btns.btns[id].btn_status = btn_status * self.cstm_btns.btns[id].btn_status
else:
self.cstm_btns.btns[id].btn_status = btn_status

def update(self, cp):

Expand Down
5 changes: 1 addition & 4 deletions selfdrive/car/hyundai/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ def update(self, sendcan, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
force_enable = False

# I don't care about your opinion, deal with it!
if (CS.cstm_btns.get_button_status("alwon") > 0): # and CS.acc_active:
if (CS.cstm_btns.get_button_status("alwon") > 0) and CS.acc_active:
enabled = True
force_enable = True

Expand Down Expand Up @@ -105,9 +105,6 @@ def update(self, sendcan, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
if (self.cnt % 7) == 0:
can_sends.append(create_1156())

if (self.cnt % 20) == 1:
print "Steer", apply_steer

can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt, \
enabled, CS.lkas11, hud_alert, (CS.cstm_btns.get_button_status("cam") > 0), keep_stock=(not self.camera_disconnected)))

Expand Down
67 changes: 33 additions & 34 deletions selfdrive/car/hyundai/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -140,51 +140,50 @@ def get_camera_parser(CP):

class CarState(object):
def __init__(self, CP):
if 1==1:
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 44.]
self.CL_MAX_ANGLE_DELTA = [1.8, .3]
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 44.]
self.CL_MAX_ANGLE_DELTA = [1.8, .3]

# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16. , 8.]
# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16. , 8.]


# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5. , 5.]
# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5. , 5.]

# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, .75]
# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, .75]

self.CL_LANE_PASS_BP = [10., 44.]
self.CL_LANE_PASS_TIME = [60., 3.]
self.CL_LANE_PASS_BP = [10., 44.]
self.CL_LANE_PASS_TIME = [60., 3.]

# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [.358, 0.084, 0.042] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75
# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [.358, 0.084, 0.042] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75

self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s
self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s

# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]
# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]

# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = 1.
# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = 1.

#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7 ,0.30, 0.20]
#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7 ,0.30, 0.20]

self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS
self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS

self.CP = CP

Expand Down
83 changes: 46 additions & 37 deletions selfdrive/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,43 +72,7 @@ def get_params(candidate, fingerprint):
ret.steerActuatorDelay = 0.1 # Default delay
tire_stiffness_factor = 0.85 # Given all tested vehicle so far run better with this reduced below 0.85, this will becomes the default for now

if candidate == CAR.SANTA_FE:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.766

# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82

ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
ret.minSteerSpeed = 0.
elif candidate == CAR.SANTA_FE_2:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.766

# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82

ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.30], [0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.KIA_SORENTO:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 1985 + std_cargo
ret.wheelbase = 2.78
ret.steerRatio = 14.4 # Stock Value
tire_stiffness_factor = 0.75 # Based on testing
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.20], [0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.ELANTRA:
if candidate == CAR.ELANTRA:
ret.steerKf = 0.00006
ret.steerRateCost = 0.5
ret.mass = 1275 + std_cargo
Expand All @@ -127,6 +91,25 @@ def get_params(candidate, fingerprint):
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.16], [0.01]]
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
elif candidate == CAR.GENESIS_2:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 2060 + std_cargo
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.16], [0.01]]
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SORENTO:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 1985 + std_cargo
ret.wheelbase = 2.78
ret.steerRatio = 14.4 # Stock Value
tire_stiffness_factor = 0.75 # Based on testing
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.20], [0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.KIA_STINGER:
ret.steerKf = 0.00004
ret.steerRateCost = 0.5
Expand All @@ -138,6 +121,32 @@ def get_params(candidate, fingerprint):
ret.steerKpBP, ret.steerKiBP = [[ 0., 9., 20., 34.], [ 0., 9., 20., 34.]]
ret.steerKpV, ret.steerKiV = [[0.15,0.15,0.35,0.35], [0.03,0.03,0.01,0.01]] # 0.15 had some ponging, 0.05 still had some
ret.minSteerSpeed = 0.
elif candidate == CAR.SANTA_FE:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.766

# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82

ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
ret.minSteerSpeed = 0.
elif candidate == CAR.SANTA_FE_2:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.766

# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82

ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.30], [0.05]]
ret.minSteerSpeed = 0.

ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.longitudinalKpBP = [0.]
Expand Down
39 changes: 22 additions & 17 deletions selfdrive/car/hyundai/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,13 @@ def get_hud_alerts(visual_alert, audble_alert):
return 0

class CAR:
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
SANTA_FE_2 = "HYUNDAI SANTA FW ULTIMATE 2.0 2019"
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
GENESIS = "HYUNDAI GENESIS 2018"
KIA_SORENTO = "KIA SORENTO GT LINE 2018" # Top Trim Kia Sorento for Australian Market, AWD Diesel 8sp Auto
KIA_STINGER = "KIA STINGER GT2 2018"
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017" # First User @TK211X <-- Ported by @ku7 (Second, First Hyundai in World)
GENESIS = "HYUNDAI GENESIS 2018" # First User @xx979xx <-- Ported by @xx979xx
GENESIS_2 = "HYUNDAI GENESIS 2018 type 2" # First User @Saeed <-- Ported by @xx979xx and @ku7
KIA_SORENTO = "KIA SORENTO GT LINE 2018" # First User @ku7 <-- Ported by @ku7 (First Kia in World)
KIA_STINGER = "KIA STINGER GT2 2018" # First User @killian <-- Ported by @ku7 (Third)
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019" # First User @rickbias <-- Ported by @rickbias
SANTA_FE_2 = "HYUNDAI SANTA FW ULTIMATE 2.0 2019" # First User @nate <-- Ported by @ku7

class Buttons:
NONE = 0
Expand All @@ -21,39 +22,43 @@ class Buttons:
CANCEL = 4

FINGERPRINTS = {
CAR.SANTA_FE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
}],
CAR.SANTA_FE_2: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
}],
CAR.ELANTRA: [{
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.GENESIS: [{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
}],
CAR.GENESIS_2: [{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
}],
CAR.KIA_SORENTO: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
}],
CAR.KIA_STINGER: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8
}],
CAR.SANTA_FE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
}],
CAR.SANTA_FE_2: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
}],
}

CAMERA_MSGS = [832, 1156, 1191, 1342] # msgs sent by the camera
CAMERA_MSGS = [832, 1156, 1191, 1342]

CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SANTA_FE_2],
"6B": [CAR.KIA_SORENTO, CAR.GENESIS],
"6B": [CAR.KIA_SORENTO, CAR.GENESIS, CAR.GENESIS_2],
"7B": [CAR.KIA_STINGER, CAR.ELANTRA],
"crc8": [CAR.SANTA_FE, CAR.SANTA_FE_2],
}

DBC = {
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE_2: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_2: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE_2: dbc_dict('hyundai_kia_generic', None),
}
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