Hyundai CAN-FD: stock-navigation speed cameras, lever lane change/turn, turn display, forced-SCC gate

docs/user/en/settings.md

@@ -256,7 +256,7 @@ These settings describe the car, harness, and device hardware configuration. Do
 | Group | Parameters | Purpose |
 |---|---|---|
 | Hyundai/Kia | `HyundaiCameraSCC`, `IsLdwsCar`, `HapticFeedbackWhenSpeedCamera` | SCC connection, LDWS behavior, and speed-event haptics |
-| CAN FD/HDA | `CanfdHDA2`, `HyundaiCanfdClusterDirectTx`, `CanfdDebug`, `HDPuse` | HDA2 selection, cluster direct send, CAN FD diagnostics, and HDP |
+| CAN FD/HDA | `CanfdHDA2`, `HyundaiCanfdClusterDirectTx`, `CanfdDebug`, `HDPuse`, `ClusterLaneTest`, `ClusterLaneTestValue` | HDA2 selection, cluster direct send, CAN FD diagnostics, HDP, and a cluster display test |
 | Radar | `EnableRadarTracks`, `RadarTrackFlip`, `EnableCornerRadar`, `CarrotRadarMode`, `CarrotRadarCutInSensitivity` | SCC radar, front-track orientation, corner radar, and Carrot Radar processing and cut-in sensitivity |
 | Driver monitoring | `DriverMonitoringEnabled` (search only), `DriverMonitoringMode`, `CarrotVisionEnabled`, `MuteDoor`, `MuteSeatbelt` | Driver monitoring and selected vehicle alerts |
 | Vehicle assistance | `MaxAngleFrames`, `SpeedFromPCM` | Steering-angle frames and stock-SCC speed control |
@@ -296,7 +296,7 @@ In modes `EnableRadarTracks=1`–`3`, a confirmed departing front lead can recei
 <a id="display"></a>
 ## Display
 
-Display contains 34 settings. External-HUD settings control the layout and output of separate display hardware.
+Display contains 35 settings. External-HUD settings control the layout and output of separate display hardware.
 
 `ClusterHud` (External HUD Display) switches a **direct USB HUD or a registered ESP32-S3 Wi-Fi HUD** on or off. A HUD connected to Jetson starts automatically even when this value is `0`, and normally turns its display off with ignition. Use the existing always-on `ClusterHudDebug` modes to keep it visible offroad. Brightness and layout settings also apply to the Jetson HUD.
 
@@ -313,7 +313,7 @@ With `CarrotVisionEnabled` on, the external HUD and web camera view can be used
 |---|---|---|
 | Information | `ShowDebugUI`, `ShowTpms`, `ShowDateTime`, `ShowPathEnd`, `ShowDeviceState`, `ShowLaneInfo`, `ShowRadarInfo`, `ShowRouteInfo`, `ShowPlotMode` | Debug, tire, time, lane, radar, and route information |
 | Path | `ShowPathMode`, `ShowPathColor`, `ShowPathColorCruiseOff`, `ShowPathModeLane`, `ShowPathColorLane` | Path shape and color by driving state |
-| Brightness/on-road view | `ShowCustomBrightness`, `ShowModelView`, `ShowCameraWithCluster` | Brightness, camera/model composition, and the on-device camera while the external HUD is connected |
+| Brightness/on-road view | `ShowCustomBrightness`, `ScreenOn`, `ShowModelView`, `ShowCameraWithCluster` | Brightness, C4 screen on/off, camera/model composition, and the on-device camera while the external HUD is connected |
 | External HUD | `ClusterHud`, `ClusterHudBrightness`, `ClusterHudOrientation`, and related `ClusterHud*` settings | Supported TURZX HUD layout, live brightness, screen rotation, camera, radar, and encoder options |
 
 For RAV4 2022 with the ARS display stream, `ShowRadarInfo=3` on the standard device

docs/user/ko/settings.md

@@ -260,7 +260,7 @@ VW MEB(ID.4 포함)에도 수동 조향비와 학습 비율이 적용됩니다.
 | 중분류 | 파라미터 | 용도 |
 |---|---|---|
 | 현대·기아 | `HyundaiCameraSCC`, `IsLdwsCar`, `HapticFeedbackWhenSpeedCamera` | SCC 연결 방식, LDWS 차량과 카메라 구간 햅틱 |
-| CANFD·HDA | `CanfdHDA2`, `HyundaiCanfdClusterDirectTx`, `CanfdDebug`, `HDPuse` | HDA2 차량, 계기판 직접 송신과 CAN FD 디버그·HDP 기능 |
+| CANFD·HDA | `CanfdHDA2`, `HyundaiCanfdClusterDirectTx`, `CanfdDebug`, `HDPuse`, `ClusterLaneTest`, `ClusterLaneTestValue` | HDA2 차량, 계기판 직접 송신과 CAN FD 디버그·HDP 기능, 계기판 표시 테스트 |
 | 레이더 | `EnableRadarTracks`, `RadarTrackFlip`, `EnableCornerRadar`, `CarrotRadarMode`, `CarrotRadarCutInSensitivity` | SCC 레이더, 전방 트랙 좌우 보정, 코너 레이더와 당근레이더 처리·컷인 감도 |
 | 운전자 모니터링 | `DriverMonitoringEnabled`(검색 전용), `DriverMonitoringMode`, `CarrotVisionEnabled`, `MuteDoor`, `MuteSeatbelt` | 운전자 모니터링과 일부 차량 경고음 처리 |
 | 차량 보조 | `MaxAngleFrames`, `SpeedFromPCM` | 최대 조향각 관련 프레임과 순정 SCC 속도 제어 방식 |
@@ -295,7 +295,7 @@ Bosch MRRevo14F 수신을 지원하는 버전에서 Bosch MRRevo14F 후보 차
 <a id="display"></a>
 ## 화면 표시
 
-화면 표시에는 34개 항목이 있습니다. 외부 HUD 항목은 별도 하드웨어의 화면 구성과 출력 방식을 조정합니다.
+화면 표시에는 35개 항목이 있습니다. 외부 HUD 항목은 별도 하드웨어의 화면 구성과 출력 방식을 조정합니다.
 
 `ClusterHud`(외부 HUD 활성화)는 **본체 USB에 직접 연결한 HUD 또는 등록된 ESP32-S3 Wi-Fi HUD**를 켜고 끄는 설정입니다. Jetson에 연결한 HUD는 이 값이 `0`이어도 자동 실행되며, 기본적으로 시동 OFF 시 화면을 끕니다. 시동 OFF에도 표시하려면 기존 `ClusterHudDebug`의 항상 켜기를 사용합니다. 밝기·화면 구성 설정은 Jetson HUD에도 적용됩니다.
 
@@ -312,7 +312,7 @@ Jetson HUD에는 `jetSON` 아래에 Jetson 내부 센서의 최고 온도가 표
 |---|---|---|
 | 정보 표시 | `ShowDebugUI`, `ShowTpms`, `ShowDateTime`, `ShowPathEnd`, `ShowDeviceState`, `ShowLaneInfo`, `ShowRadarInfo`, `ShowRouteInfo`, `ShowPlotMode` | 주행 화면의 디버그, 타이어, 시간, 차선, 레이더와 경로 정보 |
 | 경로 표시 | `ShowPathMode`, `ShowPathColor`, `ShowPathColorCruiseOff`, `ShowPathModeLane`, `ShowPathColorLane` | 레인리스·레인모드·크루즈 OFF 상태의 경로 모양과 색상 |
-| 밝기·주행화면 | `ShowCustomBrightness`, `ShowModelView`, `ShowCameraWithCluster` | 주행 중 밝기, 카메라·모델 표시 조합과 외부 HUD 연결 중 본체 카메라 표시 |
+| 밝기·주행화면 | `ShowCustomBrightness`, `ScreenOn`, `ShowModelView`, `ShowCameraWithCluster` | 주행 중 밝기, C4 화면 켜기·끄기, 카메라·모델 표시 조합과 외부 HUD 연결 중 본체 카메라 표시 |
 | 외부 HUD·기본 | `ClusterHud`, `ClusterHudBrightness`, `ClusterHudOrientation`, `ClusterHudMirror`, `ClusterHudTheme`, `ClusterNaviMapTheme`, `ClusterNaviMapType`, `ClusterNaviMapFps` | TURZX 외부 HUD, 밝기, 화면 회전, 미러링과 지도 테마 |
 | 외부 HUD·화면·카메라 | `ClusterHudEncoder`, `ClusterHudScreenMode`, `ClusterHudPanelLayout`, `ClusterHudCameraViewMode` | 인코더와 화면·카메라·좌우 패널 구성 |
 | 외부 HUD·레이더 표시 | `ClusterHudRadarInfo`, `ClusterHudRadarDisplay`, `ClusterHudRadarSourceColor` | 외부 HUD의 레이더 정보와 색상 |

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -864,6 +864,78 @@ def _hide_replaced_adas_service_warning(values):
     values["FAULT_DAS"] = 0
 
 
+LANE_LINE_UNSEEN = 14  # draws nothing on the Ioniq 5 PE cluster; undocumented on purpose, so a cluster update that changes it is noticed
+# model laneLineProbs at low speed (10-18 rlogs, night): parking lots 0.01~0.04, city stops 0.13~0.22, highway ~1.0
+LANE_HIDE_PROB, LANE_SHOW_PROB, LANE_HIDE_FRAMES = 0.08, 0.12, 100  # hide after 1 s below 0.08, show again from 0.12
+
+
+def _lane_unseen(state, side, prob, frame):
+  hidden, low_since = state.get(side, (False, None))
+  if prob >= LANE_SHOW_PROB:
+    hidden, low_since = False, None
+  elif prob < LANE_HIDE_PROB:
+    low_since = frame if low_since is None else low_since
+    hidden = hidden or frame - low_since >= LANE_HIDE_FRAMES
+  else:
+    low_since = None  # in between: keep the current state
+  state[side] = (hidden, low_since)
+  return hidden
+
+
+# ClusterLaneTest = field, ClusterLaneTestValue = raw value (test only): DBC fields, or 0x162 bits the DBC does not name
+CLUSTER_TEST_FIELDS = {1: "SPEEDLIMIT", 2: "SPEEDLIMIT_FLASH", 3: "SIGNS", 4: "SPEEDLIMIT_WEATHER", 5: "COUNTRY"}  # 0x162
+CLUSTER_TEST_FIELDS_161 = {6: "SLA_ICON", 12: "HDA_ICON", 13: "LFA_ICON", 14: "SETSPEED", 15: "SETSPEED_HUD", 16: "CAR_CIRCLE",
+                           17: "DISTANCE", 18: "DISTANCE_CAR", 19: "DISTANCE_SPACING", 20: "DISTANCE_LEAD",
+                           21: "ALERTS_4", 22: "ALERTS_5", 23: "BACKGROUND", 24: "LANE_HIGHLIGHT", 25: "LANE_ZOOM", 26: "CENTERLINE"}
+CLUSTER_TEST_BITS = {7: tuple(range(53, 64)), 8: tuple(range(159, 163)), 9: tuple(range(183, 192)), 10: tuple(range(252, 256)),
+                     11: (87, 111, 135, 212)}
+
+
+CLUSTER_TEST_SWEEP = -1  # ClusterLaneTestValue -1: step the field every 1 s and show the step in the set speed number
+
+
+def _cluster_test():
+  params = Params()
+  field = params.get_int("ClusterLaneTest")
+  return (field, params.get_int("ClusterLaneTestValue")) if field > 0 else (0, 0)
+
+
+def _cluster_sweep(packer, field, frame):
+  # returns (value to send, number to show); bit groups step one bit at a time and show the bit number
+  state = create_ccnc_messages.__dict__.setdefault('_sweep', {})
+  if state.get('field') != field:
+    state.update(field=field, start=frame)
+  step = (frame - state['start']) // 100
+  if field in CLUSTER_TEST_BITS:
+    bits = CLUSTER_TEST_BITS[field]
+    i = step % (len(bits) + 1)
+    return (0, 0) if i == 0 else (1 << (i - 1), bits[i - 1])
+  if field in CLUSTER_TEST_FIELDS:
+    sig = packer.dbc.name_to_msg['CCNC_0x162'].sigs[CLUSTER_TEST_FIELDS[field]]
+  elif field in CLUSTER_TEST_FIELDS_161:
+    sig = packer.dbc.name_to_msg['ADRV_0x161'].sigs[CLUSTER_TEST_FIELDS_161[field]]
+  else:
+    return 0, None
+  value = step % (1 << sig.size)
+  return value, value
+
+
+def _set_raw_bits(msg, bits, value):
+  addr, dat, bus = msg
+  d = bytearray(dat)
+  for i, b in enumerate(bits):
+    d[b // 8] = (d[b // 8] & ~(1 << (b % 8))) | (((value >> i) & 1) << (b % 8))
+  d[0:2] = hkg_can_fd_checksum(addr, None, d).to_bytes(2, 'little')
+  return addr, bytes(d), bus
+
+
+def _dashed_lane_line(color, lane_line):
+  # 0x161 dashed codes seen on the Ioniq 5 PE cluster: 8 white, 10 green (no orange dashed)
+  if lane_line // 10 > 0 and lane_line % 10 in (0, 5):  # camera: dashed / DLM inner dashed (color 0 = no lane info)
+    return {2: 8, 6: 10}.get(color, color)
+  return color
+
+
 def _select_cluster_background(cruise_enabled, lat_active, paddle_pressed, paddle_mode, turning=False):
   # Reuse the existing flashing-red background to identify an active model turn.
   if (lat_active and turning) or (paddle_mode > 0 and paddle_pressed):
@@ -992,10 +1064,14 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
         if  HDA_LFA_SymSta == 0 and 0 < frame % 200 < 12:
           values["LFA_BTN"] = 1
 
+        # The cluster's side objects, lead car and target come from stock SCC MAIN; keep it on from ignition.
+        # openpilot's own MAIN still follows the driver's button (manual_main_off_latched).
+        if not CS.MainMode_ACC and not interlock_active and 10 < frame % 200 <= 16:
+          values["ADAPTIVE_CRUISE_MAIN_BTN"] = 1
+
         if CC.enabled and not interlock_active:
           if not CS.MainMode_ACC:
-            if 10 < frame % 200 <= 16 and CS.out.vEgo > 3.:
-              values["ADAPTIVE_CRUISE_MAIN_BTN"] = 1
+            pass  # pressed above
           elif CS.ACCMode in [0, 4]:
             if 10 < frame % 200 <= 16 and CS.out.vEgo > 3.:
               values["CRUISE_BUTTONS"] = 2
@@ -1012,11 +1088,19 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
     # --- 0x161/0x200/0x1ea/0x162 (frame%5) ---
     if frame % 5 == 0:
       lat_active = CC.latActive
+      test_field, test_value = _cluster_test()
+      sweep_display = None
+      if test_value == CLUSTER_TEST_SWEEP:
+        test_value, sweep_display = _cluster_sweep(packer, test_field, frame)
+      else:
+        create_ccnc_messages.__dict__.pop('_sweep', None)
 
       if CS.adrv_0x161 is not None:
         main_enabled = CS.out.cruiseState.available
         cruise_enabled = CC.enabled
         lat_enabled = CS.out.latEnabled
+        # steering pauses at standstill; keep the cluster's steering/lane-change icons as if it were active
+        lat_icon = lat_active or (cruise_enabled and lat_enabled and CS.out.standstill)
         nav_active = hud_control.activeCarrot > 1
         vehicle_navi_available = CS.out.vehicleNaviAvailable
         nav_icon_available = nav_active or vehicle_navi_available
@@ -1038,12 +1122,12 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
         set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
         values["vSetDis"] = int(set_speed_in_units + 0.5)
 
-        values["DISTANCE"] = 4 if hdp_active else hud_control.leadDistanceBars
-        values["DISTANCE_LEAD"] = 2 if cruise_enabled and lead_visible else 1 if main_enabled and lead_visible else 0
+        values["DISTANCE"] = hud_control.leadDistanceBars  # real gap bars under the HDP colors too
+        values["DISTANCE_LEAD"] = (2 if cruise_enabled else 1) if lead_visible else 0
         values["DISTANCE_CAR"] = 3 if hdp_active else 2 if cruise_enabled else 1 if main_enabled else 0
         values["DISTANCE_SPACING"] = 5 if hdp_active else 1 if cruise_enabled else 0
 
-        values["TARGET"] = 1 if lead_visible and cruise_enabled else 0
+        values["TARGET"] = (1 if cruise_enabled else 3) if lead_visible else 0  # blue when engaged, white otherwise
         values["TARGET_DISTANCE"] = lead_distance
 
         values["BACKGROUND"] = _select_cluster_background(
@@ -1054,8 +1138,8 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
 
         values["NAV_ICON"] = 2 if nav_icon_available and cruise_enabled else 1 if main_enabled and nav_icon_available else 0
         values["HDA_ICON"] = 5 if hdp_active else 2 if cruise_enabled else 1 if main_enabled else 0
-        values["LFA_ICON"] = 5 if hdp_active else 2 if lat_active else 1 if lat_enabled else 0
-        values["LKA_ICON"] = 4 if lat_active else 3 if lat_enabled else 0
+        values["LFA_ICON"] = 5 if hdp_active else 2 if lat_icon else 1 if lat_enabled else 0
+        values["LKA_ICON"] = 4 if lat_icon else 3 if lat_enabled else 0
         values["FCA_ALT_ICON"] = 0
 
         if values["ALERTS_2"] in [1, 2, 5, 6, 10, 21, 22]:
@@ -1071,6 +1155,14 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
           values["ALERTS_3"] = 0
           values["SOUNDS_3"] = 0
 
+        # carrot: with HDP on, a gap change shows the stock "distance N" popup (ALERTS_3 7~10) for 2 s
+        gap_bars = hud_control.leadDistanceBars
+        if hdp_active and gap_bars != getattr(create_ccnc_messages, '_gap_bars', gap_bars):
+          create_ccnc_messages._gap_popup_until = frame + 200
+        create_ccnc_messages._gap_bars = gap_bars
+        if frame < getattr(create_ccnc_messages, '_gap_popup_until', 0) and values["ALERTS_3"] == 0 and 1 <= gap_bars <= 4:
+          values["ALERTS_3"] = 6 + gap_bars
+
         if values["ALERTS_5"] in [1, 2, 3, 4, 5]:
           values["ALERTS_5"] = 0
 
@@ -1085,6 +1177,10 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
         values["LANELINE_CURVATURE_DIRECTION"] = 1 if curvature < 0 and lat_active else 0
 
         trailer_lane_change_blocked = CS.trailer_connected
+        lane_probs = md.laneLineProbs if md is not None and len(md.laneLineProbs) >= 3 else None
+        unseen = create_ccnc_messages.__dict__.setdefault('_lane_unseen', {})
+        left_seen = hud_control.leftLaneVisible and not (lane_probs is not None and _lane_unseen(unseen, 'L', lane_probs[1], frame))
+        right_seen = hud_control.rightLaneVisible and not (lane_probs is not None and _lane_unseen(unseen, 'R', lane_probs[2], frame))
         if trailer_lane_change_blocked:
           values["LANELINE_LEFT"] = 2 if hud_control.leftLaneVisible else 0
           values["LANELINE_RIGHT"] = 2 if hud_control.rightLaneVisible else 0
@@ -1098,7 +1194,7 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
           if hud_control.leftLaneDepart:
             values["LANELINE_LEFT"] = 4 if (frame // 50) % 2 == 0 else 1
           else:
-            values["LANELINE_LEFT"] = lane_color if hud_control.leftLaneVisible else 0
+            values["LANELINE_LEFT"] = _dashed_lane_line(lane_color, CS.out.leftLaneLine) if left_seen or lane_color == 4 else LANE_LINE_UNSEEN  # orange stays
 
           lane_color = 6 if md is not None and md.meta.laneChangeAvailableRight else 2
           if lane_line_check >= 1:
@@ -1109,22 +1205,26 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
           if hud_control.rightLaneDepart:
             values["LANELINE_RIGHT"] = 4 if (frame // 50) % 2 == 0 else 1
           else:
-            values["LANELINE_RIGHT"] = lane_color if hud_control.rightLaneVisible else 0
+            values["LANELINE_RIGHT"] = _dashed_lane_line(lane_color, CS.out.rightLaneLine) if right_seen or lane_color == 4 else LANE_LINE_UNSEEN
 
         values["LCA_LEFT_ARROW"] = 2 if CS.out.leftBlinker else 0
         values["LCA_RIGHT_ARROW"] = 2 if CS.out.rightBlinker else 0
 
         if trailer_lane_change_blocked:
-          values["LCA_LEFT_ICON"] = 1 if lat_active else 0
-          values["LCA_RIGHT_ICON"] = 1 if lat_active else 0
+          values["LCA_LEFT_ICON"] = 1 if lat_icon else 0
+          values["LCA_RIGHT_ICON"] = 1 if lat_icon else 0
         else:
-          values["LCA_LEFT_ICON"] = (1 if CS.out.leftBlindspot else 2) if lat_active else 0
-          values["LCA_RIGHT_ICON"] = (1 if CS.out.rightBlindspot else 2) if lat_active else 0
+          values["LCA_LEFT_ICON"] = (1 if CS.out.leftBlindspot else 2) if lat_icon else 0
+          values["LCA_RIGHT_ICON"] = (1 if CS.out.rightBlindspot else 2) if lat_icon else 0
 
         values["LANE_LEFT"] = 0 if trailer_lane_change_blocked else 1 if desire in (1, 3) else 0
         values["LANE_RIGHT"] = 0 if trailer_lane_change_blocked else 1 if desire in (2, 4) else 0
 
         _apply_driver_monitoring_alert(values, hud_control, CS.adrv_0x161)
+        if test_field in CLUSTER_TEST_FIELDS_161:
+          values[CLUSTER_TEST_FIELDS_161[test_field]] = test_value
+        if sweep_display is not None:
+          values["vSetDis"] = min(sweep_display, 255)
         ret.append(packer.make_can_msg("ADRV_0x161", CAN.ECAN, values, rx_counter = rx_counter))
 
       if CS.adrv_0x200 is not None:
@@ -1165,7 +1265,10 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
           values["FAULT_LSS"] = 0
           values["FAULT_DAS"] = 0
 
-        ret.append(packer.make_can_msg("CCNC_0x162", CAN.ECAN, values, rx_counter=rx_counter))
+        if test_field in CLUSTER_TEST_FIELDS:
+          values[CLUSTER_TEST_FIELDS[test_field]] = test_value
+        msg = packer.make_can_msg("CCNC_0x162", CAN.ECAN, values, rx_counter=rx_counter)
+        ret.append(_set_raw_bits(msg, CLUSTER_TEST_BITS[test_field], test_value) if test_field in CLUSTER_TEST_BITS else msg)
 
     # --- NEW_MSG_4B9 (corner radar keep-alive?) ---
     if enable_corner_radar > 0: