casper fix

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -422,7 +422,7 @@ def _scale01(x, lo, hi):
       if self.CP.carFingerprint in CAN_GEARS["send_mdps12"] and CS.mdps12 is not None:  # send mdps12 to LKAS to prevent LKAS error
         can_sends.append(hyundaican.create_mdps12(self.packer, self.frame, CS.mdps12))
 
-      casper_opt = self.CP.carFingerprint in (CAR.HYUNDAI_CASPER_EV)
+      casper_ev = self.CP.carFingerprint == CAR.HYUNDAI_CASPER_EV
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
         self.hyundai_jerk.make_jerk(self.CP, CS, accel, actuators, hud_control)
         self.hyundai_jerk.check_carrot_cruise(CC, CS, hud_control, stopping, accel, actuators.aTarget)
@@ -432,7 +432,7 @@ def _scale01(x, lo, hi):
 
           can_sends.extend(hyundaican.create_acc_commands_scc(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
                                                           hud_control, set_speed_in_units, stopping,
-                                                          CC.cruiseControl.override, casper_opt, CS, self.soft_hold_mode))
+                                                          CC.cruiseControl.override, casper_ev, CS, self.soft_hold_mode))
         else:
           can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
                                                 hud_control, set_speed_in_units, stopping,
@@ -447,7 +447,7 @@ def _scale01(x, lo, hi):
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
         if camera_scc:
           if CS.scc13 is not None:
-            if casper_opt:
+            if casper_ev:
               #can_sends.append(hyundaican.create_acc_opt_copy(CS, self.packer))
               pass
           pass

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -397,6 +397,11 @@ def update(self, can_parsers) -> structs.CarState:
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
       scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1  # sometimes only SCC system shows an FCW
       aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
+      if self.CP.carFingerprint == CAR.HYUNDAI_CASPER_EV and aeb_src == "FCA11":
+        fca_fault = cp_cruise.vl["FCA11"]["FCA_Failinfo"] != 0 or cp_cruise.vl["FCA11"]["FCA_Status"] == 3
+        if fca_fault:
+          aeb_warning = False
+          aeb_braking = False
       ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
       ret.stockAeb = aeb_warning and aeb_braking
 

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -4,6 +4,25 @@
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
+def suppress_casper_ev_fca11_fault(values):
+  # CASPER EV can report transient FCA faults during camera-SCC handoff.
+  # Keep the copied FCA11 frame non-faulting without changing other cars.
+  fca_fault = values["FCA_Failinfo"] != 0 or values["FCA_Status"] == 3
+  values["FCA_Failinfo"] = 0
+
+  if fca_fault:
+    values["FCA_Status"] = 2
+    values["CF_VSM_Prefill"] = 0
+    values["CF_VSM_HBACmd"] = 0
+    values["CF_VSM_Warn"] = 0
+    values["CF_VSM_BeltCmd"] = 0
+    values["CR_VSM_DecCmd"] = 0
+    values["FCA_CmdAct"] = 0
+    values["FCA_StopReq"] = 0
+    values["CF_VSM_DecCmdAct"] = 0
+
+  return values
+
 def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
@@ -134,7 +153,7 @@ def create_lfahda_mfc(packer, CC, blinking_signal):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands_scc(packer, enabled, accel, jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CS, soft_hold_mode):
+def create_acc_commands_scc(packer, enabled, accel, jerk, idx, hud_control, set_speed, stopping, long_override, suppress_casper_ev_fca, CS, soft_hold_mode):
   from opendbc.car.hyundai.carcontroller import HyundaiJerk
   cruise_available = CS.out.cruiseState.available
   if CS.paddle_button_prev > 0:
@@ -214,11 +233,8 @@ def create_acc_commands_scc(packer, enabled, accel, jerk, idx, hud_control, set_
     values["ObjDistStat"] = objGap2
     commands.append(packer.make_can_msg("SCC14", 0, values))
 
-  if CS.fca11 is not None and use_fca: # CASPER_EV의 경우 FCA11에서 fail이 간헐적 발생함.. 그냥막자.. 원인불명..
-    values = copy.copy(CS.fca11)
-    if values["FCA_Failinfo"] != 0:
-      values["FCA_Status"] = 2
-    values["FCA_Failinfo"] = 0
+  if CS.fca11 is not None and suppress_casper_ev_fca: # CASPER_EV의 경우 FCA11에서 fail이 간헐적 발생함.. 그냥막자.. 원인불명..
+    values = suppress_casper_ev_fca11_fault(copy.copy(CS.fca11))
     fca11_dat = packer.make_can_msg("FCA11", 0, values)[1]
     values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
     commands.append(packer.make_can_msg("FCA11", 0, values))

selfdrive/carrot/web/index.html

@@ -1,7 +1,8 @@
 <!doctype html>
-<html>
+<html class="notranslate" translate="no">
 <head>
   <meta charset="utf-8" />
+  <meta name="google" content="notranslate" />
   <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no, viewport-fit=cover" />
   <title>CarrotPilot</title>
   <link rel="icon" type="image/png" href="/assets/img_chffr_wheel.png?v=2604-01" />
@@ -89,7 +90,7 @@
   <link rel="stylesheet" href="/css/vendor/plyr.css?v=3.7.8" />
 </head>
 
-<body>
+<body class="notranslate" translate="no">
 
   <div class="wrap swipe-container" id="swipeContainer">
     <!-- ════════════ CAR SELECT ════════════ -->