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Code Issues 64 Packages Projects Releases Wiki Activity

Hyundai: Car Port for 2022 Hyundai Santa Fe (#22325)

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* Add fingerprint: Hyundai Santa Fe 2022

* Update LFAHDA_mfc: Add 2022 Hyundai Santa Fe

* Add car port: Hyundai Santa Fe 2022

* Add test route: Hyundai Santa Fe 2022

* Update RELEASES.md

* Update CARS.md

* Update RELEASES.md

* Remove FPv1 due to deprecation
pull/214/head
Jason Wen 4 years ago committed by GitHub
parent d888ef8f89
commit 9acc592cd9
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 39 additions and 5 deletions
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  1. 1
      RELEASES.md
  2. 1
      docs/CARS.md
  3. 2
      selfdrive/car/hyundai/carcontroller.py
  4. 2
      selfdrive/car/hyundai/hyundaican.py
  5. 9
      selfdrive/car/hyundai/interface.py
  6. 28
      selfdrive/car/hyundai/values.py
  7. 1
      selfdrive/test/test_routes.py

1
RELEASES.md
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@ -1,5 +1,6 @@
Version 0.8.10 (2021-XX-XX)
========================
* Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
* Škoda Kamiq 2021 support thanks to jyoung8607!
* Škoda Karoq 2019 support thanks to jyoung8607!
* Volkswagen Arteon 2021 support thanks to jyoung8607!

1
docs/CARS.md
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@ -105,6 +105,7 @@ Community Maintained Cars and Features
| Hyundai | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2022 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Sonata Hybrid 2021 | All | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |

2
selfdrive/car/hyundai/carcontroller.py
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@ -104,7 +104,7 @@ class CarController():
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]:
CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022]:
can_sends.append(create_lfahda_mfc(self.packer, enabled))
# 5 Hz ACC options

2
selfdrive/car/hyundai/hyundaican.py
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@ -18,7 +18,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV]:
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022]:
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

9
selfdrive/car/hyundai/interface.py
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@ -56,6 +56,15 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate == CAR.SANTA_FE_2022:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG

28
selfdrive/car/hyundai/values.py
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@ -12,7 +12,7 @@ class CarControllerParams:
def __init__(self, CP):
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]:
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022]:
self.STEER_MAX = 384
else:
self.STEER_MAX = 255
@ -37,6 +37,7 @@ class CAR:
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
KONA_HEV = "HYUNDAI KONA HYBRID 2020"
SANTA_FE = "HYUNDAI SANTA FE 2019"
SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
SONATA = "HYUNDAI SONATA 2020"
SONATA_LF = "HYUNDAI SONATA 2019"
PALISADE = "HYUNDAI PALISADE 2020"
@ -370,6 +371,26 @@ FW_VERSIONS = {
b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00',
],
},
CAR.SANTA_FE_2022: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x82TMBZN5TMD3XXXG2E',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7',
],
},
CAR.KIA_STINGER: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 \xf1\xa01.01',
@ -735,7 +756,7 @@ FW_VERSIONS = {
}
CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID],
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}
@ -746,7 +767,7 @@ FEATURES = {
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV]),
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV]),
"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022]),
}
HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]) # these cars use a different gas signal
@ -780,6 +801,7 @@ DBC = {
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),

1
selfdrive/test/test_routes.py
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@ -68,6 +68,7 @@ routes = [
TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
TestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
TestRoute("38bfd238edecbcd7|2018-08-29--22-02-15", HYUNDAI.SANTA_FE),
TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),

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