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Hyundai CAN FD: merge Tucson and Tucson Hybrid (#31238)

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* combine tucson and tucson hybrid can fd

* format fingerprints
old-commit-hash: e92e856f7a
vw-mqb-aeb
Shane Smiskol 2 years ago committed by GitHub
parent 449085b764
commit 550fc4a726
8 changed files with 9 additions and 23 deletions
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  1. 12
      selfdrive/car/hyundai/fingerprints.py
  2. 2
      selfdrive/car/hyundai/interface.py
  3. 3
      selfdrive/car/hyundai/tests/test_hyundai.py
  4. 6
      selfdrive/car/hyundai/values.py
  5. 2
      selfdrive/car/tests/routes.py
  6. 4
      selfdrive/car/tests/test_models_segs.txt
  7. 2
      selfdrive/car/torque_data/params.toml
  8. 1
      selfdrive/car/torque_data/substitute.toml

12
selfdrive/car/hyundai/fingerprints.py
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@ -1563,23 +1563,15 @@ FW_VERSIONS = {
],
},
CAR.TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
],
},
CAR.TUCSON_HYBRID_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',

2
selfdrive/car/hyundai/interface.py
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@ -159,7 +159,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15
ret.tireStiffnessFactor = 0.385
elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
elif candidate == CAR.TUCSON_4TH_GEN:
ret.mass = 1630. # average
ret.wheelbase = 2.756
ret.steerRatio = 16.

3
selfdrive/car/hyundai/tests/test_hyundai.py
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@ -21,7 +21,6 @@ NO_DATES_PLATFORMS = {
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN,
CAR.TUCSON_4TH_GEN,
CAR.TUCSON_HYBRID_4TH_GEN,
# CAN
CAR.ELANTRA,
CAR.ELANTRA_GT_I30,
@ -182,8 +181,6 @@ class TestHyundaiFingerprint(unittest.TestCase):
excluded_platforms = {
CAR.GENESIS_G70, # shared platform code, part number, and date
CAR.GENESIS_G70_2020,
CAR.TUCSON_4TH_GEN, # shared platform code and part number
CAR.TUCSON_HYBRID_4TH_GEN,
}
excluded_platforms |= CANFD_CAR - EV_CAR # shared platform codes
excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match

6
selfdrive/car/hyundai/values.py
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@ -102,7 +102,6 @@ class CAR(StrEnum):
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
IONIQ_6 = "HYUNDAI IONIQ 6 2023"
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
@ -227,8 +226,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.TUCSON_4TH_GEN: [
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
@ -482,7 +481,7 @@ CAN_GEARS = {
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
@ -567,7 +566,6 @@ DBC = {
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),

2
selfdrive/car/tests/routes.py
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@ -122,7 +122,7 @@ routes = [
CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN),
CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023
CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_4TH_GEN), # hybrid
CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),

4
selfdrive/car/tests/test_models_segs.txt
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8570e4144f2c17a1c804b18cea0d4358bea211f67c823fd3bd152b6af7cf207d
size 125147
oid sha256:2274c383d822cf655f45f00111374420f88f4058ad12766d72e0580e6a1e4e0f
size 125126

2
selfdrive/car/torque_data/params.toml
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@ -38,7 +38,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
"HYUNDAI TUCSON HYBRID 4TH GEN" = [2.960174, 2.860284, 0.108745]
"HYUNDAI TUCSON 4TH GEN" = [2.960174, 2.860284, 0.108745]
"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048]
"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003]
"KIA EV6 2022" = [3.2, 2.093457, 0.05]

1
selfdrive/car/torque_data/substitute.toml
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@ -33,7 +33,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019"
"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020"
"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019"
"HYUNDAI TUCSON 4TH GEN" = "HYUNDAI TUCSON HYBRID 4TH GEN"
"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022"
"KIA K5 HYBRID 2020" = "KIA K5 2021"
"KIA STINGER 2022" = "KIA STINGER GT2 2018"

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