Genesis G70 2020 port (#22692)

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 2a6816b893

docs/CARS.md

@@ -93,6 +93,7 @@
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G70 2020                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |

selfdrive/car/hyundai/carcontroller.py

@@ -105,7 +105,7 @@ class CarController():
     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.SANTA_FE_2022,
-                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
+                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020]:
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
     # 5 Hz ACC options

selfdrive/car/hyundai/hyundaican.py

@@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
   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.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
                          CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)

selfdrive/car/hyundai/interface.py

@@ -26,7 +26,7 @@ class CarInterface(CarInterfaceBase):
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE, CAR.ELANTRA_2021]
+    ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020]
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -232,6 +232,13 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1640.0 + STD_CARGO_KG
       ret.wheelbase = 2.84
       ret.steerRatio = 13.56
+    elif candidate == CAR.GENESIS_G70_2020:
+      ret.lateralTuning.pid.kf = 0.
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]]
+      ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.83
+      ret.steerRatio = 12.9
     elif candidate == CAR.GENESIS_G80:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG

selfdrive/car/hyundai/values.py

@@ -10,7 +10,7 @@ class CarControllerParams:
   ACCEL_MAX = 2.0 # m/s
 
   def __init__(self, CP):
-    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G70_2020,
                              CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
                              CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
                              CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
@@ -62,6 +62,7 @@ class CAR:
 
   # Genesis
   GENESIS_G70 = "GENESIS G70 2018"
+  GENESIS_G70_2020 = "GENESIS G70 2020"
   GENESIS_G80 = "GENESIS G80 2017"
   GENESIS_G90 = "GENESIS G90 2017"
 
@@ -630,6 +631,25 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
     (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
   },
+  CAR.GENESIS_G70_2020: {
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9220 4I2VL107',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00'
+      b'\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.KONA: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ', ],
     (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
@@ -942,7 +962,7 @@ 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, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
 
   # 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_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, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
+  "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_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_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, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022])  # these cars use a different gas signal
@@ -956,6 +976,7 @@ DBC = {
   CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
+  CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
   CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),

selfdrive/debug/hyundai_enable_radar_points.py

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 """Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
 Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
-endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known 
+endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
 firmware versions. If you want to try on a new radar make sure to note the default config value
 in case it's different from the other radars and you need to revert the changes.
 
-After changing the config the car should not show any faults when openpilot is not running. 
+After changing the config the car should not show any faults when openpilot is not running.
 These config changes are persistent accross car reboots. You need to run this script again
 to go back to the default values.
 
@@ -32,7 +32,7 @@ SUPPORTED_FW_VERSIONS = {
   b"DNhe SCC FHCUP      1.00 1.02 99110-L5000 \x01#\x15#    ": {
     "default_config": b"\x00\x00\x00\x01\x00\x00",
     "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
-  }, 
+  },
   # 2020 PALISADE
   b"LX2_ SCC FHCUP      1.00 1.04 99110-S8100\x19\x05\x02\x16V    ": {
     "default_config": b"\x00\x00\x00\x01\x00\x00",
@@ -42,7 +42,13 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.03 99110-S2000\x19\x050\x13'    ": {
     "default_config": b"\x00\x00\x00\x01\x00\x00",
     "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
-  }
+  },
+
+  # 2020 GENESIS G70
+  b'IK__ SCC F-CUP      1.00 1.02 96400-G9100\x18\x07\x06\x17\x12    ': {
+    "default config": b"\x00\x00\x00\x01\x00\x00",
+    "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
+  },
 }
 
 if __name__ == "__main__":

selfdrive/test/test_routes.py

@@ -98,6 +98,7 @@ routes = [
   TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
   TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
   TestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
+  TestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
 
   TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
   TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),