diff --git a/RELEASES.md b/RELEASES.md index 211e63a755..7d55887ec4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ Version 0.9.1 (2022-12-XX) * Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! +* Genesis GV60 2023 support thanks to sunnyhaibin! * Hyundai Tucson 2022-23 support * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! diff --git a/docs/CARS.md b/docs/CARS.md index c92c0b2270..68d4442f91 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 219 Supported Cars +# 220 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -32,6 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Genesis|GV60 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index e271dc0e7d..aa6d88b55f 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -191,6 +191,10 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications # Genesis + elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: + ret.mass = 2205 + STD_CARGO_KG + ret.wheelbase = 2.9 + ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. elif candidate == CAR.GENESIS_G70: ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c50b65f101..6e00802584 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -112,6 +112,7 @@ class CAR: KIA_EV6 = "KIA EV6 2022" # Genesis + GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN" GENESIS_G70 = "GENESIS G70 2018" GENESIS_G70_2020 = "GENESIS G70 2020" GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" @@ -218,6 +219,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], # Genesis + CAR.GENESIS_GV60_EV_1ST_GEN: HyundaiCarInfo("Genesis GV60 2023", "All", harness=Harness.hyundai_k), CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), @@ -1512,6 +1514,14 @@ FW_VERSIONS = { b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', ], }, + CAR.GENESIS_GV60_EV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', + ], + }, } CHECKSUM = { @@ -1529,7 +1539,7 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, 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, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_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} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_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} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} @@ -1538,7 +1548,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5} +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} @@ -1596,4 +1606,5 @@ DBC = { CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 89b895864a..3edc406e19 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -80,6 +80,7 @@ routes = [ CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), + CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN), CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 1eda931e3e..d7b2ec4079 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -35,6 +35,7 @@ KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1] GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1] KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] +GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0]