Hyundai: Car Port for Ioniq 5 (HDA2) 2022 (#25308)

* Hyundai: Car Port for Ioniq 5 2022

* Add FW versions

* HDA2 and modified harness for now

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Attempt to block LFA

* BYTE7 blocks LFA

* Merge and bump opendbc, panda

* Update docs per request

* HDA2 -> Highway Driving Assist II

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Update RELEASES

* remove that

* generate docs

* ev6 matches

* fix panda bus

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support
 

docs/CARS.md

@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 199 Supported Cars
+# 200 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -69,6 +69,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq 5 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@@ -93,7 +94,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|

selfdrive/car/hyundai/interface.py

@@ -239,6 +239,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.65
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate == CAR.IONIQ_5:
+      ret.mass = 2012 + STD_CARGO_KG
+      ret.wheelbase = 3.0
+      ret.steerRatio = 16.
+      tire_stiffness_factor = 0.65
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:

selfdrive/car/hyundai/values.py

@@ -65,6 +65,7 @@ class CAR:
   PALISADE = "HYUNDAI PALISADE 2020"
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
+  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@@ -126,6 +127,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
   CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
+  CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.none),
 
   # Kia
   CAR.KIA_FORTE: [
@@ -156,7 +158,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p),
 
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
@@ -1263,6 +1265,23 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
     ],
   },
+  CAR.IONIQ_5: {
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+      b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
+      b'\xf1\x8757700GI000 \xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
+      b'\xf1\x8799110GI000\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1280,7 +1299,7 @@ FEATURES = {
   "use_fca": {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, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, }
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1335,4 +1354,5 @@ DBC = {
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_EV6: dbc_dict('kia_ev6', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.IONIQ_5: dbc_dict('kia_ev6', None),
 }

selfdrive/car/tests/routes.py

@@ -90,6 +90,7 @@ routes = [
   TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
   TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
+  TestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
   TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
   TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),

selfdrive/car/tests/test_models.py

@@ -219,6 +219,8 @@ class TestCarModelBase(unittest.TestCase):
     for can in self.can_msgs:
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
+        msg = list(msg)
+        msg[3] %= 4
         to_send = package_can_msg(msg)
         ret = self.safety.safety_rx_hook(to_send)
         self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")

selfdrive/car/torque_data/substitute.yaml

@@ -29,6 +29,7 @@ HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ 5 2022: KIA EV6 2022
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019