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merge Tucson 4th gen!

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pull/31235/head
Shane Smiskol 1 year ago
parent 9c48e85c78
commit a6a4e24b54
6 changed files with 7 additions and 17 deletions
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  1. 10
      selfdrive/car/hyundai/fingerprints.py
  2. 2
      selfdrive/car/hyundai/interface.py
  3. 1
      selfdrive/car/hyundai/tests/test_hyundai.py
  4. 8
      selfdrive/car/hyundai/values.py
  5. 2
      selfdrive/car/tests/routes.py
  6. 1
      selfdrive/car/torque_data/params.toml

10
selfdrive/car/hyundai/fingerprints.py
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@ -1566,14 +1566,6 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [ (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 1.00 99211-N9210 14G',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', 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 EUR LHD 1.00 2.02 99211-N9000 14E',
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-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-N9240 14Q',
@ -1582,6 +1574,8 @@ FW_VERSIONS = {
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-N9100 14A',
], ],
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ',
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',

2
selfdrive/car/hyundai/interface.py
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@ -147,7 +147,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15 ret.steerRatio = 14.00 * 1.15
ret.tireStiffnessFactor = 0.385 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.mass = 1630. # average
ret.wheelbase = 2.756 ret.wheelbase = 2.756
ret.steerRatio = 16. ret.steerRatio = 16.

1
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.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.SANTA_CRUZ_1ST_GEN,
CAR.TUCSON_4TH_GEN, CAR.TUCSON_4TH_GEN,
CAR.TUCSON_HYBRID_4TH_GEN,
# CAN # CAN
CAR.ELANTRA, CAR.ELANTRA,
CAR.ELANTRA_GT_I30, CAR.ELANTRA_GT_I30,

8
selfdrive/car/hyundai/values.py
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@ -100,7 +100,6 @@ class CAR(StrEnum):
IONIQ_5 = "HYUNDAI IONIQ 5 2022" IONIQ_5 = "HYUNDAI IONIQ 5 2022"
IONIQ_6 = "HYUNDAI IONIQ 6 2023" IONIQ_6 = "HYUNDAI IONIQ 6 2023"
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" 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" SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN" CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
@ -225,8 +224,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.TUCSON_4TH_GEN: [ CAR.TUCSON_4TH_GEN: [
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), 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 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.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])), CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
@ -480,7 +479,7 @@ CAN_GEARS = {
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "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.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_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, 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,
@ -499,7 +498,7 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
# these cars use a different gas signal # these cars use a different gas signal
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, 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.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
@ -567,7 +566,6 @@ DBC = {
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), 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_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_5: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_6: dbc_dict('hyundai_canfd', None), CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
CAR.SANTA_CRUZ_1ST_GEN: 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("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN),
CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023 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("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("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), CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),

1
selfdrive/car/torque_data/params.toml
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@ -38,7 +38,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] "HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] "HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] "HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
"HYUNDAI TUCSON HYBRID 4TH GEN" = [2.960174, 2.860284, 0.108745]
"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048] "JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048]
"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003] "JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003]
"KIA EV6 2022" = [3.2, 2.093457, 0.05] "KIA EV6 2022" = [3.2, 2.093457, 0.05]

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