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pull/29876/head
Jason Wen 2 years ago
parent 754b49fe03
commit ad24d1837e
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4 changed files with 7 additions and 7 deletions
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  1. 2
      selfdrive/car/hyundai/hyundaican.py
  2. 2
      selfdrive/car/hyundai/interface.py
  3. 8
      selfdrive/car/hyundai/values.py
  4. 2
      selfdrive/car/torque_data/override.yaml

2
selfdrive/car/hyundai/hyundaican.py
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@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_2022): CAR.AZERA_7TH_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2 values["CF_Lkas_LdwsOpt_USM"] = 2

2
selfdrive/car/hyundai/interface.py
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@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.000 ret.wheelbase = 3.000
# steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
ret.steerRatio = 14.2 ret.steerRatio = 14.2
elif candidate == CAR.AZERA_2022: elif candidate == CAR.AZERA_7TH_GEN:
ret.mass = 1540. # average ret.mass = 1540. # average
ret.wheelbase = 2.885 ret.wheelbase = 2.885
ret.steerRatio = 14.5 ret.steerRatio = 14.5

8
selfdrive/car/hyundai/values.py
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@ -99,7 +99,7 @@ class CAR:
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 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"
AZERA_2022 = "HYUNDAI AZERA 2022" AZERA_7TH_GEN = "HYUNDAI AZERA 7TH GEN"
# Kia # Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021" KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@ -210,7 +210,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
], ],
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "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.AZERA_2022: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.AZERA_7TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
# Kia # Kia
CAR.KIA_FORTE: [ CAR.KIA_FORTE: [
@ -1942,7 +1942,7 @@ FW_VERSIONS = {
b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ',
], ],
}, },
CAR.AZERA_2022: { CAR.AZERA_7TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ',
], ],
@ -2069,5 +2069,5 @@ DBC = {
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.AZERA_2022: dbc_dict('hyundai_kia_generic', None), CAR.AZERA_7TH_GEN: dbc_dict('hyundai_kia_generic', None),
} }

2
selfdrive/car/torque_data/override.yaml
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@ -59,7 +59,7 @@ LEXUS IS 2023: [2.0, 2.0, 0.1]
KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
HYUNDAI AZERA 2022: [2.5, 2.5, 0.1] HYUNDAI AZERA 7TH GEN: [2.5, 2.5, 0.1]
# Dashcam or fallback configured as ideal car # Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0] mock: [10.0, 10, 0.0]

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