Hyundai: add Ioniq 6 platform (#28915)

selfdrive/car/hyundai/interface.py

@@ -26,7 +26,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6}
 
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
     CAN = CanBus(None, hda2, fingerprint)
@@ -186,10 +186,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.65
-    elif candidate == CAR.IONIQ_5:
+    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
-      ret.mass = 2012 + STD_CARGO_KG
+      ret.mass = 1948 + STD_CARGO_KG
-      ret.wheelbase = 3.0
+      ret.wheelbase = 2.97
-      ret.steerRatio = 16.
+      ret.steerRatio = 14.26
       tire_stiffness_factor = 0.65
     elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
       ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only

selfdrive/car/hyundai/values.py

@@ -92,6 +92,7 @@ class CAR:
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
   IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  IONIQ_6 = "HYUNDAI IONIQ 6 2023"
   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"
@@ -190,6 +191,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
     HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   ],
+  CAR.IONIQ_6: [
+    HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),  # TODO: unknown
+    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
+  ],
   CAR.TUCSON_4TH_GEN: [
     HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
     HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
@@ -1766,6 +1771,14 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
     ],
   },
+  CAR.IONIQ_6: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
+    ],
+  },
   CAR.TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
@@ -1889,7 +1902,7 @@ CAN_GEARS = {
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, 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, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
-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, 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}
+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, 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_GV80, CAR.KIA_CARNIVAL_4TH_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, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}
@@ -1898,7 +1911,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
 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, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_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.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, 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,
@@ -1953,6 +1966,7 @@ DBC = {
   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_6: dbc_dict('hyundai_canfd', None),
   CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),

selfdrive/car/tests/routes.py

@@ -21,6 +21,7 @@ non_tested_cars = [
   GM.MALIBU,
   GM.EQUINOX,
   HYUNDAI.GENESIS_G90,
+  HYUNDAI.IONIQ_6,
   HYUNDAI.KIA_OPTIMA_H,
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter

selfdrive/car/torque_data/substitute.yaml

@@ -34,6 +34,7 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
 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
+HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022
 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019