Hyundai: Car Port for Tucson Hybrid 2022 (#25276)

* Hyundai: Car Port for Tucson Hybrid 2022

* Update RELEASES.md

* Init gear_msg at the top

* FW versions from script

* Button send attempt

* start with some cleanup

* Send button fixed bits

* Define all bytes and only send PAUSE/RESUME

* Use CRUISE_INFO to cancel cruise and resume

* 8-bit counter

* Cleanup ish

* 8 bit counter

* Send at 20ms

* Disengage bits

* Revert bump submodules

* Allow tx on 0x1a0

* Fix byte counts

* Send LFA and HDA icons based on engageability

* Send cruise buttons only on HDA2 cars for now

* Add comments

* Add FLAG_HYUNDAI_CANFD_HDA2 flag

* Update interface.py

* Update carstate.py

* Update carstate.py

* Update carstate.py

* Bump submodules

* Bump panda

* Bump opendbc

* Allow tx with CRUISE_INACTIVE

* GEAR has 24 bytes only

* Generate car docs

* Fix CRUISE_INFO copy

* Remove unused class

* Add CAN-FD busses to unit test

* Bump opendbc

* Revert "Add CAN-FD busses to unit test"

This reverts commit 2f751640408a7f73a9100947cbd95ea13fbb8a48.

* Remove duplicate

* New tune based on data

* Panda safety cleanup

* Include bus 0 in rx checks

* Missed one

* bus 6 check

* Remove redundant check

* Add comments

* Bump opendbc

* Sync with DBC

* Hide LFA icon when disengaged

* Little endian

* fix comment

* more conditions in carcontroller

* update pedal signal

* update tuning

* cleanup carcontroller

* bump panda

* fix mismatch

* alt buttons

* little more cleanup

* update refs for EV6 new safety param

* bump panda

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

RELEASES.md

@@ -7,6 +7,7 @@ Version 0.8.16 (2022-XX-XX)
 * Chevrolet Silverado 2020-21 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
 * Subaru Legacy 2020-22 support thanks to martinl!
 * Subaru Outback 2020-22 support
 

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-# 203 Supported Cars
+# 204 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -77,6 +77,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|

panda

@@ -1 +1 @@
-Subproject commit abaa9f8968df13c8a858413cc9936269702c2d60
+Subproject commit 9d6496ece8465dfe30997b31dfb352e1e51dde6c

selfdrive/car/docs.py

@@ -8,6 +8,7 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
+from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.docs_definitions import CarInfo, Column
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
@@ -29,7 +30,8 @@ def get_all_car_info() -> List[CarInfo]:
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
     # Hyundai exception: those with radar have openpilot longitudinal
-    fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1] = {HKG_RADAR_START_ADDR: 8}
     CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
 
     if CP.dashcamOnly or car_info is None:

selfdrive/car/hyundai/carcontroller.py

@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -71,22 +71,33 @@ class CarController:
 
     if self.CP.carFingerprint in CANFD_CAR:
       # steering control
-      can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+      can_sends.append(hyundaicanfd.create_lkas(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
 
-      if self.frame % 5 == 0:
+      # block LFA on HDA2
+      if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.CANFD_HDA2):
         can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
-      # cruise cancel
+      # LFA and HDA icons
+      if self.frame % 2 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_HDA2):
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, CC.enabled))
+
+      # button presses
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
+        # cruise cancel
         if CC.cruiseControl.cancel:
-          for _ in range(20):
+          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            can_sends.append(hyundaicanfd.create_cruise_info(self.packer, CS.cruise_info_copy, True))
-          self.last_button_frame = self.frame
+            self.last_button_frame = self.frame
+          else:
+            for _ in range(20):
+              can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            self.last_button_frame = self.frame
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
-          self.last_button_frame = self.frame
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+            self.last_button_frame = self.frame
     else:
 
       # tester present - w/ no response (keeps radar disabled)

selfdrive/car/hyundai/carstate.py

@@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -136,8 +136,11 @@ class CarState(CarStateBase):
   def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
-    ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
+    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
-    ret.gasPressed = ret.gas > 1e-3
+      ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
+    else:
+      ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
+    ret.gasPressed = ret.gas > 1e-5
     ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
 
     ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
@@ -168,16 +171,19 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = True
     ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
-    ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+    cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-
     speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
-    ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
+    ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
+    ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
 
-    self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
-    self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
-    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+    self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
+    self.cruise_info_copy = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
 
-    self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
+    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
+      self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
@@ -319,9 +325,7 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in CANFD_CAR:
-      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      return CarState.get_cam_can_parser_canfd(CP)
-      checks = [("CAM_0x2a4", 20)]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
 
     signals = [
       # signal_name, signal_address
@@ -374,13 +378,14 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser_canfd(CP):
+
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
 
-      ("ACCELERATOR_PEDAL", "ACCELERATOR"),
       ("GEAR", "GEAR_SHIFTER"),
       ("BRAKE_PRESSED", "BRAKE"),
 
@@ -390,11 +395,9 @@ class CarState(CarStateBase):
       ("STEERING_OUT_TORQUE", "MDPS"),
 
       ("CRUISE_ACTIVE", "SCC1"),
-      ("SET_SPEED", "CRUISE_INFO"),
+      ("COUNTER", cruise_btn_msg),
-      ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+      ("CRUISE_BUTTONS", cruise_btn_msg),
-      ("COUNTER", "CRUISE_BUTTONS"),
+      ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
-      ("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
-      ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),
 
       ("DISTANCE_UNIT", "CLUSTER_INFO"),
 
@@ -407,17 +410,64 @@ class CarState(CarStateBase):
 
     checks = [
       ("WHEEL_SPEEDS", 100),
-      ("ACCELERATOR", 100),
       ("GEAR_SHIFTER", 100),
       ("BRAKE", 100),
       ("STEERING_SENSORS", 100),
       ("MDPS", 100),
       ("SCC1", 50),
-      ("CRUISE_INFO", 50),
+      (cruise_btn_msg, 50),
-      ("CRUISE_BUTTONS", 50),
       ("CLUSTER_INFO", 4),
       ("BLINKERS", 4),
       ("DOORS_SEATBELTS", 4),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5)
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      signals += [
+        ("ACCELERATOR_PEDAL", "ACCELERATOR"),
+        ("GEAR", "ACCELERATOR"),
+        ("SET_SPEED", "CRUISE_INFO"),
+        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+      ]
+      checks += [
+        ("CRUISE_INFO", 50),
+        ("ACCELERATOR", 100),
+      ]
+    else:
+      signals += [
+        ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),
+      ]
+      checks += [
+        ("ACCELERATOR_ALT", 100),
+      ]
+
+    bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+
+  @staticmethod
+  def get_cam_can_parser_canfd(CP):
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks = [("CAM_0x2a4", 20)]
+    else:
+      signals = [
+        ("COUNTER", "CRUISE_INFO"),
+        ("NEW_SIGNAL_1", "CRUISE_INFO"),
+        ("CRUISE_MAIN", "CRUISE_INFO"),
+        ("CRUISE_STATUS", "CRUISE_INFO"),
+        ("CRUISE_INACTIVE", "CRUISE_INFO"),
+        ("NEW_SIGNAL_2", "CRUISE_INFO"),
+        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+        ("NEW_SIGNAL_3", "CRUISE_INFO"),
+        ("BYTE11", "CRUISE_INFO"),
+        ("SET_SPEED", "CRUISE_INFO"),
+        ("NEW_SIGNAL_4", "CRUISE_INFO"),
+      ]
+
+      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(3, 7)]
+      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(13, 31)]
+
+      checks = [
+        ("CRUISE_INFO", 50),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,4 +1,7 @@
-def create_lkas(packer, enabled, lat_active, apply_steer):
+from selfdrive.car.hyundai.values import HyundaiFlags
+
+
+def create_lkas(packer, CP, enabled, lat_active, apply_steer):
   values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
@@ -10,7 +13,9 @@ def create_lkas(packer, enabled, lat_active, apply_steer):
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_2": 0,
   }
-  return packer.make_can_msg("LKAS", 4, values)
+
+  msg = "LKAS" if CP.flags & HyundaiFlags.CANFD_HDA2 else "LFA"
+  return packer.make_can_msg(msg, 4, values)
 
 def create_cam_0x2a4(packer, camera_values):
   camera_values.update({
@@ -25,3 +30,17 @@ def create_buttons(packer, cnt, btn):
     "CRUISE_BUTTONS": btn,
   }
   return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+
+def create_cruise_info(packer, cruise_info_copy, cancel):
+  values = cruise_info_copy
+  if cancel:
+    values["CRUISE_STATUS"] = 0
+    values["CRUISE_INACTIVE"] = 1
+  return packer.make_can_msg("CRUISE_INFO", 4, values)
+
+def create_lfahda_cluster(packer, enabled):
+  values = {
+    "HDA_ICON": 1 if enabled else 0,
+    "LFA_ICON": 2 if enabled else 0,
+  }
+  return packer.make_can_msg("LFAHDA_CLUSTER", 4, values)

selfdrive/car/hyundai/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -160,6 +160,12 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
+      ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
+      ret.wheelbase = 2.756
+      ret.steerRatio = 16.
+      tire_stiffness_factor = 0.385
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -284,7 +290,18 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+
+      # detect HDA2 with LKAS message
+      if 0x50 in fingerprint[6]:
+        ret.flags |= HyundaiFlags.CANFD_HDA2.value
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+      else:
+        # non-HDA2
+        if 0x1cf not in fingerprint[4]:
+          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
     else:
+      ret.enableBsm = 0x58b in fingerprint[0]
+
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
@@ -314,8 +331,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.enableBsm = 0x58b in fingerprint[0]
-
     return ret
 
   @staticmethod

selfdrive/car/hyundai/values.py

@@ -1,3 +1,4 @@
+from enum import IntFlag
 from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
 
@@ -38,6 +39,11 @@ class CarControllerParams:
       self.STEER_MAX = 384
 
 
+class HyundaiFlags(IntFlag):
+  CANFD_HDA2 = 1
+  CANFD_ALT_BUTTONS = 2
+
+
 class CAR:
   # Hyundai
   ELANTRA = "HYUNDAI ELANTRA 2017"
@@ -66,6 +72,7 @@ class CAR:
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
   IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@@ -128,6 +135,7 @@ 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.hyundai_q),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
 
   # Kia
   CAR.KIA_FORTE: [
@@ -1292,6 +1300,21 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
     ],
   },
+  CAR.TUCSON_HYBRID_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MND0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
+      b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1309,7 +1332,7 @@ 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, CAR.IONIQ_5}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1364,5 +1387,6 @@ DBC = {
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/tests/routes.py

@@ -90,6 +90,7 @@ routes = [
   TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
   TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
   TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
+  TestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
   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),

selfdrive/car/torque_data/override.yaml

@@ -27,6 +27,7 @@ SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
+HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-93a136f91739847afe1e1a4a1e98bc7c0adb5ec8
+656daeb9de3680258527500ecae4ddff323b2e59

selfdrive/test/process_replay/test_processes.py

@@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader
 original_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),     # HYUNDAI.KIA_EV6
+  ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"),     # HYUNDAI.KIA_EV6
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
@@ -40,7 +40,7 @@ original_segments = [
 segments = [
   ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
   ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
-  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
+  ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"),
   ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
   ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
   ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),