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docs: don't support multi-type car info (#31875)

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don't support multi-type car info
pull/31877/head
Shane Smiskol 1 year ago committed by GitHub
parent d5852ab1b3
commit bdae188c6f
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GPG Key ID: B5690EEEBB952194
15 changed files with 149 additions and 155 deletions
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  1. 5
      selfdrive/car/__init__.py
  2. 2
      selfdrive/car/body/values.py
  3. 16
      selfdrive/car/chrysler/values.py
  4. 5
      selfdrive/car/docs.py
  5. 6
      selfdrive/car/ford/values.py
  6. 24
      selfdrive/car/gm/values.py
  7. 36
      selfdrive/car/honda/values.py
  8. 104
      selfdrive/car/hyundai/values.py
  9. 12
      selfdrive/car/mazda/values.py
  10. 2
      selfdrive/car/mock/values.py
  11. 10
      selfdrive/car/nissan/values.py
  12. 26
      selfdrive/car/subaru/values.py
  13. 6
      selfdrive/car/tesla/values.py
  14. 20
      selfdrive/car/toyota/values.py
  15. 30
      selfdrive/car/volkswagen/values.py

5
selfdrive/car/__init__.py
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@ -245,9 +245,6 @@ class CanSignalRateCalculator:
return self.rate return self.rate
CarInfos = CarInfo | list[CarInfo] | None
@dataclass(frozen=True, kw_only=True) @dataclass(frozen=True, kw_only=True)
class CarSpecs: class CarSpecs:
mass: float # kg, curb weight mass: float # kg, curb weight
@ -265,7 +262,7 @@ class CarSpecs:
@dataclass(order=True) @dataclass(order=True)
class PlatformConfig(Freezable): class PlatformConfig(Freezable):
platform_str: str platform_str: str
car_info: CarInfos car_info: list[CarInfo]
specs: CarSpecs specs: CarSpecs
dbc_dict: DbcDict dbc_dict: DbcDict

2
selfdrive/car/body/values.py
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@ -22,7 +22,7 @@ class CarControllerParams:
class CAR(Platforms): class CAR(Platforms):
BODY = PlatformConfig( BODY = PlatformConfig(
"COMMA BODY", "COMMA BODY",
CarInfo("comma body", package="All"), [CarInfo("comma body", package="All")],
CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44), CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
dbc_dict('comma_body', None), dbc_dict('comma_body', None),
) )

16
selfdrive/car/chrysler/values.py
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@ -34,22 +34,22 @@ class CAR(Platforms):
# Chrysler # Chrysler
PACIFICA_2017_HYBRID = ChryslerPlatformConfig( PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2017", "CHRYSLER PACIFICA HYBRID 2017",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), [ChryslerCarInfo("Chrysler Pacifica Hybrid 2017")],
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
) )
PACIFICA_2018_HYBRID = ChryslerPlatformConfig( PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2018", "CHRYSLER PACIFICA HYBRID 2018",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), [ChryslerCarInfo("Chrysler Pacifica Hybrid 2018")],
PACIFICA_2017_HYBRID.specs, PACIFICA_2017_HYBRID.specs,
) )
PACIFICA_2019_HYBRID = ChryslerPlatformConfig( PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2019", "CHRYSLER PACIFICA HYBRID 2019",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), [ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23")],
PACIFICA_2017_HYBRID.specs, PACIFICA_2017_HYBRID.specs,
) )
PACIFICA_2018 = ChryslerPlatformConfig( PACIFICA_2018 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2018", "CHRYSLER PACIFICA 2018",
ChryslerCarInfo("Chrysler Pacifica 2017-18"), [ChryslerCarInfo("Chrysler Pacifica 2017-18")],
PACIFICA_2017_HYBRID.specs, PACIFICA_2017_HYBRID.specs,
) )
PACIFICA_2020 = ChryslerPlatformConfig( PACIFICA_2020 = ChryslerPlatformConfig(
@ -64,27 +64,27 @@ class CAR(Platforms):
# Dodge # Dodge
DODGE_DURANGO = ChryslerPlatformConfig( DODGE_DURANGO = ChryslerPlatformConfig(
"DODGE DURANGO 2021", "DODGE DURANGO 2021",
ChryslerCarInfo("Dodge Durango 2020-21"), [ChryslerCarInfo("Dodge Durango 2020-21")],
PACIFICA_2017_HYBRID.specs, PACIFICA_2017_HYBRID.specs,
) )
# Jeep # Jeep
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
"JEEP GRAND CHEROKEE V6 2018", "JEEP GRAND CHEROKEE V6 2018",
ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), [ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7), ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
) )
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
"JEEP GRAND CHEROKEE 2019", "JEEP GRAND CHEROKEE 2019",
ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), [ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
JEEP_GRAND_CHEROKEE.specs, JEEP_GRAND_CHEROKEE.specs,
) )
# Ram # Ram
RAM_1500 = ChryslerPlatformConfig( RAM_1500 = ChryslerPlatformConfig(
"RAM 1500 5TH GEN", "RAM 1500 5TH GEN",
ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), [ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5), ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
dbc_dict('chrysler_ram_dt_generated', None), dbc_dict('chrysler_ram_dt_generated', None),
) )

5
selfdrive/car/docs.py
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@ -34,13 +34,10 @@ def get_all_car_info() -> list[CarInfo]:
CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(), CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
if CP.dashcamOnly or car_info is None: if CP.dashcamOnly or not len(car_info):
continue continue
# A platform can include multiple car models # A platform can include multiple car models
if not isinstance(car_info, list):
car_info = [car_info,]
for _car_info in car_info: for _car_info in car_info:
if not hasattr(_car_info, "row"): if not hasattr(_car_info, "row"):
_car_info.init_make(CP) _car_info.init_make(CP)

6
selfdrive/car/ford/values.py
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@ -86,7 +86,7 @@ class FordCANFDPlatformConfig(FordPlatformConfig):
class CAR(Platforms): class CAR(Platforms):
BRONCO_SPORT_MK1 = FordPlatformConfig( BRONCO_SPORT_MK1 = FordPlatformConfig(
"FORD BRONCO SPORT 1ST GEN", "FORD BRONCO SPORT 1ST GEN",
FordCarInfo("Ford Bronco Sport 2021-23"), [FordCarInfo("Ford Bronco Sport 2021-23")],
CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
) )
ESCAPE_MK4 = FordPlatformConfig( ESCAPE_MK4 = FordPlatformConfig(
@ -121,7 +121,7 @@ class CAR(Platforms):
) )
F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig( F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
"FORD F-150 LIGHTNING 1ST GEN", "FORD F-150 LIGHTNING 1ST GEN",
FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), [FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
) )
FOCUS_MK4 = FordPlatformConfig( FOCUS_MK4 = FordPlatformConfig(
@ -144,7 +144,7 @@ class CAR(Platforms):
) )
MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig( MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
"FORD MUSTANG MACH-E 1ST GEN", "FORD MUSTANG MACH-E 1ST GEN",
FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), [FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
) )

24
selfdrive/car/gm/values.py
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@ -92,52 +92,52 @@ class GMPlatformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
HOLDEN_ASTRA = GMPlatformConfig( HOLDEN_ASTRA = GMPlatformConfig(
"HOLDEN ASTRA RS-V BK 2017", "HOLDEN ASTRA RS-V BK 2017",
GMCarInfo("Holden Astra 2017"), [GMCarInfo("Holden Astra 2017")],
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
) )
VOLT = GMPlatformConfig( VOLT = GMPlatformConfig(
"CHEVROLET VOLT PREMIER 2017", "CHEVROLET VOLT PREMIER 2017",
GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), [GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469), GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
) )
CADILLAC_ATS = GMPlatformConfig( CADILLAC_ATS = GMPlatformConfig(
"CADILLAC ATS Premium Performance 2018", "CADILLAC ATS Premium Performance 2018",
GMCarInfo("Cadillac ATS Premium Performance 2018"), [GMCarInfo("Cadillac ATS Premium Performance 2018")],
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
) )
MALIBU = GMPlatformConfig( MALIBU = GMPlatformConfig(
"CHEVROLET MALIBU PREMIER 2017", "CHEVROLET MALIBU PREMIER 2017",
GMCarInfo("Chevrolet Malibu Premier 2017"), [GMCarInfo("Chevrolet Malibu Premier 2017")],
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
) )
ACADIA = GMPlatformConfig( ACADIA = GMPlatformConfig(
"GMC ACADIA DENALI 2018", "GMC ACADIA DENALI 2018",
GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), [GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
) )
BUICK_LACROSSE = GMPlatformConfig( BUICK_LACROSSE = GMPlatformConfig(
"BUICK LACROSSE 2017", "BUICK LACROSSE 2017",
GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), [GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
) )
BUICK_REGAL = GMPlatformConfig( BUICK_REGAL = GMPlatformConfig(
"BUICK REGAL ESSENCE 2018", "BUICK REGAL ESSENCE 2018",
GMCarInfo("Buick Regal Essence 2018"), [GMCarInfo("Buick Regal Essence 2018")],
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
) )
ESCALADE = GMPlatformConfig( ESCALADE = GMPlatformConfig(
"CADILLAC ESCALADE 2017", "CADILLAC ESCALADE 2017",
GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), [GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package")],
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
) )
ESCALADE_ESV = GMPlatformConfig( ESCALADE_ESV = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2016", "CADILLAC ESCALADE ESV 2016",
GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), [GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0), GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
) )
ESCALADE_ESV_2019 = GMPlatformConfig( ESCALADE_ESV_2019 = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2019", "CADILLAC ESCALADE ESV 2019",
GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"), [GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
ESCALADE_ESV.specs, ESCALADE_ESV.specs,
) )
BOLT_EUV = GMPlatformConfig( BOLT_EUV = GMPlatformConfig(
@ -158,12 +158,12 @@ class CAR(Platforms):
) )
EQUINOX = GMPlatformConfig( EQUINOX = GMPlatformConfig(
"CHEVROLET EQUINOX 2019", "CHEVROLET EQUINOX 2019",
GMCarInfo("Chevrolet Equinox 2019-22"), [GMCarInfo("Chevrolet Equinox 2019-22")],
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
) )
TRAILBLAZER = GMPlatformConfig( TRAILBLAZER = GMPlatformConfig(
"CHEVROLET TRAILBLAZER 2021", "CHEVROLET TRAILBLAZER 2021",
GMCarInfo("Chevrolet Trailblazer 2021-22"), [GMCarInfo("Chevrolet Trailblazer 2021-22")],
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
) )

36
selfdrive/car/honda/values.py
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@ -138,7 +138,7 @@ class CAR(Platforms):
) )
CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig( CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019", "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs [], # don't show in docs
CIVIC_BOSCH.specs, CIVIC_BOSCH.specs,
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
) )
@ -154,7 +154,7 @@ class CAR(Platforms):
) )
CRV_5G = HondaBoschPlatformConfig( CRV_5G = HondaBoschPlatformConfig(
"HONDA CR-V 2017", "HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
# steerRatio: 12.3 is spec end-to-end # steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
@ -162,34 +162,34 @@ class CAR(Platforms):
) )
CRV_HYBRID = HondaBoschPlatformConfig( CRV_HYBRID = HondaBoschPlatformConfig(
"HONDA CR-V HYBRID 2019", "HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)],
# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
) )
HRV_3G = HondaBoschPlatformConfig( HRV_3G = HondaBoschPlatformConfig(
"HONDA HR-V 2023", "HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"), [HondaCarInfo("Honda HR-V 2023", "All")],
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5), CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
dbc_dict('honda_civic_ex_2022_can_generated', None), dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE, flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
) )
ACURA_RDX_3G = HondaBoschPlatformConfig( ACURA_RDX_3G = HondaBoschPlatformConfig(
"ACURA RDX 2020", "ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), [HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
dbc_dict('acura_rdx_2020_can_generated', None), dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH_ALT_BRAKE, flags=HondaFlags.BOSCH_ALT_BRAKE,
) )
INSIGHT = HondaBoschPlatformConfig( INSIGHT = HondaBoschPlatformConfig(
"HONDA INSIGHT 2019", "HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), [HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
dbc_dict('honda_insight_ex_2019_can_generated', None), dbc_dict('honda_insight_ex_2019_can_generated', None),
) )
HONDA_E = HondaBoschPlatformConfig( HONDA_E = HondaBoschPlatformConfig(
"HONDA E 2020", "HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), [HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82), CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
dbc_dict('acura_rdx_2020_can_generated', None), dbc_dict('acura_rdx_2020_can_generated', None),
) )
@ -197,63 +197,63 @@ class CAR(Platforms):
# Nidec Cars # Nidec Cars
ACURA_ILX = HondaNidecPlatformConfig( ACURA_ILX = HondaNidecPlatformConfig(
"ACURA ILX 2016", "ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), [HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CRV = HondaNidecPlatformConfig( CRV = HondaNidecPlatformConfig(
"HONDA CR-V 2016", "HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CRV_EU = HondaNidecPlatformConfig( CRV_EU = HondaNidecPlatformConfig(
"HONDA CR-V EU 2016", "HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs [], # Euro version of CRV Touring, don't show in docs
CRV.specs, CRV.specs,
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
FIT = HondaNidecPlatformConfig( FIT = HondaNidecPlatformConfig(
"HONDA FIT 2018", "HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
FREED = HondaNidecPlatformConfig( FREED = HondaNidecPlatformConfig(
"HONDA FREED 2020", "HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
HRV = HondaNidecPlatformConfig( HRV = HondaNidecPlatformConfig(
"HONDA HRV 2019", "HONDA HRV 2019",
HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
HRV_3G.specs, HRV_3G.specs,
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
ODYSSEY = HondaNidecPlatformConfig( ODYSSEY = HondaNidecPlatformConfig(
"HONDA ODYSSEY 2018", "HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"), [HondaCarInfo("Honda Odyssey 2018-20")],
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82), CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL, flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
) )
ODYSSEY_CHN = HondaNidecPlatformConfig( ODYSSEY_CHN = HondaNidecPlatformConfig(
"HONDA ODYSSEY CHN 2019", "HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs [], # Chinese version of Odyssey, don't show in docs
ODYSSEY.specs, ODYSSEY.specs,
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
ACURA_RDX = HondaNidecPlatformConfig( ACURA_RDX = HondaNidecPlatformConfig(
"ACURA RDX 2018", "ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
@ -270,14 +270,14 @@ class CAR(Platforms):
) )
RIDGELINE = HondaNidecPlatformConfig( RIDGELINE = HondaNidecPlatformConfig(
"HONDA RIDGELINE 2017", "HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), [HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CIVIC = HondaNidecPlatformConfig( CIVIC = HondaNidecPlatformConfig(
"HONDA CIVIC 2016", "HONDA CIVIC 2016",
HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), [HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
) )

104
selfdrive/car/hyundai/values.py
Unescape View File

@ -136,7 +136,7 @@ class CAR(Platforms):
# Hyundai # Hyundai
AZERA_6TH_GEN = HyundaiPlatformConfig( AZERA_6TH_GEN = HyundaiPlatformConfig(
"HYUNDAI AZERA 6TH GEN", "HYUNDAI AZERA 6TH GEN",
HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), [HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
) )
AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
@ -170,14 +170,14 @@ class CAR(Platforms):
) )
ELANTRA_2021 = HyundaiPlatformConfig( ELANTRA_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA 2021", "HYUNDAI ELANTRA 2021",
HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), [HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
) )
ELANTRA_HEV_2021 = HyundaiPlatformConfig( ELANTRA_HEV_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA HYBRID 2021", "HYUNDAI ELANTRA HYBRID 2021",
HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", [HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
car_parts=CarParts.common([CarHarness.hyundai_k])), car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
@ -193,114 +193,114 @@ class CAR(Platforms):
) )
IONIQ = HyundaiPlatformConfig( IONIQ = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2017-2019", "HYUNDAI IONIQ HYBRID 2017-2019",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), [HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
) )
IONIQ_HEV_2022 = HyundaiPlatformConfig( IONIQ_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2020-2022", "HYUNDAI IONIQ HYBRID 2020-2022",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness, [HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))], # TODO: confirm 2020-21 harness,
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
) )
IONIQ_EV_LTD = HyundaiPlatformConfig( IONIQ_EV_LTD = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC LIMITED 2019", "HYUNDAI IONIQ ELECTRIC LIMITED 2019",
HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), [HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
) )
IONIQ_EV_2020 = HyundaiPlatformConfig( IONIQ_EV_2020 = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC 2020", "HYUNDAI IONIQ ELECTRIC 2020",
HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), [HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )
IONIQ_PHEV_2019 = HyundaiPlatformConfig( IONIQ_PHEV_2019 = HyundaiPlatformConfig(
"HYUNDAI IONIQ PLUG-IN HYBRID 2019", "HYUNDAI IONIQ PLUG-IN HYBRID 2019",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), [HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
) )
IONIQ_PHEV = HyundaiPlatformConfig( IONIQ_PHEV = HyundaiPlatformConfig(
"HYUNDAI IONIQ PHEV 2020", "HYUNDAI IONIQ PHEV 2020",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), [HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID, flags=HyundaiFlags.HYBRID,
) )
KONA = HyundaiPlatformConfig( KONA = HyundaiPlatformConfig(
"HYUNDAI KONA 2020", "HYUNDAI KONA 2020",
HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), [HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))],
CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CLUSTER_GEARS, flags=HyundaiFlags.CLUSTER_GEARS,
) )
KONA_EV = HyundaiPlatformConfig( KONA_EV = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2019", "HYUNDAI KONA ELECTRIC 2019",
HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), [HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )
KONA_EV_2022 = HyundaiPlatformConfig( KONA_EV_2022 = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2022", "HYUNDAI KONA ELECTRIC 2022",
HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), [HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV, flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
) )
KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI KONA ELECTRIC 2ND GEN", "HYUNDAI KONA ELECTRIC 2ND GEN",
HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", [HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r])), car_parts=CarParts.common([CarHarness.hyundai_r]))],
CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
) )
KONA_HEV = HyundaiPlatformConfig( KONA_HEV = HyundaiPlatformConfig(
"HYUNDAI KONA HYBRID 2020", "HYUNDAI KONA HYBRID 2020",
HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages, [HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages,
CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID, flags=HyundaiFlags.HYBRID,
) )
SANTA_FE = HyundaiPlatformConfig( SANTA_FE = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2019", "HYUNDAI SANTA FE 2019",
HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", [HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
car_parts=CarParts.common([CarHarness.hyundai_d])), car_parts=CarParts.common([CarHarness.hyundai_d]))],
CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
) )
SANTA_FE_2022 = HyundaiPlatformConfig( SANTA_FE_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2022", "HYUNDAI SANTA FE 2022",
HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", [HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l])), car_parts=CarParts.common([CarHarness.hyundai_l]))],
SANTA_FE.specs, SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
) )
SANTA_FE_HEV_2022 = HyundaiPlatformConfig( SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE HYBRID 2022", "HYUNDAI SANTA FE HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), [HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
SANTA_FE.specs, SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022", "HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), [HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
SANTA_FE.specs, SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
SONATA = HyundaiPlatformConfig( SONATA = HyundaiPlatformConfig(
"HYUNDAI SONATA 2020", "HYUNDAI SONATA 2020",
HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", [HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a])), car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
) )
SONATA_LF = HyundaiPlatformConfig( SONATA_LF = HyundaiPlatformConfig(
"HYUNDAI SONATA 2019", "HYUNDAI SONATA 2019",
HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), [HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
) )
STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI STARIA 4TH GEN", "HYUNDAI STARIA 4TH GEN",
HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), [HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
) )
TUCSON = HyundaiPlatformConfig( TUCSON = HyundaiPlatformConfig(
@ -323,13 +323,13 @@ class CAR(Platforms):
) )
VELOSTER = HyundaiPlatformConfig( VELOSTER = HyundaiPlatformConfig(
"HYUNDAI VELOSTER 2019", "HYUNDAI VELOSTER 2019",
HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), [HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5), CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS, flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
) )
SONATA_HYBRID = HyundaiPlatformConfig( SONATA_HYBRID = HyundaiPlatformConfig(
"HYUNDAI SONATA HYBRID 2021", "HYUNDAI SONATA HYBRID 2021",
HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), [HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
SONATA.specs, SONATA.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
@ -345,7 +345,7 @@ class CAR(Platforms):
) )
IONIQ_6 = HyundaiCanFDPlatformConfig( IONIQ_6 = HyundaiCanFDPlatformConfig(
"HYUNDAI IONIQ 6 2023", "HYUNDAI IONIQ 6 2023",
HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), [HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
IONIQ_5.specs, IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
) )
@ -360,13 +360,13 @@ class CAR(Platforms):
) )
SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI SANTA CRUZ 1ST GEN", "HYUNDAI SANTA CRUZ 1ST GEN",
HyundaiCarInfo("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n])), [HyundaiCarInfo("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2), CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
) )
CUSTIN_1ST_GEN = HyundaiPlatformConfig( CUSTIN_1ST_GEN = HyundaiPlatformConfig(
"HYUNDAI CUSTIN 1ST GEN", "HYUNDAI CUSTIN 1ST GEN",
HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), [HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
) )
@ -382,19 +382,19 @@ class CAR(Platforms):
) )
KIA_K5_2021 = HyundaiPlatformConfig( KIA_K5_2021 = HyundaiPlatformConfig(
"KIA K5 2021", "KIA K5 2021",
HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), [HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims) CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
) )
KIA_K5_HEV_2020 = HyundaiPlatformConfig( KIA_K5_HEV_2020 = HyundaiPlatformConfig(
"KIA K5 HYBRID 2020", "KIA K5 HYBRID 2020",
HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), [HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
KIA_K5_2021.specs, KIA_K5_2021.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
"KIA K8 HYBRID 1ST GEN", "KIA K8 HYBRID 1ST GEN",
HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), [HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
# mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27) CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
) )
@ -411,7 +411,7 @@ class CAR(Platforms):
) )
KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO EV 2ND GEN", "KIA NIRO EV 2ND GEN",
HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), [HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
KIA_NIRO_EV.specs, KIA_NIRO_EV.specs,
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )
@ -445,38 +445,38 @@ class CAR(Platforms):
) )
KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO HYBRID 2ND GEN", "KIA NIRO HYBRID 2ND GEN",
HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), [HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
KIA_NIRO_EV.specs, KIA_NIRO_EV.specs,
) )
KIA_OPTIMA_G4 = HyundaiPlatformConfig( KIA_OPTIMA_G4 = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN", "KIA OPTIMA 4TH GEN",
HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", [HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 car_parts=CarParts.common([CarHarness.hyundai_b]))], # TODO: may support 2016, 2018
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
) )
KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN FACELIFT", "KIA OPTIMA 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), [HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
) )
# TODO: may support adjacent years. may have a non-zero minimum steering speed # TODO: may support adjacent years. may have a non-zero minimum steering speed
KIA_OPTIMA_H = HyundaiPlatformConfig( KIA_OPTIMA_H = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 2017 & SPORTS 2019", "KIA OPTIMA HYBRID 2017 & SPORTS 2019",
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), [HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
) )
KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 4TH GEN FACELIFT", "KIA OPTIMA HYBRID 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), [HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL, flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
) )
KIA_SELTOS = HyundaiPlatformConfig( KIA_SELTOS = HyundaiPlatformConfig(
"KIA SELTOS 2021", "KIA SELTOS 2021",
HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), [HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56), CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
) )
@ -501,7 +501,7 @@ class CAR(Platforms):
) )
KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SORENTO 4TH GEN", "KIA SORENTO 4TH GEN",
HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), [HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
flags=HyundaiFlags.RADAR_SCC, flags=HyundaiFlags.RADAR_SCC,
) )
@ -516,18 +516,18 @@ class CAR(Platforms):
) )
KIA_STINGER = HyundaiPlatformConfig( KIA_STINGER = HyundaiPlatformConfig(
"KIA STINGER GT2 2018", "KIA STINGER GT2 2018",
HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", [HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c])), car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable
) )
KIA_STINGER_2022 = HyundaiPlatformConfig( KIA_STINGER_2022 = HyundaiPlatformConfig(
"KIA STINGER 2022", "KIA STINGER 2022",
HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), [HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
KIA_STINGER.specs, KIA_STINGER.specs,
) )
KIA_CEED = HyundaiPlatformConfig( KIA_CEED = HyundaiPlatformConfig(
"KIA CEED INTRO ED 2019", "KIA CEED INTRO ED 2019",
HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), [HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY, flags=HyundaiFlags.LEGACY,
) )
@ -563,13 +563,13 @@ class CAR(Platforms):
) )
GENESIS_G70 = HyundaiPlatformConfig( GENESIS_G70 = HyundaiPlatformConfig(
"GENESIS G70 2018", "GENESIS G70 2018",
HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), [HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56), CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
flags=HyundaiFlags.LEGACY, flags=HyundaiFlags.LEGACY,
) )
GENESIS_G70_2020 = HyundaiPlatformConfig( GENESIS_G70_2020 = HyundaiPlatformConfig(
"GENESIS G70 2020", "GENESIS G70 2020",
HyundaiCarInfo("Genesis G70 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), [HyundaiCarInfo("Genesis G70 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
flags=HyundaiFlags.MANDO_RADAR, flags=HyundaiFlags.MANDO_RADAR,
) )
@ -584,18 +584,18 @@ class CAR(Platforms):
) )
GENESIS_G80 = HyundaiPlatformConfig( GENESIS_G80 = HyundaiPlatformConfig(
"GENESIS G80 2017", "GENESIS G80 2017",
HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), [HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5), CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
flags=HyundaiFlags.LEGACY, flags=HyundaiFlags.LEGACY,
) )
GENESIS_G90 = HyundaiPlatformConfig( GENESIS_G90 = HyundaiPlatformConfig(
"GENESIS G90 2017", "GENESIS G90 2017",
HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), [HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069), CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
) )
GENESIS_GV80 = HyundaiCanFDPlatformConfig( GENESIS_GV80 = HyundaiCanFDPlatformConfig(
"GENESIS GV80 2023", "GENESIS GV80 2023",
HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), [HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14), CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
flags=HyundaiFlags.RADAR_SCC, flags=HyundaiFlags.RADAR_SCC,
) )

12
selfdrive/car/mazda/values.py
Unescape View File

@ -52,32 +52,32 @@ class MazdaPlatformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
CX5 = MazdaPlatformConfig( CX5 = MazdaPlatformConfig(
"MAZDA CX-5", "MAZDA CX-5",
MazdaCarInfo("Mazda CX-5 2017-21"), [MazdaCarInfo("Mazda CX-5 2017-21")],
MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
) )
CX9 = MazdaPlatformConfig( CX9 = MazdaPlatformConfig(
"MAZDA CX-9", "MAZDA CX-9",
MazdaCarInfo("Mazda CX-9 2016-20"), [MazdaCarInfo("Mazda CX-9 2016-20")],
MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
) )
MAZDA3 = MazdaPlatformConfig( MAZDA3 = MazdaPlatformConfig(
"MAZDA 3", "MAZDA 3",
MazdaCarInfo("Mazda 3 2017-18"), [MazdaCarInfo("Mazda 3 2017-18")],
MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
) )
MAZDA6 = MazdaPlatformConfig( MAZDA6 = MazdaPlatformConfig(
"MAZDA 6", "MAZDA 6",
MazdaCarInfo("Mazda 6 2017-20"), [MazdaCarInfo("Mazda 6 2017-20")],
MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
) )
CX9_2021 = MazdaPlatformConfig( CX9_2021 = MazdaPlatformConfig(
"MAZDA CX-9 2021", "MAZDA CX-9 2021",
MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"), [MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
CX9.specs CX9.specs
) )
CX5_2022 = MazdaPlatformConfig( CX5_2022 = MazdaPlatformConfig(
"MAZDA CX-5 2022", "MAZDA CX-5 2022",
MazdaCarInfo("Mazda CX-5 2022-24"), [MazdaCarInfo("Mazda CX-5 2022-24")],
CX5.specs, CX5.specs,
) )

2
selfdrive/car/mock/values.py
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@ -4,7 +4,7 @@ from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
class CAR(Platforms): class CAR(Platforms):
MOCK = PlatformConfig( MOCK = PlatformConfig(
'mock', 'mock',
None, [],
CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13), CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
{} {}
) )

10
selfdrive/car/nissan/values.py
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@ -39,26 +39,26 @@ class NissanPlaformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
XTRAIL = NissanPlaformConfig( XTRAIL = NissanPlaformConfig(
"NISSAN X-TRAIL 2017", "NISSAN X-TRAIL 2017",
NissanCarInfo("Nissan X-Trail 2017"), [NissanCarInfo("Nissan X-Trail 2017")],
NissanCarSpecs(mass=1610, wheelbase=2.705) NissanCarSpecs(mass=1610, wheelbase=2.705)
) )
LEAF = NissanPlaformConfig( LEAF = NissanPlaformConfig(
"NISSAN LEAF 2018", "NISSAN LEAF 2018",
NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), [NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")],
NissanCarSpecs(mass=1610, wheelbase=2.705), NissanCarSpecs(mass=1610, wheelbase=2.705),
dbc_dict('nissan_leaf_2018_generated', None), dbc_dict('nissan_leaf_2018_generated', None),
) )
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal. # Currently the only known difference between them is the inverted seatbelt signal.
LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=None) LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=[])
ROGUE = NissanPlaformConfig( ROGUE = NissanPlaformConfig(
"NISSAN ROGUE 2019", "NISSAN ROGUE 2019",
NissanCarInfo("Nissan Rogue 2018-20"), [NissanCarInfo("Nissan Rogue 2018-20")],
NissanCarSpecs(mass=1610, wheelbase=2.705) NissanCarSpecs(mass=1610, wheelbase=2.705)
) )
ALTIMA = NissanPlaformConfig( ALTIMA = NissanPlaformConfig(
"NISSAN ALTIMA 2020", "NISSAN ALTIMA 2020",
NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), [NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
NissanCarSpecs(mass=1492, wheelbase=2.824) NissanCarSpecs(mass=1492, wheelbase=2.824)
) )

26
selfdrive/car/subaru/values.py
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@ -122,17 +122,17 @@ class CAR(Platforms):
# Global platform # Global platform
ASCENT = SubaruPlatformConfig( ASCENT = SubaruPlatformConfig(
"SUBARU ASCENT LIMITED 2019", "SUBARU ASCENT LIMITED 2019",
SubaruCarInfo("Subaru Ascent 2019-21", "All"), [SubaruCarInfo("Subaru Ascent 2019-21", "All")],
CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
) )
OUTBACK = SubaruGen2PlatformConfig( OUTBACK = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 6TH GEN", "SUBARU OUTBACK 6TH GEN",
SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), [SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
) )
LEGACY = SubaruGen2PlatformConfig( LEGACY = SubaruGen2PlatformConfig(
"SUBARU LEGACY 7TH GEN", "SUBARU LEGACY 7TH GEN",
SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), [SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
OUTBACK.specs, OUTBACK.specs,
) )
IMPREZA = SubaruPlatformConfig( IMPREZA = SubaruPlatformConfig(
@ -157,47 +157,47 @@ class CAR(Platforms):
# TODO: is there an XV and Impreza too? # TODO: is there an XV and Impreza too?
CROSSTREK_HYBRID = SubaruPlatformConfig( CROSSTREK_HYBRID = SubaruPlatformConfig(
"SUBARU CROSSTREK HYBRID 2020", "SUBARU CROSSTREK HYBRID 2020",
SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])), [SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.HYBRID, flags=SubaruFlags.HYBRID,
) )
FORESTER = SubaruPlatformConfig( FORESTER = SubaruPlatformConfig(
"SUBARU FORESTER 2019", "SUBARU FORESTER 2019",
SubaruCarInfo("Subaru Forester 2019-21", "All"), [SubaruCarInfo("Subaru Forester 2019-21", "All")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.STEER_RATE_LIMITED, flags=SubaruFlags.STEER_RATE_LIMITED,
) )
FORESTER_HYBRID = SubaruPlatformConfig( FORESTER_HYBRID = SubaruPlatformConfig(
"SUBARU FORESTER HYBRID 2020", "SUBARU FORESTER HYBRID 2020",
SubaruCarInfo("Subaru Forester Hybrid 2020"), [SubaruCarInfo("Subaru Forester Hybrid 2020")],
FORESTER.specs, FORESTER.specs,
flags=SubaruFlags.HYBRID, flags=SubaruFlags.HYBRID,
) )
# Pre-global # Pre-global
FORESTER_PREGLOBAL = SubaruPlatformConfig( FORESTER_PREGLOBAL = SubaruPlatformConfig(
"SUBARU FORESTER 2017 - 2018", "SUBARU FORESTER 2017 - 2018",
SubaruCarInfo("Subaru Forester 2017-18"), [SubaruCarInfo("Subaru Forester 2017-18")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
dbc_dict('subaru_forester_2017_generated', None), dbc_dict('subaru_forester_2017_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
) )
LEGACY_PREGLOBAL = SubaruPlatformConfig( LEGACY_PREGLOBAL = SubaruPlatformConfig(
"SUBARU LEGACY 2015 - 2018", "SUBARU LEGACY 2015 - 2018",
SubaruCarInfo("Subaru Legacy 2015-18"), [SubaruCarInfo("Subaru Legacy 2015-18")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
dbc_dict('subaru_outback_2015_generated', None), dbc_dict('subaru_outback_2015_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
) )
OUTBACK_PREGLOBAL = SubaruPlatformConfig( OUTBACK_PREGLOBAL = SubaruPlatformConfig(
"SUBARU OUTBACK 2015 - 2017", "SUBARU OUTBACK 2015 - 2017",
SubaruCarInfo("Subaru Outback 2015-17"), [SubaruCarInfo("Subaru Outback 2015-17")],
FORESTER_PREGLOBAL.specs, FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2015_generated', None), dbc_dict('subaru_outback_2015_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
) )
OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
"SUBARU OUTBACK 2018 - 2019", "SUBARU OUTBACK 2018 - 2019",
SubaruCarInfo("Subaru Outback 2018-19"), [SubaruCarInfo("Subaru Outback 2018-19")],
FORESTER_PREGLOBAL.specs, FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2019_generated', None), dbc_dict('subaru_outback_2019_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
@ -205,19 +205,19 @@ class CAR(Platforms):
# Angle LKAS # Angle LKAS
FORESTER_2022 = SubaruPlatformConfig( FORESTER_2022 = SubaruPlatformConfig(
"SUBARU FORESTER 2022", "SUBARU FORESTER 2022",
SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), [SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
FORESTER.specs, FORESTER.specs,
flags=SubaruFlags.LKAS_ANGLE, flags=SubaruFlags.LKAS_ANGLE,
) )
OUTBACK_2023 = SubaruGen2PlatformConfig( OUTBACK_2023 = SubaruGen2PlatformConfig(
"SUBARU OUTBACK 7TH GEN", "SUBARU OUTBACK 7TH GEN",
SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), [SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
OUTBACK.specs, OUTBACK.specs,
flags=SubaruFlags.LKAS_ANGLE, flags=SubaruFlags.LKAS_ANGLE,
) )
ASCENT_2023 = SubaruGen2PlatformConfig( ASCENT_2023 = SubaruGen2PlatformConfig(
"SUBARU ASCENT 2023", "SUBARU ASCENT 2023",
SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), [SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
ASCENT.specs, ASCENT.specs,
flags=SubaruFlags.LKAS_ANGLE, flags=SubaruFlags.LKAS_ANGLE,
) )

6
selfdrive/car/tesla/values.py
Unescape View File

@ -12,19 +12,19 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CAR(Platforms): class CAR(Platforms):
AP1_MODELS = PlatformConfig( AP1_MODELS = PlatformConfig(
'TESLA AP1 MODEL S', 'TESLA AP1 MODEL S',
CarInfo("Tesla AP1 Model S", "All"), [CarInfo("Tesla AP1 Model S", "All")],
CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0), CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can') dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
) )
AP2_MODELS = PlatformConfig( AP2_MODELS = PlatformConfig(
'TESLA AP2 MODEL S', 'TESLA AP2 MODEL S',
CarInfo("Tesla AP2 Model S", "All"), [CarInfo("Tesla AP2 Model S", "All")],
AP1_MODELS.specs, AP1_MODELS.specs,
AP1_MODELS.dbc_dict AP1_MODELS.dbc_dict
) )
MODELS_RAVEN = PlatformConfig( MODELS_RAVEN = PlatformConfig(
'TESLA MODEL S RAVEN', 'TESLA MODEL S RAVEN',
CarInfo("Tesla Model S Raven", "All"), [CarInfo("Tesla Model S Raven", "All")],
AP1_MODELS.specs, AP1_MODELS.specs,
dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can') dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
) )

20
selfdrive/car/toyota/values.py
Unescape View File

@ -158,7 +158,7 @@ class CAR(Platforms):
) )
COROLLA = PlatformConfig( COROLLA = PlatformConfig(
"TOYOTA COROLLA 2017", "TOYOTA COROLLA 2017",
ToyotaCarInfo("Toyota Corolla 2017-19"), [ToyotaCarInfo("Toyota Corolla 2017-19")],
CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444), CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
) )
@ -207,7 +207,7 @@ class CAR(Platforms):
) )
PRIUS_V = PlatformConfig( PRIUS_V = PlatformConfig(
"TOYOTA PRIUS v 2017", "TOYOTA PRIUS v 2017",
ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), [ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
@ -267,12 +267,12 @@ class CAR(Platforms):
) )
MIRAI = ToyotaTSS2PlatformConfig( MIRAI = ToyotaTSS2PlatformConfig(
"TOYOTA MIRAI 2021", # TSS 2.5 "TOYOTA MIRAI 2021", # TSS 2.5
ToyotaCarInfo("Toyota Mirai 2021"), [ToyotaCarInfo("Toyota Mirai 2021")],
CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
) )
SIENNA = PlatformConfig( SIENNA = PlatformConfig(
"TOYOTA SIENNA 2018", "TOYOTA SIENNA 2018",
ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), [ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444), CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
@ -281,7 +281,7 @@ class CAR(Platforms):
# Lexus # Lexus
LEXUS_CTH = PlatformConfig( LEXUS_CTH = PlatformConfig(
"LEXUS CT HYBRID 2018", "LEXUS CT HYBRID 2018",
ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), [ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+")],
CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517), CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
) )
@ -304,14 +304,14 @@ class CAR(Platforms):
) )
LEXUS_IS = PlatformConfig( LEXUS_IS = PlatformConfig(
"LEXUS IS 2018", "LEXUS IS 2018",
ToyotaCarInfo("Lexus IS 2017-19"), [ToyotaCarInfo("Lexus IS 2017-19")],
CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444), CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU, flags=ToyotaFlags.UNSUPPORTED_DSU,
) )
LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig( LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS IS 2023", "LEXUS IS 2023",
ToyotaCarInfo("Lexus IS 2022-23"), [ToyotaCarInfo("Lexus IS 2022-23")],
LEXUS_IS.specs, LEXUS_IS.specs,
) )
LEXUS_NX = PlatformConfig( LEXUS_NX = PlatformConfig(
@ -333,12 +333,12 @@ class CAR(Platforms):
) )
LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig( LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS LC 2024", "LEXUS LC 2024",
ToyotaCarInfo("Lexus LC 2024"), [ToyotaCarInfo("Lexus LC 2024")],
CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444), CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
) )
LEXUS_RC = PlatformConfig( LEXUS_RC = PlatformConfig(
"LEXUS RC 2020", "LEXUS RC 2020",
ToyotaCarInfo("Lexus RC 2018-20"), [ToyotaCarInfo("Lexus RC 2018-20")],
LEXUS_IS.specs, LEXUS_IS.specs,
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU, flags=ToyotaFlags.UNSUPPORTED_DSU,
@ -365,7 +365,7 @@ class CAR(Platforms):
) )
LEXUS_GS_F = PlatformConfig( LEXUS_GS_F = PlatformConfig(
"LEXUS GS F 2016", "LEXUS GS F 2016",
ToyotaCarInfo("Lexus GS F 2016"), [ToyotaCarInfo("Lexus GS F 2016")],
CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444), CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU, flags=ToyotaFlags.UNSUPPORTED_DSU,

30
selfdrive/car/volkswagen/values.py
Unescape View File

@ -250,7 +250,7 @@ class CAR(Platforms):
) )
PASSAT_NMS = VolkswagenPQPlatformConfig( PASSAT_NMS = VolkswagenPQPlatformConfig(
"VOLKSWAGEN PASSAT NMS", # Chassis A3 "VOLKSWAGEN PASSAT NMS", # Chassis A3
VWCarInfo("Volkswagen Passat NMS 2017-22"), [VWCarInfo("Volkswagen Passat NMS 2017-22")],
VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS), VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
) )
POLO_MK6 = VolkswagenMQBPlatformConfig( POLO_MK6 = VolkswagenMQBPlatformConfig(
@ -271,12 +271,12 @@ class CAR(Platforms):
) )
TAOS_MK1 = VolkswagenMQBPlatformConfig( TAOS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TAOS 1ST GEN", # Chassis B2 "VOLKSWAGEN TAOS 1ST GEN", # Chassis B2
VWCarInfo("Volkswagen Taos 2022-23"), [VWCarInfo("Volkswagen Taos 2022-23")],
VolkswagenCarSpecs(mass=1498, wheelbase=2.69), VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
) )
TCROSS_MK1 = VolkswagenMQBPlatformConfig( TCROSS_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1 "VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1
VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), [VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1150, wheelbase=2.60), VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
) )
TIGUAN_MK2 = VolkswagenMQBPlatformConfig( TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
@ -289,7 +289,7 @@ class CAR(Platforms):
) )
TOURAN_MK2 = VolkswagenMQBPlatformConfig( TOURAN_MK2 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T "VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T
VWCarInfo("Volkswagen Touran 2016-23"), [VWCarInfo("Volkswagen Touran 2016-23")],
VolkswagenCarSpecs(mass=1516, wheelbase=2.79), VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
) )
TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
@ -302,7 +302,7 @@ class CAR(Platforms):
) )
TROC_MK1 = VolkswagenMQBPlatformConfig( TROC_MK1 = VolkswagenMQBPlatformConfig(
"VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1 "VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1
VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]), [VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1413, wheelbase=2.63), VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
) )
AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
@ -317,42 +317,42 @@ class CAR(Platforms):
) )
AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
"AUDI Q2 1ST GEN", # Chassis GA "AUDI Q2 1ST GEN", # Chassis GA
VWCarInfo("Audi Q2 2018"), [VWCarInfo("Audi Q2 2018")],
VolkswagenCarSpecs(mass=1205, wheelbase=2.61), VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
) )
AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
"AUDI Q3 2ND GEN", # Chassis 8U/F3/FS "AUDI Q3 2ND GEN", # Chassis 8U/F3/FS
VWCarInfo("Audi Q3 2019-23"), [VWCarInfo("Audi Q3 2019-23")],
VolkswagenCarSpecs(mass=1623, wheelbase=2.68), VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
) )
SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
"SEAT ATECA 1ST GEN", # Chassis 5F "SEAT ATECA 1ST GEN", # Chassis 5F
VWCarInfo("SEAT Ateca 2018"), [VWCarInfo("SEAT Ateca 2018")],
VolkswagenCarSpecs(mass=1900, wheelbase=2.64), VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
) )
SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig( SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig(
"SEAT LEON 3RD GEN", # Chassis 5F "SEAT LEON 3RD GEN", # Chassis 5F
VWCarInfo("SEAT Leon 2014-20"), [VWCarInfo("SEAT Leon 2014-20")],
VolkswagenCarSpecs(mass=1227, wheelbase=2.64), VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
) )
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
"SKODA FABIA 4TH GEN", # Chassis PJ "SKODA FABIA 4TH GEN", # Chassis PJ
VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), [VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1266, wheelbase=2.56), VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
) )
SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAMIQ 1ST GEN", # Chassis NW "SKODA KAMIQ 1ST GEN", # Chassis NW
VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), [VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ])],
VolkswagenCarSpecs(mass=1265, wheelbase=2.66), VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
) )
SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KAROQ 1ST GEN", # Chassis NU "SKODA KAROQ 1ST GEN", # Chassis NU
VWCarInfo("Škoda Karoq 2019-23"), [VWCarInfo("Škoda Karoq 2019-23")],
VolkswagenCarSpecs(mass=1278, wheelbase=2.66), VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
) )
SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
"SKODA KODIAQ 1ST GEN", # Chassis NS "SKODA KODIAQ 1ST GEN", # Chassis NS
VWCarInfo("Škoda Kodiaq 2017-23"), [VWCarInfo("Škoda Kodiaq 2017-23")],
VolkswagenCarSpecs(mass=1569, wheelbase=2.79), VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
) )
SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
@ -365,12 +365,12 @@ class CAR(Platforms):
) )
SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig( SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig(
"SKODA SCALA 1ST GEN", # Chassis NW "SKODA SCALA 1ST GEN", # Chassis NW
VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), [VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1192, wheelbase=2.65), VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
) )
SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
"SKODA SUPERB 3RD GEN", # Chassis 3V/NP "SKODA SUPERB 3RD GEN", # Chassis 3V/NP
VWCarInfo("Škoda Superb 2015-22"), [VWCarInfo("Škoda Superb 2015-22")],
VolkswagenCarSpecs(mass=1505, wheelbase=2.84), VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
) )

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