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HKG: Add FW and Remove from dashcamOnly for 2019 Elantra GT i30 (#25951)

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* HKG: Add FW for 2019 Elantra GT i30

* Add test route

* remove can fp

* revert that

* actually shares the same platform with the ceed

* marketed as Elantra i30

* stash

* Revert "stash"

This reverts commit 03b164c9db.

* add car infos

* gen docs

* combine with elantra

* legacy again

* update docs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 92b458c709
taco
Jason Wen 3 years ago committed by GitHub
parent c5bf7f7309
commit c2141b7f48
5 changed files with 30 additions and 23 deletions
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  1. 4
      docs/CARS.md
  2. 4
      selfdrive/car/hyundai/interface.py
  3. 42
      selfdrive/car/hyundai/values.py
  4. 2
      selfdrive/car/tests/routes.py
  5. 1
      selfdrive/car/torque_data/substitute.yaml

4
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 209 Supported Cars
# 211 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@ -55,8 +55,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|

4
selfdrive/car/hyundai/interface.py
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@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
if candidate in CANFD_CAR:
# detect HDA2 with ADAS Driving ECU
@ -75,7 +75,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
elif candidate == CAR.ELANTRA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7

42
selfdrive/car/hyundai/values.py
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@ -34,7 +34,7 @@ class CarControllerParams:
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
self.STEER_MAX = 255
@ -54,7 +54,6 @@ class CAR:
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
@ -108,13 +107,13 @@ class HyundaiCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
CAR.ELANTRA_GT_I30: [
CAR.ELANTRA: [
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e),
],
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness
@ -199,15 +198,6 @@ FINGERPRINTS = {
CAR.ELANTRA: [{
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.ELANTRA_GT_I30: [{
66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8
},
{
66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8
},
{
66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.HYUNDAI_GENESIS: [{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
},
@ -1214,6 +1204,23 @@ FW_VERSIONS = {
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
],
},
CAR.ELANTRA: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104',
],
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ',
],
},
CAR.ELANTRA_2021: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ',
@ -1394,12 +1401,12 @@ CHECKSUM = {
FEATURES = {
# which message has the gear
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
"use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"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},
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, 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, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}
@ -1419,7 +1426,6 @@ DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),

2
selfdrive/car/tests/routes.py
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@ -23,7 +23,6 @@ non_tested_cars = [
GM.MALIBU,
GM.EQUINOX,
GM.BOLT_EV,
HYUNDAI.ELANTRA_GT_I30,
HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_OPTIMA_H,
]
@ -119,6 +118,7 @@ routes = [
CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT
CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),

1
selfdrive/car/torque_data/substitute.yaml
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@ -26,7 +26,6 @@ KIA SELTOS 2021: HYUNDAI SONATA 2020
KIA NIRO HYBRID 2019: KIA NIRO EV 2020
KIA NIRO HYBRID 2021: KIA NIRO EV 2020
HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019

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