From cc9e67d5acbf5628cb1e7048ee641112eaf6a5e8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 9 Jun 2022 17:44:58 -0700 Subject: [PATCH] Hyundai: Tucson 2021 support (#24791) * add support for 2021 Hyundai Tucson base configuration and fingerprints * fix fcw again and don't use mando radar for tucson * last fixes for working tucson * Apply suggestions from code review * add to cars * increase steerRatio * missing car info * one platform * rename * add min enable speed * update releases Co-authored-by: bluesforte Co-authored-by: Adeeb Shihadeh old-commit-hash: 47f80e7add8635e2d80a395f72906cd40c956459 --- RELEASES.md | 1 + docs/CARS.md | 1 + selfdrive/car/hyundai/interface.py | 4 ++-- selfdrive/car/hyundai/values.py | 19 +++++++++++++------ selfdrive/car/tests/routes.py | 2 +- 5 files changed, 18 insertions(+), 9 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index f6d40e6c76..acbafd5f5b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -12,6 +12,7 @@ Version 0.8.15 (2022-XX-XX) * automatically determines which side the driver is on (soon) * Reduced power usage: device runs cooler and fan spins less * AGNOS 5 +* Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! Version 0.8.14 (2022-06-01) diff --git a/docs/CARS.md b/docs/CARS.md index 20c29e3cb5..c8614c8037 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -172,6 +172,7 @@ How We Rate The Cars |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|||||| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|||||| |Hyundai|Sonata 2018-19|SCC + LKAS|||||| +|Hyundai|Tucson 2021|SCC + LKAS|||||| |Hyundai|Veloster 2019-20|SCC + LKAS|||||| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index e051079dc4..37f29d23c3 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -170,9 +170,9 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5 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_DIESEL_2019: + elif candidate == CAR.TUCSON: ret.lateralTuning.pid.kf = 0.00005 - ret.mass = 3633. * CV.LB_TO_KG + ret.mass = 3520. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 tire_stiffness_factor = 0.385 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 54bbd80475..7d3ab93cde 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -52,7 +52,7 @@ class CAR: SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" SONATA = "HYUNDAI SONATA 2020" SONATA_LF = "HYUNDAI SONATA 2019" - TUCSON_DIESEL_2019 = "HYUNDAI TUCSON DIESEL 2019" + TUCSON = "HYUNDAI TUCSON 2019" PALISADE = "HYUNDAI PALISADE 2020" VELOSTER = "HYUNDAI VELOSTER 2019" SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" @@ -105,7 +105,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), - CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + CAR.TUCSON: [ + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + ], CAR.PALISADE: [ HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h), @@ -508,18 +511,22 @@ FW_VERSIONS = { b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', ], }, - CAR.TUCSON_DIESEL_2019: { + CAR.TUCSON: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', + b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', + b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', + b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', ], }, CAR.SANTA_FE: { @@ -1198,11 +1205,11 @@ CHECKSUM = { FEATURES = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, - "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON_DIESEL_2019}, + "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, 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}, # 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_DIESEL_2019}, + "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}, } HDA2_CAR = {CAR.KIA_EV6, } @@ -1250,7 +1257,7 @@ DBC = { CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format - CAR.TUCSON_DIESEL_2019: dbc_dict('hyundai_kia_generic', None), + CAR.TUCSON: dbc_dict('hyundai_kia_generic', None), CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index e7942f517c..a9d36f9eab 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -84,7 +84,7 @@ routes = [ TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), 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_DIESEL_2019), + TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),