Hyundai: Car Port for Santa Cruz 2022

RELEASES.md

@@ -12,6 +12,7 @@ Version 0.8.17 (2022-XX-XX)
   * Border turns grey while overriding steering
   * Added button to bookmark events while driving; view them later in comma connect
 * AGNOS 6
+* Hyundai Santa Cruz 2022 support thanks to sunnyhaibin!
 
 Version 0.8.16 (2022-08-26)
 ========================

docs/CARS.md

@@ -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.
 
-# 208 Supported Cars
+# 209 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -70,6 +70,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
 |Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|Santa Cruz 2021-22|Smart Cruise Control (SCC)|stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
 |Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|

opendbc

@@ -1 +1 @@
-Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9
+Subproject commit 19a62df4fc42baeaa3b7178b1f9edad0ba90e2a5

panda

@@ -1 +1 @@
-Subproject commit 5962bcd08ae4e7c5193535efb45cc9c39da52f54
+Subproject commit c8512b23e500c886f291a204da953c130787ef5a

selfdrive/car/hyundai/carstate.py

@@ -22,7 +22,10 @@ class CarState(CarStateBase):
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
     if CP.carFingerprint in CANFD_CAR:
-      self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"]
+      if CP.flags & HyundaiFlags.CANFD_ALT_GEARS:
+        self.shifter_values = can_define.dv["GEAR_ALT"]["GEAR"]
+      else:
+        self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"]
     elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
@@ -156,15 +159,24 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in EV_CAR:
       ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
-    else:
+    elif not (self.CP.flags & HyundaiFlags.CANFD_ALT_PEDALS):
       ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
-    ret.gasPressed = ret.gas > 1e-5
+    else:
-    ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
+      ret.gas = 0
+
+    if self.CP.flags & HyundaiFlags.CANFD_ALT_PEDALS:
+      ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"])
+    else:
+      ret.gasPressed = ret.gas > 1e-5
+
+    brake_msg = "ACCELERATOR_BRAKE_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_PEDALS else "BRAKE"
+    ret.brakePressed = cp.vl[brake_msg]["BRAKE_PRESSED"] == 1
 
     ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
     ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
 
-    gear = cp.vl["GEAR_SHIFTER"]["GEAR"]
+    gear_msg = "GEAR_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
+    gear = cp.vl[gear_msg]["GEAR"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
     # TODO: figure out positions
@@ -408,14 +420,16 @@ class CarState(CarStateBase):
   def get_can_parser_canfd(CP):
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
+    gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
+    brake_msg = "ACCELERATOR_BRAKE_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_PEDALS else "BRAKE"
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
 
-      ("GEAR", "GEAR_SHIFTER"),
+      ("GEAR", gear_msg),
-      ("BRAKE_PRESSED", "BRAKE"),
+      ("BRAKE_PRESSED", brake_msg),
 
       ("STEERING_RATE", "STEERING_SENSORS"),
       ("STEERING_ANGLE", "STEERING_SENSORS"),
@@ -439,8 +453,8 @@ class CarState(CarStateBase):
 
     checks = [
       ("WHEEL_SPEEDS", 100),
-      ("GEAR_SHIFTER", 100),
+      (gear_msg, 100),
-      ("BRAKE", 100),
+      (brake_msg, 100),
       ("STEERING_SENSORS", 100),
       ("MDPS", 100),
       ("SCC1", 50),
@@ -466,6 +480,13 @@ class CarState(CarStateBase):
       checks += [
         ("ACCELERATOR", 100),
       ]
+    elif CP.flags & HyundaiFlags.CANFD_ALT_PEDALS:
+      signals += [
+        ("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"),
+      ]
+      checks += [
+        ("ACCELERATOR_BRAKE_ALT", 100),
+      ]
     else:
       signals += [
         ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),

selfdrive/car/hyundai/interface.py

@@ -40,6 +40,12 @@ class CarInterface(CarInterfaceBase):
         # non-HDA2
         if 0x1cf not in fingerprint[4]:
           ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
+        # 2021 Santa Cruz has accelerator pedal message on 0x100
+        if 0x100 in fingerprint[4]:
+          ret.flags |= HyundaiFlags.CANFD_ALT_PEDALS.value
+        # 2021 Santa Cruz does not have 0x130; GEARS message on 0x40
+        if 0x130 not in fingerprint[4]:
+          ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
@@ -162,6 +168,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.385
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
+      ret.mass = 1870. + STD_CARGO_KG  # weight from Limited trim - the only supported trim
+      ret.wheelbase = 3.000
+      ret.steerRatio = 14.2 # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -314,6 +325,8 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+      if ret.flags & HyundaiFlags.CANFD_ALT_PEDALS:
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_PEDALS
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 

selfdrive/car/hyundai/values.py

@@ -47,6 +47,8 @@ class CarControllerParams:
 class HyundaiFlags(IntFlag):
   CANFD_HDA2 = 1
   CANFD_ALT_BUTTONS = 2
+  CANFD_ALT_PEDALS = 4
+  CANFD_ALT_GEARS = 8
 
 
 class CAR:
@@ -78,6 +80,7 @@ class CAR:
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
   IONIQ_5 = "HYUNDAI IONIQ 5 2022"
   TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
+  SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@@ -146,6 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_q),
   ],
   CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
+  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
 
   # Kia
   CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
@@ -1375,6 +1379,14 @@ FW_VERSIONS = {
       b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
     ],
   },
+  CAR.SANTA_CRUZ_1ST_GEN: {
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00NX4 MDPS C 1.00 1.00 56300-K5000 1430',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_K60',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1392,7 +1404,7 @@ FEATURES = {
   "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1450,4 +1462,5 @@ DBC = {
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
   CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
+  CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/tests/routes.py

@@ -83,6 +83,7 @@ routes = [
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
+  CarTestRoute("f0709d2bc6ca451f|2022-08-17--16-28-25", HYUNDAI.SANTA_CRUZ_1ST_GEN),
   CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
   CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
   CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),

selfdrive/car/torque_data/override.yaml

@@ -32,6 +32,7 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
 VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
+HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]