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Hyundai: Car Port for Santa Cruz 2022

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pull/26342/head^2
Jason Wen 3 years ago
parent 91a7bb4ea3
commit ce8a05baea
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9 changed files with 64 additions and 13 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 2
      opendbc
  4. 2
      panda
  5. 35
      selfdrive/car/hyundai/carstate.py
  6. 13
      selfdrive/car/hyundai/interface.py
  7. 15
      selfdrive/car/hyundai/values.py
  8. 1
      selfdrive/car/tests/routes.py
  9. 1
      selfdrive/car/torque_data/override.yaml

1
RELEASES.md
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@ -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)
========================

3
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.
# 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|

2
opendbc

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

2
panda

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

35
selfdrive/car/hyundai/carstate.py
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@ -22,6 +22,9 @@ class CarState(CarStateBase):
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
if CP.carFingerprint in CANFD_CAR:
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"]
@ -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.
else:
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
ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
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"),
("BRAKE_PRESSED", "BRAKE"),
("GEAR", gear_msg),
("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),
("BRAKE", 100),
(gear_msg, 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"),

13
selfdrive/car/hyundai/interface.py
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@ -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]

15
selfdrive/car/hyundai/values.py
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@ -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),
}

1
selfdrive/car/tests/routes.py
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@ -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),

1
selfdrive/car/torque_data/override.yaml
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@ -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]

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