HKG: Car Port for Genesis GV70 2022 (#26373)

* HKG: Car Port for Genesis GV70 2023 thanks to @zunichky!

Co-authored-by: kyle zunich <zunichky@msu.edu>

* Update docs

* Update selfdrive/car/hyundai/values.py

* GV70 does radar SCC, separate them

* One more

* bump panda

* Gate 0x1A0 away from bus 6

* Can't leave out the OG

* EV6 non-HDA2 too?

* bump panda

* bump panda

* Check 0x1a0 based on param

* bump panda

* bump panda

* bit simpler

* fix bit op

* fixes

* bump panda to master

* cmt

* flip

Co-authored-by: kyle zunich <zunichky@msu.edu>
Co-authored-by: Shane Smiskol <shane@smiskol.com>

RELEASES.md

@@ -15,6 +15,7 @@ Version 0.8.17 (2022-XX-XX)
   * Added button to bookmark events while driving; view them later in comma connect
 * AGNOS 6
 * tools: new and improved cabana thanks to deanlee!
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
 * Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
 * Kia Sportage 2023 support thanks to sunnyhaibin!
 * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!

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.
 
-# 213 Supported Cars
+# 214 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -31,6 +31,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
 |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Genesis|GV70 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|

panda

@@ -1 +1 @@
-Subproject commit ca681ff8299c91491558c0e44f4a4779dc0a2998
+Subproject commit 1ccdff90c564154489a3394691a4830a4ae19027

selfdrive/car/hyundai/carstate.py

@@ -200,7 +200,7 @@ class CarState(CarStateBase):
     self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
     if not self.CP.openpilotLongitudinalControl:
       speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-      cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
@@ -467,7 +467,7 @@ class CarState(CarStateBase):
         ("BLINDSPOTS_REAR_CORNERS", 20),
       ]
 
-    if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
+    if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
       signals += [
         ("ACCMode", "SCC_CONTROL"),
         ("VSetDis", "SCC_CONTROL"),
@@ -504,11 +504,13 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser_canfd(CP):
+    signals = []
+    checks = []
     if CP.flags & HyundaiFlags.CANFD_HDA2:
-      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
-      checks = [("CAM_0x2a4", 20)]
-    else:
-      signals = [
+      signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks += [("CAM_0x2a4", 20)]
+    elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
+      signals += [
         ("COUNTER", "SCC_CONTROL"),
         ("NEW_SIGNAL_1", "SCC_CONTROL"),
         ("MainMode_ACC", "SCC_CONTROL"),
@@ -521,7 +523,7 @@ class CarState(CarStateBase):
         ("VSetDis", "SCC_CONTROL"),
       ]
 
-      checks = [
+      checks += [
         ("SCC_CONTROL", 50),
       ]
 

selfdrive/car/hyundai/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -44,6 +44,8 @@ class CarInterface(CarInterfaceBase):
         # ICE cars do not have 0x130; GEARS message on 0x40 instead
         if 0x130 not in fingerprint[4]:
           ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
+        if candidate not in CANFD_RADAR_SCC_CAR:
+          ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
@@ -200,6 +202,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 12.9
+    elif candidate == CAR.GENESIS_GV70_1ST_GEN:
+      ret.mass = 1950. + STD_CARGO_KG
+      ret.wheelbase = 2.87
+      ret.steerRatio = 14.6
     elif candidate == CAR.GENESIS_G80:
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
@@ -244,6 +250,8 @@ 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_CAMERA_SCC:
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages

selfdrive/car/hyundai/values.py

@@ -48,6 +48,7 @@ class HyundaiFlags(IntFlag):
   CANFD_HDA2 = 1
   CANFD_ALT_BUTTONS = 2
   CANFD_ALT_GEARS = 4
+  CANFD_CAMERA_SCC = 8
 
 
 class CAR:
@@ -100,6 +101,7 @@ class CAR:
   # Genesis
   GENESIS_G70 = "GENESIS G70 2018"
   GENESIS_G70_2020 = "GENESIS G70 2020"
+  GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
   GENESIS_G80 = "GENESIS G80 2017"
   GENESIS_G90 = "GENESIS G90 2017"
 
@@ -188,6 +190,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
   CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
+  CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
   CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h),
   CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
 }
@@ -1423,6 +1426,14 @@ FW_VERSIONS = {
       b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
     ],
   },
+  CAR.GENESIS_GV70_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.04 99211-AR000 210204',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1440,7 +1451,10 @@ FEATURES = {
   "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, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN}
+
+# The radar does SCC on these cars when HDA I, rather than the camera
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, }
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1500,4 +1514,5 @@ DBC = {
   CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/tests/routes.py

@@ -81,6 +81,7 @@ routes = [
 
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
+  CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
   CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
   CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),

selfdrive/car/torque_data/override.yaml

@@ -34,6 +34,7 @@ HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
 HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0]
 KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0]
 KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]
+GENESIS GV70 1ST GEN: [2.42, 2.42, 0.01]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]