diff --git a/RELEASES.md b/RELEASES.md index 0a7925200e..88c3eb7041 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.9.5 (202X-XX-XX) ======================== +* Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! diff --git a/docs/CARS.md b/docs/CARS.md index 775418427d..ed5683919f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 260 Supported Cars +# 261 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 0083974020..3b98432615 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED): + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, + CAR.AZERA_6TH_GEN): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 9b4ae508e5..e55f8bec3b 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -64,7 +64,11 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): + if candidate == CAR.AZERA_6TH_GEN: + ret.mass = 1540. # average + ret.wheelbase = 2.885 + ret.steerRatio = 14.5 + elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): ret.mass = 3982. * CV.LB_TO_KG ret.wheelbase = 2.766 # Values from optimizer diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 2b8bb763a2..3029c2ee65 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -69,6 +69,7 @@ class HyundaiFlags(IntFlag): class CAR: # Hyundai + AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN" ELANTRA = "HYUNDAI ELANTRA 2017" ELANTRA_2021 = "HYUNDAI ELANTRA 2021" ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" @@ -152,6 +153,7 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { + CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.ELANTRA: [ HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), @@ -523,6 +525,23 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { + CAR.AZERA_6TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, CAR.HYUNDAI_GENESIS: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DH LKAS 1.1 -150210', @@ -1990,6 +2009,7 @@ UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR. # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py DBC = { + CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None), 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), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 4d99f594db..aaac4e2180 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -94,6 +94,7 @@ routes = [ CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), + CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN), CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index d332f7fc3d..e3da0b0e4e 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -59,6 +59,7 @@ LEXUS IS 2023: [2.0, 2.0, 0.1] KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] +HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0]