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HKG: Car Port for Hyundai Custin 1st Gen (#29476)

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* HKG: Car Port for Hyundai Cusitn 1st Gen

Hyundai Custin is asia only car ,named Custo in China.
Hyundai K , talk with Sotana CAN BUS
test route"0bbe367c98fa1538|2023-08-19--01-58-42--0"

It's my fisrt time to PR a port car. I must miss something I don't know. Waiting your instruction to complete it.

* Add route

Add route

* update interface.py

Add interface values

* Update values.py

type

* slight cleanup

* stock openpilot route

* Add credit to release note

* lkas11 fault fix

* Generate CARS.md

* SCC is standard

* crc8

* Update new route

Add a new route "0bbe367c98fa1538|2023-09-16--00-16-49--0"

* sort

* Update selfdrive/car/hyundai/interface.py

* rename platform var

* we want abs!

* was looking at a vw lol

* 096

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
pull/30063/head
Saber 2 years ago committed by GitHub
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 2
      selfdrive/car/hyundai/hyundaican.py
  4. 4
      selfdrive/car/hyundai/interface.py
  5. 26
      selfdrive/car/hyundai/values.py
  6. 1
      selfdrive/car/tests/routes.py
  7. 1
      selfdrive/car/torque_data/override.yaml

1
RELEASES.md
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@ -1,6 +1,7 @@
Version 0.9.6 (2023-XX-XX)
========================
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
* Kia Optima Hybrid 2019 support
Version 0.9.5 (2023-09-27)

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 device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 264 Supported Cars
# 265 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -73,6 +73,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||

2
selfdrive/car/hyundai/hyundaican.py
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@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

4
selfdrive/car/hyundai/interface.py
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@ -141,6 +141,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.000
# steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
ret.steerRatio = 14.2
elif candidate == CAR.CUSTIN_1ST_GEN:
ret.mass = 1690. # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
ret.wheelbase = 3.055
ret.steerRatio = 17.0 # from learner
# Kia
elif candidate == CAR.KIA_SORENTO:

26
selfdrive/car/hyundai/values.py
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@ -101,6 +101,7 @@ class CAR:
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
# Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@ -217,6 +218,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
# Kia
CAR.KIA_FORTE: [
@ -1059,6 +1061,26 @@ FW_VERSIONS = {
b'\xf1\x87391312MTF1',
],
},
CAR.CUSTIN_1ST_GEN: {
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391212MEC0',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
],
},
CAR.KIA_STINGER: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ',
@ -2026,7 +2048,8 @@ FW_VERSIONS = {
CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}
@ -2134,4 +2157,5 @@ DBC = {
CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
}

1
selfdrive/car/tests/routes.py
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@ -101,6 +101,7 @@ routes = [
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("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.CUSTIN_1ST_GEN),
CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", 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),

1
selfdrive/car/torque_data/override.yaml
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@ -62,6 +62,7 @@ HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]

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