Hyundai: Car port for AZERA Hybrid 6TH Generation (#29984)

* Update interface.py

add AZERA HEV 6TH_GEN

* Update hyundaican.py

ADD AZERA HEV 6TH_GEN

* Update values.py

add AZERA_HEV_6TH_GEN

* Update override.yaml

add AZERA HEV 6TH GEN

* Update CARS.md

add AZERA HEV 6TH GEN

* Update CARS.md

* Update routes.py

Add AZERA HEV 6TH GEN

* Update routes.py

* Update values.py

* Update values.py

* Update routes.py

* Update routes.py

* Update values.py

* Update values.py

* Update CARS.md

* Update values.py

* Update RELEASES.md

* Update RELEASES.md

* Update routes.py

* Update routes.py

* Update routes.py

* The route driven by added value.py with engine and transmission finger.

* Update interface.py

I applied it with the actual vehicle spec value.

* move up release to 096

* fixes

* docs

* fix mass

---------

Co-authored-by: haram-KONA <88036668+haram-KONA@users.noreply.github.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.9.6 (2023-XX-XX)
 ========================
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
 * Kia Optima Hybrid 2019 support
 
 Version 0.9.5 (2023-09-27)

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.
 
-# 263 Supported Cars
+# 264 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -72,6 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Pilot 2016-22|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=Pilot 2016-22">Buy Here</a></sub></details>||
 |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|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>||

selfdrive/car/hyundai/hyundaican.py

@@ -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_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -64,8 +64,8 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate == CAR.AZERA_6TH_GEN:
+    if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
-      ret.mass = 1540.  # average
+      ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675.  # ICE is ~average of 2.5L and 3.5L
       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):

selfdrive/car/hyundai/values.py

@@ -70,6 +70,7 @@ class HyundaiFlags(IntFlag):
 class CAR:
   # Hyundai
   AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
+  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
   ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
@@ -156,6 +157,7 @@ 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.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "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])),
@@ -544,6 +546,23 @@ FW_VERSIONS = {
       b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.AZERA_HEV_6TH_GEN: {
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -2001,7 +2020,7 @@ CAN_GEARS = {
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.IONIQ_EV_LTD,
                       CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
                       CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
-                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
+                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020, CAR.AZERA_HEV_6TH_GEN},
 }
 
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
@@ -2020,7 +2039,8 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
+              CAR.AZERA_HEV_6TH_GEN}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
@@ -2038,6 +2058,7 @@ UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.
 # 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.AZERA_HEV_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),

selfdrive/car/tests/routes.py

@@ -95,6 +95,7 @@ routes = [
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
   CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
+  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_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),

selfdrive/car/torque_data/override.yaml

@@ -60,6 +60,7 @@ 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]
+HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
 KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car