#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.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, UNSUPPORTED_LONGITUDINAL_CAR, \ Buttons from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise, Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel} class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "hyundai" ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. # FIXME: the Optima Hybrid uses a different SCC12 checksum ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6} hda2 = Ecu.adas in [fw.ecu for fw in car_fw] CAN = CanBus(None, hda2, fingerprint) if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU if hda2: ret.flags |= HyundaiFlags.CANFD_HDA2.value if 0x110 in fingerprint[CAN.CAM]: ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value else: # non-HDA2 if 0x1cf not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead if 0x130 not in fingerprint[CAN.ECAN]: if 0x40 not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value else: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value if candidate not in CANFD_RADAR_SCC_CAR: ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value else: # Send LFA message on cars with HDA if 0x485 in fingerprint[2]: ret.flags |= HyundaiFlags.SEND_LFA.value # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]: ret.flags |= HyundaiFlags.USE_FCA.value ret.steerActuatorDelay = 0.1 # Default delay 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): ret.mass = 3982. * CV.LB_TO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end ret.tireStiffnessFactor = 0.82 elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): ret.mass = 1513. ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.tireStiffnessFactor = 0.65 elif candidate == CAR.SONATA_LF: ret.mass = 1536. ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable elif candidate == CAR.PALISADE: ret.mass = 1999. ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 ret.tireStiffnessFactor = 0.63 elif candidate == CAR.ELANTRA: ret.mass = 1275. ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: ret.mass = 2800. * CV.LB_TO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 ret.tireStiffnessFactor = 0.65 elif candidate == CAR.ELANTRA_HEV_2021: ret.mass = 3017. * CV.LB_TO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 ret.tireStiffnessFactor = 0.65 elif candidate == CAR.HYUNDAI_GENESIS: ret.mass = 2060. ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN): ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.) ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6) ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42) # Spec ret.tireStiffnessFactor = 0.385 elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV): ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec ret.tireStiffnessFactor = 0.385 if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: ret.mass = 2917. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 ret.tireStiffnessFactor = 0.5 elif candidate == CAR.TUCSON: ret.mass = 3520. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 ret.tireStiffnessFactor = 0.385 elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN): ret.mass = 1630. # average ret.wheelbase = 2.756 ret.steerRatio = 16. ret.tireStiffnessFactor = 0.385 elif candidate == CAR.SANTA_CRUZ_1ST_GEN: ret.mass = 1870. # weight from Limited trim - the only supported trim ret.wheelbase = 3.000 # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf ret.steerRatio = 14.2 # Kia elif candidate == CAR.KIA_SORENTO: ret.mass = 1985. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): ret.mass = 3543. * CV.LB_TO_KG # average of all the cars ret.wheelbase = 2.7 ret.steerRatio = 13.6 # average of all the cars ret.tireStiffnessFactor = 0.385 if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: ret.mass = 1337. ret.wheelbase = 2.63 ret.steerRatio = 14.56 elif candidate == CAR.KIA_SPORTAGE_5TH_GEN: ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions ret.wheelbase = 2.756 ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 ret.tireStiffnessFactor = 0.5 if candidate == CAR.KIA_OPTIMA_G4: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022): ret.mass = 1825. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable elif candidate == CAR.KIA_FORTE: ret.mass = 2878. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 ret.tireStiffnessFactor = 0.5 elif candidate == CAR.KIA_CEED: ret.mass = 1450. ret.wheelbase = 2.65 ret.steerRatio = 13.75 ret.tireStiffnessFactor = 0.5 elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020): ret.mass = 3381. * CV.LB_TO_KG ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) ret.tireStiffnessFactor = 0.5 elif candidate == CAR.KIA_EV6: ret.mass = 2055 ret.wheelbase = 2.9 ret.steerRatio = 16. ret.tireStiffnessFactor = 0.65 elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6): ret.mass = 1948 ret.wheelbase = 2.97 ret.steerRatio = 14.26 ret.tireStiffnessFactor = 0.65 elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: ret.mass = 1767. # SX Prestige trim support only ret.wheelbase = 2.756 ret.steerRatio = 13.6 elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): ret.wheelbase = 2.81 ret.steerRatio = 13.5 # average of the platforms if candidate == CAR.KIA_SORENTO_4TH_GEN: ret.mass = 3957 * CV.LB_TO_KG elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN: ret.mass = 4255 * CV.LB_TO_KG else: ret.mass = 4537 * CV.LB_TO_KG elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: ret.mass = 2087. ret.wheelbase = 3.09 ret.steerRatio = 14.23 # Genesis elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: ret.mass = 2205 ret.wheelbase = 2.9 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. ret.steerRatio = 12.6 elif candidate == CAR.GENESIS_G70: ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate == CAR.GENESIS_G70_2020: ret.mass = 3673.0 * CV.LB_TO_KG ret.wheelbase = 2.83 ret.steerRatio = 12.9 elif candidate == CAR.GENESIS_GV70_1ST_GEN: ret.mass = 1950. ret.wheelbase = 2.87 ret.steerRatio = 14.6 elif candidate == CAR.GENESIS_G80: ret.mass = 2060. ret.wheelbase = 3.01 ret.steerRatio = 16.5 elif candidate == CAR.GENESIS_G90: ret.mass = 2200. ret.wheelbase = 3.15 ret.steerRatio = 12.069 elif candidate == CAR.GENESIS_GV80: ret.mass = 2258. ret.wheelbase = 2.95 ret.steerRatio = 14.14 # *** longitudinal control *** if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl ret.stoppingControl = True ret.startingState = True ret.vEgoStarting = 0.1 ret.startAccel = 1.0 ret.longitudinalActuatorDelayLowerBound = 0.5 ret.longitudinalActuatorDelayUpperBound = 0.5 # *** feature detection *** if candidate in CANFD_CAR: ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] else: ret.enableBsm = 0x58b in fingerprint[0] # *** panda safety config *** if candidate in CANFD_CAR: cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] if CAN.ECAN >= 4: cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) ret.safetyConfigs = cfgs if ret.flags & HyundaiFlags.CANFD_HDA2: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING 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 ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)] if candidate in CAMERA_SCC_CAR: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC if ret.openpilotLongitudinalControl: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG if candidate in HYBRID_CAR: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS elif candidate in EV_CAR: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): ret.flags |= HyundaiFlags.ALT_LIMITS.value ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS ret.centerToFront = ret.wheelbase * 0.4 return ret @staticmethod def init(CP, logcan, sendcan): if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value): addr, bus = 0x7d0, 0 if CP.flags & HyundaiFlags.CANFD_HDA2.value: addr, bus = 0x730, CanBus(CP).ECAN disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') # for blinkers if CP.flags & HyundaiFlags.ENABLE_BLINKERS: disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) if self.CS.CP.openpilotLongitudinalControl: ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT) # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons # Main button also can trigger an engagement on these cars allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons) events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable) # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: self.low_speed_alert = True if ret.vEgo > (self.CP.minSteerSpeed + 4.): self.low_speed_alert = False if self.low_speed_alert: events.add(car.CarEvent.EventName.belowSteerSpeed) ret.events = events.to_msg() return ret def apply(self, c, now_nanos): return self.CC.update(c, self.CS, now_nanos)