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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> old-commit-hash: e16d530da9add3ecc18f72b9fd7582215e5030b5
This commit is contained in:
Hoya
@@ -1,5 +1,6 @@
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Version 0.9.6 (2023-XX-XX)
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========================
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* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
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* Kia Optima Hybrid 2019 support
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Version 0.9.5 (2023-09-27)
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+2
-1
@@ -4,7 +4,7 @@
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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.
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# 263 Supported Cars
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# 264 Supported Cars
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|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> |Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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@@ -72,6 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All
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|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<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>||
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|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<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>||
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|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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>||
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|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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>||
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|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<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>||
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|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<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>|
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|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<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>||
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@@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
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CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
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CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
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CAR.AZERA_6TH_GEN):
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CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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@@ -64,8 +64,8 @@ class CarInterface(CarInterfaceBase):
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ret.steerLimitTimer = 0.4
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate == CAR.AZERA_6TH_GEN:
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ret.mass = 1540. # average
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if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
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ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675. # ICE is ~average of 2.5L and 3.5L
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ret.wheelbase = 2.885
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ret.steerRatio = 14.5
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elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
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@@ -70,6 +70,7 @@ class HyundaiFlags(IntFlag):
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class CAR:
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# Hyundai
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AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
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AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
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ELANTRA = "HYUNDAI ELANTRA 2017"
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ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
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ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
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@@ -156,6 +157,7 @@ class HyundaiCarInfo(CarInfo):
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CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
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CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
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CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
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CAR.ELANTRA: [
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HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
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HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
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@@ -544,6 +546,23 @@ FW_VERSIONS = {
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b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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},
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CAR.AZERA_HEV_6TH_GEN: {
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(Ecu.fwdCamera, 0x7C4, None): [
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b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
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],
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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},
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CAR.HYUNDAI_GENESIS: {
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00DH LKAS 1.1 -150210',
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@@ -2001,7 +2020,7 @@ CAN_GEARS = {
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"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,
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CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
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CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
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CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
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CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020, CAR.AZERA_HEV_6TH_GEN},
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}
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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,
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@@ -2020,7 +2039,8 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
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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,
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CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
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CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
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CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN}
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CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
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CAR.AZERA_HEV_6TH_GEN}
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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,
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CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
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@@ -2038,6 +2058,7 @@ UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.
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# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
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DBC = {
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CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
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CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
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CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
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CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
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CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
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@@ -95,6 +95,7 @@ routes = [
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CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
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CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
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CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_6TH_GEN),
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CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
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CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
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CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
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@@ -60,6 +60,7 @@ KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
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HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
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HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
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HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
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HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
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KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
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# Dashcam or fallback configured as ideal car
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