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HKG: Car Port for Genesis GV70 2022 (#26373)

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* HKG: Car Port for Genesis GV70 2023 thanks to @zunichky!

Co-authored-by: kyle zunich <zunichky@msu.edu>

* Update docs

* Update selfdrive/car/hyundai/values.py

* GV70 does radar SCC, separate them

* One more

* bump panda

* Gate 0x1A0 away from bus 6

* Can't leave out the OG

* EV6 non-HDA2 too?

* bump panda

* bump panda

* Check 0x1a0 based on param

* bump panda

* bump panda

* bit simpler

* fix bit op

* fixes

* bump panda to master

* cmt

* flip

Co-authored-by: kyle zunich <zunichky@msu.edu>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: d62cdc400ce5f49b22ac42d5e9b74398e7c636b6
This commit is contained in:
Jason Wen
2022-11-08 02:03:36 -05:00
committed by GitHub
parent f36d799198
commit 62990e317e
8 changed files with 40 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
RELEASES.md
+1
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@@ -15,6 +15,7 @@ Version 0.8.17 (2022-XX-XX)
* Added button to bookmark events while driving; view them later in comma connect
* AGNOS 6
* tools: new and improved cabana thanks to deanlee!
* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
* Kia Sportage 2023 support thanks to sunnyhaibin!
* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
docs/CARS.md
+2 -1
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@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 213 Supported Cars
# 214 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -31,6 +31,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Genesis|GV70 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
panda
+1 -1
Submodule panda updated: ca681ff829...1ccdff90c5
selfdrive/car/hyundai/carstate.py
+9 -7
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@@ -200,7 +200,7 @@ class CarState(CarStateBase):
self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
if not self.CP.openpilotLongitudinalControl:
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
@@ -467,7 +467,7 @@ class CarState(CarStateBase):
("BLINDSPOTS_REAR_CORNERS", 20),
]
if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
signals += [
("ACCMode", "SCC_CONTROL"),
("VSetDis", "SCC_CONTROL"),
@@ -504,11 +504,13 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser_canfd(CP):
signals = []
checks = []
if CP.flags & HyundaiFlags.CANFD_HDA2:
signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
checks = [("CAM_0x2a4", 20)]
else:
signals = [
signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
checks += [("CAM_0x2a4", 20)]
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
signals += [
("COUNTER", "SCC_CONTROL"),
("NEW_SIGNAL_1", "SCC_CONTROL"),
("MainMode_ACC", "SCC_CONTROL"),
@@ -521,7 +523,7 @@ class CarState(CarStateBase):
("VSetDis", "SCC_CONTROL"),
]
checks = [
checks += [
("SCC_CONTROL", 50),
]
selfdrive/car/hyundai/interface.py
+9 -1
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@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from 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, Buttons, CarControllerParams
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -44,6 +44,8 @@ class CarInterface(CarInterfaceBase):
# ICE cars do not have 0x130; GEARS message on 0x40 instead
if 0x130 not in fingerprint[4]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
if candidate not in CANFD_RADAR_SCC_CAR:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerLimitTimer = 0.4
@@ -200,6 +202,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 12.9
elif candidate == CAR.GENESIS_GV70_1ST_GEN:
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.87
ret.steerRatio = 14.6
elif candidate == CAR.GENESIS_G80:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
@@ -244,6 +250,8 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
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
selfdrive/car/hyundai/values.py
+16 -1
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@@ -48,6 +48,7 @@ class HyundaiFlags(IntFlag):
CANFD_HDA2 = 1
CANFD_ALT_BUTTONS = 2
CANFD_ALT_GEARS = 4
CANFD_CAMERA_SCC = 8
class CAR:
@@ -100,6 +101,7 @@ class CAR:
# Genesis
GENESIS_G70 = "GENESIS G70 2018"
GENESIS_G70_2020 = "GENESIS G70 2020"
GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
GENESIS_G80 = "GENESIS G80 2017"
GENESIS_G90 = "GENESIS G90 2017"
@@ -188,6 +190,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
# Genesis
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h),
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
}
@@ -1423,6 +1426,14 @@ FW_VERSIONS = {
b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ',
],
},
CAR.GENESIS_GV70_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ',
],
},
}
CHECKSUM = {
@@ -1440,7 +1451,10 @@ FEATURES = {
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, }
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1500,4 +1514,5 @@ DBC = {
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
}
selfdrive/car/tests/routes.py
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@@ -81,6 +81,7 @@ routes = [
CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
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("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
selfdrive/car/torque_data/override.yaml
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@@ -34,6 +34,7 @@ HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0]
KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0]
KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]
GENESIS GV70 1ST GEN: [2.42, 2.42, 0.01]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]