add fw for 2023

Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long
# Conflicts: # docs/CARS.md # panda
2026-06-10 13:34:21 +08:00 · 2023-09-08 01:55:38 -04:00 · 2023-09-08 01:15:07 -04:00 · 2023-08-28 10:53:48 -04:00 · 2023-08-15 01:08:30 -04:00 · 2023-08-15 01:06:53 -04:00
7 changed files with 56 additions and 29 deletions
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -89,7 +89,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|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 H 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=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|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 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=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022|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 O 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=Kona Electric 2022">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R 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=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|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 I 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=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|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 H 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=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
--- a/2
+++ b/2
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -6,7 +6,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR

 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -91,7 +91,8 @@ class CarController:
    # *** common hyundai stuff ***

    # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
+    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and \
+      self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl:
      # for longitudinal control, either radar or ADAS driving ECU
      addr, bus = 0x7d0, 0
      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
@@ -146,7 +147,7 @@ class CarController:
        # TODO: unclear if this is needed
        jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
        use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), CS, self.CP.carFingerprint,
                                                        hud_control.leadVisible, set_speed_in_units, stopping,
                                                        CC.cruiseControl.override, use_fca))

@@ -156,7 +157,7 @@ class CarController:

      # 5 Hz ACC options
      if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer, CS, self.CP.carFingerprint))

      # 2 Hz front radar options
      if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -156,6 +156,10 @@ class CarState(CarStateBase):
    # save the entire LKAS11 and CLU11
    self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
    self.clu11 = copy.copy(cp.vl["CLU11"])
+    # only forward FCA messages for FCW/AEB when using openpilot longitudinal on Camera SCC cars
+    if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint in CAMERA_SCC_CAR:
+      self.fca11 = copy.copy(cp_cruise.vl["FCA11"])
+      self.fca12 = copy.copy(cp_cruise.vl["FCA12"])
    self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
    self.prev_cruise_buttons = self.cruise_buttons[-1]
    self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
@@ -296,14 +300,21 @@ class CarState(CarStateBase):
      ("LKAS11", 100)
    ]

-    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
-      messages += [
-        ("SCC11", 50),
-        ("SCC12", 50),
-      ]
+    if CP.carFingerprint in CAMERA_SCC_CAR:
+      if CP.openpilotLongitudinalControl:
+        if CP.flags & HyundaiFlags.USE_FCA.value:
+          messages += [
+            ("FCA11", 50),
+            ("FCA12", 50),
+          ]
+      else:
+        messages += [
+          ("SCC11", 50),
+          ("SCC12", 50),
+        ]

-      if CP.flags & HyundaiFlags.USE_FCA.value:
-        messages.append(("FCA11", 50))
+        if CP.flags & HyundaiFlags.USE_FCA.value:
+          messages.append(("FCA11", 50))

    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)

--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -125,7 +125,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
  }
  return packer.make_can_msg("LFAHDA_MFC", 0, values)

-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, CS, car_fingerprint, lead_visible, set_speed, stopping, long_override, use_fca):
  commands = []

  scc11_values = {
@@ -172,21 +172,27 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s

  # Only send FCA11 on cars where it exists on the bus
  if use_fca:
-    # note that some vehicles most likely have an alternate checksum/counter definition
-    # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
-    fca11_values = {
-      "CR_FCA_Alive": idx % 0xF,
-      "PAINT1_Status": 1,
-      "FCA_DrvSetStatus": 1,
-      "FCA_Status": 1,  # AEB disabled
-    }
+    if car_fingerprint in CAMERA_SCC_CAR:
+      fca11_values = CS.fca11
+      fca11_values["PAINT1_Status"] = 1
+      fca11_values["FCA_DrvSetStatus"] = 1
+      fca11_values["FCA_Status"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified
+    else:
+      # note that some vehicles most likely have an alternate checksum/counter definition
+      # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
+      fca11_values = {
+        "CR_FCA_Alive": idx % 0xF,
+        "PAINT1_Status": 1,
+        "FCA_DrvSetStatus": 1,
+        "FCA_Status": 1,  # AEB disabled
+      }
    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
    fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
    commands.append(packer.make_can_msg("FCA11", 0, fca11_values))

  return commands

-def create_acc_opt(packer):
+def create_acc_opt(packer, CS, car_fingerprint):
  commands = []

  scc13_values = {
@@ -197,10 +203,15 @@ def create_acc_opt(packer):
  commands.append(packer.make_can_msg("SCC13", 0, scc13_values))

  # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
+  if car_fingerprint in CAMERA_SCC_CAR:
+    fca12_values = CS.fca12
+    fca12_values["FCA_DrvSetState"] = 2
+    fca12_values["FCA_USM"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified
+  else:
+    fca12_values = {
+      "FCA_DrvSetState": 2,
+      "FCA_USM": 1, # AEB disabled
+    }
  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))

  return commands
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -252,7 +252,7 @@ class CarInterface(CarInterfaceBase):
    else:
      ret.longitudinalTuning.kpV = [0.5]
      ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
    ret.pcmCruise = not ret.openpilotLongitudinalControl

@@ -311,7 +311,8 @@ class CarInterface(CarInterfaceBase):

  @staticmethod
  def init(CP, logcan, sendcan):
-    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
+    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and \
+      CP.carFingerprint not in CAMERA_SCC_CAR:
      addr, bus = 0x7d0, 0
      if CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, CanBus(CP).ECAN
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1414,6 +1414,7 @@ FW_VERSIONS = {
      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
      b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
+      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
    ],
    (Ecu.fwdCamera, 0x7C4, None): [
      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1421,12 +1422,14 @@ FW_VERSIONS = {
      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
      b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
    ],
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
    ],
    (Ecu.fwdRadar, 0x7D0, None): [
      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
Author	SHA1	Message	Date
Jason Wen	369a1cf946	add fw for 2023	2023-09-08 01:55:38 -04:00
Jason Wen	81c18469cf	Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long # Conflicts: # docs/CARS.md # panda	2023-09-08 01:15:07 -04:00
Jason Wen	24feed4b1a	Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long # Conflicts: # panda # selfdrive/car/hyundai/carcontroller.py # selfdrive/car/hyundai/hyundaican.py # selfdrive/car/hyundai/interface.py	2023-08-28 10:53:48 -04:00
Jason Wen	0fd3fac0e9	Regenerate CARS.md	2023-08-15 01:08:30 -04:00
Jason Wen	74e6deb211	Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long # Conflicts: # docs/CARS.md # panda # selfdrive/car/hyundai/carstate.py	2023-08-15 01:06:53 -04:00
Jason Wen	739c645b13	missed SCC msgs	2023-06-13 12:51:40 -04:00
Jason Wen	cac0aca860	gate all behind camera SCC cars when using OP long	2023-06-13 12:48:57 -04:00
Jason Wen	b1975b5dec	Merge remote-tracking branch 'upstream/master' into camera-scc-long # Conflicts: # panda # selfdrive/car/hyundai/carcontroller.py	2023-04-25 17:08:50 -04:00
Jason Wen	b6d9a0dc01	Merge remote-tracking branch 'upstream/master' into camera-scc-long # Conflicts: # docs/CARS.md # panda # selfdrive/car/hyundai/carcontroller.py # selfdrive/car/hyundai/interface.py	2023-03-26 20:39:23 -04:00
Jason Wen	711a1b8bed	Merge remote-tracking branch 'upstream/master' into camera-scc-long	2022-10-19 10:51:19 -04:00
Jason Wen	c47f084b9d	bump submodules	2022-10-19 10:50:20 -04:00
Jason Wen	e5ecf0a9d4	Show openpilot longitudinal in car docs	2022-10-19 10:48:53 -04:00
Jason Wen	9a83eb772c	Forward modified FCA11 and FCA12 messages	2022-10-15 18:57:20 -04:00
Jason Wen	5ca5939818	CLU11 is on bus 0	2022-10-15 17:10:56 -04:00
Jason Wen	2343e05339	Update comment	2022-10-15 16:43:02 -04:00
Jason Wen	1553900777	Hyundai: Longitudinal support for Camera SCC cars (CAN for now)	2022-10-15 16:24:54 -04:00