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Your Name
2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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15
selfdrive/car/hyundai/carcontroller.py
View File

@@ -7,6 +7,7 @@ from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fau
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.interfaces import CarControllerBase
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -42,7 +43,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
return sys_warning, sys_state, left_lane_warning, right_lane_warning
class CarController:
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CAN = CanBus(CP)
@@ -131,13 +132,13 @@ class CarController:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, CS.personality_profile))
set_speed_in_units, hud_control))
self.accel_last = accel
else:
# button presses
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))
@@ -150,8 +151,8 @@ class CarController:
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),
hud_control.leadVisible, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS.out.cruiseState.available, CS.personality_profile))
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS.out.cruiseState.available))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@@ -177,12 +178,12 @@ class CarController:
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
else:

120
selfdrive/car/hyundai/carstate.py
View File

@@ -10,9 +10,6 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
CANFD_CAR, Buttons, CarControllerParams
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS
from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
@@ -183,61 +180,14 @@ class CarState(CarStateBase):
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
# FrogPilot functions
distance_pressed = self.cruise_buttons[-1] == Buttons.GAP_DIST
self.prev_distance_button = self.distance_button
self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
# Driving personalities function
if ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.fpf.reset_personality_changed_param()
if self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if distance_pressed:
self.distance_pressed_counter += 1
elif self.distance_previously_pressed:
# Set the distance lines on the dash to match the new personality if the button was held down for less than 0.5 seconds
if self.distance_pressed_counter < CRUISE_LONG_PRESS and frogpilot_variables.personalities_via_wheel:
self.personality_profile = (self.personality_profile + 2) % 3
self.fpf.distance_button_function(self.personality_profile)
self.distance_pressed_counter = 0
# Switch the current state of Experimental Mode if the button is held down for 0.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS and frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
# Switch the current state of Traffic Mode if the button is held down for 2.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode:
self.fpf.update_traffic_mode()
# Revert the previous changes to Experimental Mode
if frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
self.distance_previously_pressed = distance_pressed
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
SpeedLimitController.car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
SpeedLimitController.write_car_state()
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
return ret
@@ -324,61 +274,13 @@ class CarState(CarStateBase):
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
else cp_cam.vl["CAM_0x2a4"])
# FrogPilot functions
distance_pressed = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
self.prev_distance_button = self.distance_button
self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
# Driving personalities function
if ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.fpf.reset_personality_changed_param()
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
if distance_pressed:
self.distance_pressed_counter += 1
elif self.distance_previously_pressed:
# Set the distance lines on the dash to match the new personality if the button was held down for less than 0.5 seconds
if self.distance_pressed_counter < CRUISE_LONG_PRESS and frogpilot_variables.personalities_via_wheel:
self.personality_profile = (self.personality_profile + 2) % 3
self.fpf.distance_button_function(self.personality_profile)
self.distance_pressed_counter = 0
# Switch the current state of Experimental Mode if the button is held down for 0.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS and frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
# Switch the current state of Traffic Mode if the button is held down for 2.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode:
self.fpf.update_traffic_mode()
# Revert the previous changes to Experimental Mode
if frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
self.distance_previously_pressed = distance_pressed
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
SpeedLimitController.car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
SpeedLimitController.write_car_state()
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
return ret

81
selfdrive/car/hyundai/fingerprints.py
View File

@@ -5,21 +5,6 @@ from openpilot.selfdrive.car.hyundai.values import CAR
Ecu = car.CarParams.Ecu
FINGERPRINTS = {
CAR.HYUNDAI_GENESIS: [{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
},
{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
},
{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4
},
{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
},
{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
}],
CAR.SANTA_FE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
},
@@ -32,33 +17,15 @@ FINGERPRINTS = {
CAR.SONATA: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.SONATA_LF: [{
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.KIA_SORENTO: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
}],
CAR.KIA_STINGER: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
}],
CAR.GENESIS_G80: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
},
{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8
},
{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8
}],
CAR.GENESIS_G90: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
}],
CAR.IONIQ_EV_2020: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
}],
CAR.IONIQ: [{
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
}],
CAR.KONA_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
}],
@@ -74,9 +41,6 @@ FINGERPRINTS = {
{
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
}],
CAR.PALISADE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
}],
}
FW_VERSIONS = {
@@ -100,15 +64,18 @@ FW_VERSIONS = {
CAR.AZERA_HEV_6TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903',
b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.01 99211-G8000 181109',
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',
b'\xf1\x00IG MDPS C 1.00 1.01 56310M9350\x00 4IH8C101',
b'\xf1\x00IG MDPS C 1.00 1.02 56310M9350\x00 4IH8C102',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ',
b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ',
b'\xf1\x00IGhe SCC FHCUP 1.00 1.02 99110-M9000 ',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7',
@@ -413,6 +380,7 @@ FW_VERSIONS = {
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
b'\xf1\x006T6H0_C2\x00\x006T6B7051\x00\x00TLF0G24SL4;\x08\x12i',
b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
@@ -567,25 +535,31 @@ FW_VERSIONS = {
CAR.SANTA_FE_HEV_2022: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ',
b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100',
b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105',
b'\xf1\x00TM MDPS R 1.00 1.06 57700-CL000 4TSHP106',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414',
b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727',
b'\xf1\x00TMH MFC AT KOR LHD 1.00 1.06 99211-S1500 220727',
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224',
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.05 99211-S1500 220126',
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16KA1\xc6\x15Q\x1e',
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391312MTA0',
b'\xf1\x87391312MTC1',
b'\xf1\x87391312MTE0',
b'\xf1\x87391312MTL0',
@@ -593,6 +567,7 @@ FW_VERSIONS = {
},
CAR.SANTA_FE_PHEV_2022: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TMhe SCC F-CUP 1.00 1.00 99110-CL500 ',
b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ',
b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ',
],
@@ -606,6 +581,7 @@ FW_VERSIONS = {
b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
@@ -724,6 +700,7 @@ FW_VERSIONS = {
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
b'\xf1\x00LX ESC \x01 104 \x10\x16 58910-S8360',
b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
@@ -745,10 +722,12 @@ FW_VERSIONS = {
b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
b'\xf1\x00LX2 MDPS R 1.00 1.02 56370-S8300 9318',
b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13',
b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00LX2 MFC AT KOR LHD 1.00 1.08 99211-S8100 200903',
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226',
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125',
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909',
@@ -762,6 +741,7 @@ FW_VERSIONS = {
b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX2G38NB5X\xfa\xe88',
b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
@@ -864,10 +844,12 @@ FW_VERSIONS = {
b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107',
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108',
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108',
b'\xf1\x00IK MDPS R 1.00 5.09 57700-G9520 4I4VL509',
],
(Ecu.transmission, 0x7e1, None): [
b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SIK0T33NH0\x0f\xa3Y*',
b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
@@ -875,21 +857,25 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ',
b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02',
b'\xf1\x00IK__ SCC FHCUP 1.00 1.00 99110-G9300 ',
b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920',
b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920',
b'\xf1\x00IK MFC AT USA LHD 1.00 1.04 99211-G9000 220401',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.GENESIS_G80: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ',
b'\xf1\x00DH__ SCC F-CUP 1.00 1.02 96400-B1120 ',
b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
@@ -897,10 +883,12 @@ FW_VERSIONS = {
b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
b'\xf1\x00DH LKAS AT USA LHD 1.01 1.04 95895-B1500 181213',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!',
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH3\xaf\x1a7\xe2',
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
@@ -912,16 +900,19 @@ FW_VERSIONS = {
},
CAR.GENESIS_G90: {
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SHI0G50NH0\xff\x80\xc2*',
b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
b'\xf1\x87VDHMD16446682DD3WwwxxvGw\x88\x88\x87\x88\x88whxx\x87\x87\x87\x85fUfwu_\xffT\xf8\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ',
b'\xf1\x00HI__ SCC FHCUP 1.00 1.02 99110-D2100 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2030 170208',
b'\xf1\x00HI MFC AT USA LHD 1.00 1.03 99211-D2000 190831',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x810000000000\x00',
@@ -1089,6 +1080,7 @@ FW_VERSIONS = {
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103',
b'\xf1\x00OS MDPS C 1.00 1.04 56310-XX000 4OEDC104',
b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
],
@@ -1176,11 +1168,13 @@ FW_VERSIONS = {
},
CAR.KIA_NIRO_PHEV: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6D0051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x006U3H0_C2\x00\x006U3G0051\x00\x00HDE0G16NS2\x00\x00\x00\x00',
b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01',
b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
@@ -1192,6 +1186,7 @@ FW_VERSIONS = {
b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 95740-G5010 170117',
b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117',
b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424',
b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826',
@@ -1476,11 +1471,13 @@ FW_VERSIONS = {
CAR.SONATA_HYBRID: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
b'\xf1\x00DNhe SCC FHCUP 1.00 1.00 99110-L5000 ',
b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',
b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101',
b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
@@ -1488,12 +1485,14 @@ FW_VERSIONS = {
b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8HMFC AT KOR LHD 1.00 1.03 99211-L1000 190705',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00PSBG2314 E07\x00\x00\x00\x00\x00\x00\x00TDN2H20KA5\xba\x82\xc7\xc3',
b'\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
b'\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
@@ -1503,6 +1502,7 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391062J002',
b'\xf1\x87391162J011',
b'\xf1\x87391162J012',
b'\xf1\x87391162J013',
b'\xf1\x87391162J014',
@@ -1510,15 +1510,18 @@ FW_VERSIONS = {
},
CAR.KIA_SORENTO: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00UMP LKAS AT USA LHD 1.00 1.00 95740-C6550 d00',
b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01',
],
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00UM ESC \x02 12 \x18\x05\x05 58910-C6300',
b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 U834\x00\x00\x00\x00\x00\x00TUM2G33NL7K\xae\xdd\x1d',
b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG',
],
(Ecu.engine, 0x7e0, None): [
@@ -1546,7 +1549,9 @@ FW_VERSIONS = {
b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI010 230110',
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206',
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719',
@@ -1564,12 +1569,14 @@ FW_VERSIONS = {
b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CE MFC AT CAN LHD 1.00 1.04 99211-KL000 221213',
b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011',
b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213',
],
},
CAR.TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
@@ -1591,6 +1598,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW020 14Z',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ',
@@ -1604,6 +1612,7 @@ FW_VERSIONS = {
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ',

34
selfdrive/car/hyundai/hyundaican.py
View File

@@ -1,9 +1,9 @@
import crcmod
from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
def create_lkas11(packer, frame, CP, apply_steer, steer_req,
torque_fault, lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane,
left_lane_depart, right_lane_depart):
@@ -33,12 +33,12 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
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_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
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_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
@@ -57,7 +57,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
# Likely cars lacking the ability to show individual lane lines in the dash
elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
# SysWarning 4 = keep hands on wheel + beep
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
@@ -72,18 +72,18 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_LdwsActivemode"] = 0
values["CF_Lkas_FcwOpt_USM"] = 0
elif car_fingerprint == CAR.HYUNDAI_GENESIS:
elif CP.carFingerprint == CAR.HYUNDAI_GENESIS:
# This field is actually LdwsActivemode
# Genesis and Optima fault when forwarding while engaged
values["CF_Lkas_LdwsActivemode"] = 2
dat = packer.make_can_msg("LKAS11", 0, values)[2]
if car_fingerprint in CHECKSUM["crc8"]:
if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
# CRC Checksum as seen on 2019 Hyundai Santa Fe
dat = dat[:6] + dat[7:8]
checksum = hyundai_checksum(dat)
elif car_fingerprint in CHECKSUM["6B"]:
elif CP.flags & HyundaiFlags.CHECKSUM_6B:
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
checksum = sum(dat[:6]) % 256
else:
@@ -95,7 +95,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
return packer.make_can_msg("LKAS11", 0, values)
def create_clu11(packer, frame, clu11, button, car_fingerprint):
def create_clu11(packer, frame, clu11, button, CP):
values = {s: clu11[s] for s in [
"CF_Clu_CruiseSwState",
"CF_Clu_CruiseSwMain",
@@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, car_fingerprint):
values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars
bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
return packer.make_can_msg("CLU11", bus, values)
@@ -126,12 +126,12 @@ def create_lfahda_mfc(packer, enabled, lat_active, 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, cruise_available, personality_profile):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, cruise_available):
commands = []
scc11_values = {
"MainMode_ACC": 1 if cruise_available else 0,
"TauGapSet": personality_profile + 1,
"TauGapSet": hud_control.leadDistanceBars,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,
"ObjValid": 1, # close lead makes controls tighter
@@ -167,7 +167,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
"JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
"JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
"ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
"ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
"ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
}
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))

4
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active):
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, personality_profile):
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
@@ -146,7 +146,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
"DISTANCE_SETTING": personality_profile + 1,
"DISTANCE_SETTING": hud_control.leadDistanceBars,
}
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

205
selfdrive/car/hyundai/interface.py
View File

@@ -1,6 +1,5 @@
from cereal import car
from cereal import car, custom
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, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
@@ -17,11 +16,12 @@ GearShifter = car.CarState.GearShifter
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}
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "hyundai"
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
@@ -77,196 +77,6 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
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):
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 in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
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 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.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 == CAR.TUCSON_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
elif candidate == CAR.CUSTIN_1ST_GEN:
ret.mass = 1690. # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
ret.wheelbase = 3.055
ret.steerRatio = 17.0 # from learner
elif candidate == CAR.STARIA_4TH_GEN:
ret.mass = 2205.
ret.wheelbase = 3.273
ret.steerRatio = 11.94 # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
# 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, CAR.KIA_NIRO_PHEV_2022):
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 = 1725. # 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, CAR.KIA_OPTIMA_H_G4_FL):
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.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_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
else:
ret.mass = 4396 * CV.LB_TO_KG
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
ret.mass = 2087.
ret.wheelbase = 3.09
ret.steerRatio = 14.23
elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
ret.mass = 1630. # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
ret.wheelbase = 2.895
ret.steerRatio = 13.27 # guesstimate from K5 platform
# 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]
@@ -276,7 +86,7 @@ class CarInterface(CarInterfaceBase):
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 and not params.get_bool("DisableOpenpilotLongitudinal")
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.stoppingControl = True
@@ -352,13 +162,16 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
if self.CS.CP.openpilotLongitudinalControl:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
]
# 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, frogpilot_variables, extra_gears=[GearShifter.sport, GearShifter.manumatic],
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.manumatic],
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)

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selfdrive/car/hyundai/tests/__init__.py Normal file
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22
selfdrive/car/hyundai/tests/print_platform_codes.py Normal file
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#!/usr/bin/env python3
from cereal import car
from openpilot.selfdrive.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes
from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
if __name__ == "__main__":
for car_model, ecus in FW_VERSIONS.items():
print()
print(car_model)
for ecu in sorted(ecus, key=lambda x: int(x[0])):
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
platform_codes = get_platform_codes(ecus[ecu])
codes = {code for code, _ in platform_codes}
dates = {date for _, date in platform_codes if date is not None}
print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
print(f' Codes: {codes}')
print(f' Dates: {dates}')

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selfdrive/car/hyundai/tests/test_hyundai.py Normal file
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#!/usr/bin/env python3
from hypothesis import settings, given, strategies as st
import unittest
from cereal import car
from openpilot.selfdrive.car.fw_versions import build_fw_dict
from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
get_platform_codes
from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
# Some platforms have date codes in a different format we don't yet parse (or are missing).
# For now, assert list of expected missing date cars
NO_DATES_PLATFORMS = {
# CAN FD
CAR.KIA_SPORTAGE_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN,
CAR.TUCSON_4TH_GEN,
# CAN
CAR.ELANTRA,
CAR.ELANTRA_GT_I30,
CAR.KIA_CEED,
CAR.KIA_FORTE,
CAR.KIA_OPTIMA_G4,
CAR.KIA_OPTIMA_G4_FL,
CAR.KIA_SORENTO,
CAR.KONA,
CAR.KONA_EV,
CAR.KONA_EV_2022,
CAR.KONA_HEV,
CAR.SONATA_LF,
CAR.VELOSTER,
}
class TestHyundaiFingerprint(unittest.TestCase):
def test_can_features(self):
# Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
# Test CAN FD car not in CAN feature lists
can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
for car_model in CANFD_CAR:
self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
def test_hybrid_ev_sets(self):
self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")
def test_auxiliary_request_ecu_whitelist(self):
# Asserts only auxiliary Ecus can exist in database for CAN-FD cars
whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
for car_model in CANFD_CAR:
ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
ecus_not_in_whitelist = ecus - whitelisted_ecus
ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
self.assertEqual(len(ecus_not_in_whitelist), 0,
f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
def test_blacklisted_parts(self):
# Asserts no ECUs known to be shared across platforms exist in the database.
# Tucson having Santa Cruz camera and EPS for example
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
if car_model == CAR.SANTA_CRUZ_1ST_GEN:
raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
if b"-" not in code:
continue
part = code.split(b"-")[1]
self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
def test_correct_ecu_response_database(self):
"""
Assert standard responses for certain ECUs, since they can
respond to multiple queries with different data
"""
expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for ecu, fws in ecus.items():
# TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
if ecu[0] in (Ecu.fwdCamera,):
self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
f"FW from unexpected request in database: {(ecu, fws)}")
@settings(max_examples=100)
@given(data=st.data())
def test_platform_codes_fuzzy_fw(self, data):
"""Ensure function doesn't raise an exception"""
fw_strategy = st.lists(st.binary())
fws = data.draw(fw_strategy)
get_platform_codes(fws)
def test_expected_platform_codes(self):
# Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
# Third and fourth character are usually EV/hybrid identifiers
codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
if car_model == CAR.PALISADE:
self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
elif car_model == CAR.KONA_EV and ecu[0] == Ecu.fwdCamera:
self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
else:
self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
# fingerprint in the absence of full FW matches:
def test_platform_code_ecus_available(self):
# TODO: add queries for these non-CAN FD cars to get EPS
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA}
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for platform_code_ecu in PLATFORM_CODE_ECUS:
if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
continue
if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
continue
self.assertIn(platform_code_ecu, [e[0] for e in ecus])
def test_fw_format(self):
# Asserts:
# - every supported ECU FW version returns one platform code
# - every supported ECU FW version has a part number
# - expected parsing of ECU FW dates
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
codes = set()
for fw in fws:
result = get_platform_codes([fw])
self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
codes |= result
if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
self.assertTrue(all(date is None for _, date in codes))
else:
self.assertTrue(all(date is not None for _, date in codes))
if car_model == CAR.HYUNDAI_GENESIS:
raise unittest.SkipTest("No part numbers for car model")
# Hyundai places the ECU part number in their FW versions, assert all parsable
# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
self.assertTrue(all(b"-" in code for code, _ in codes),
f"FW does not have part number: {fw}")
def test_platform_codes_spot_check(self):
# Asserts basic platform code parsing behavior for a few cases
results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
self.assertEqual(results, {(b"DH", b"150210")})
# Some cameras and all radars do not have dates
results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "])
self.assertEqual(results, {(b"AEhe-G2000", None)})
results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "])
self.assertEqual(results, {(b"CV1-CV000", None)})
results = get_platform_codes([
b"\xf1\x00DH LKAS 1.1 -150210",
b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ",
b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ",
])
self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
results = get_platform_codes([
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222",
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103",
b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405",
b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720",
])
self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
def test_fuzzy_excluded_platforms(self):
# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
# This list can be shrunk as we combine platforms and detect features
excluded_platforms = {
CAR.GENESIS_G70, # shared platform code, part number, and date
CAR.GENESIS_G70_2020,
}
excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST # shared platform codes
excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match
platforms_with_shared_codes = set()
for platform, fw_by_addr in FW_VERSIONS.items():
car_fw = []
for ecu, fw_versions in fw_by_addr.items():
ecu_name, addr, sub_addr = ecu
for fw in fw_versions:
car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
"subAddress": 0 if sub_addr is None else sub_addr})
CP = car.CarParams.new_message(carFw=car_fw)
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS)
if len(matches) == 1:
self.assertEqual(list(matches)[0], platform)
else:
platforms_with_shared_codes.add(platform)
self.assertEqual(platforms_with_shared_codes, excluded_platforms)
if __name__ == "__main__":
unittest.main()

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