755 lines
35 KiB
Python
755 lines
35 KiB
Python
import re
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from dataclasses import dataclass, field
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from enum import Enum, IntFlag
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from cereal import car
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from panda.python import uds
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
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Ecu = car.CarParams.Ecu
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class CarControllerParams:
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ACCEL_MIN = -3.5 # m/s
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ACCEL_MAX = 2.0 # m/s
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ACCEL_MAX_PLUS = 4.0 # m/s
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def __init__(self, CP):
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self.STEER_DELTA_UP = 3
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self.STEER_DELTA_DOWN = 7
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self.STEER_DRIVER_ALLOWANCE = 50
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self.STEER_DRIVER_MULTIPLIER = 2
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self.STEER_DRIVER_FACTOR = 1
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self.STEER_THRESHOLD = 150
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self.STEER_STEP = 1 # 100 Hz
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if CP.carFingerprint in CANFD_CAR:
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self.STEER_MAX = 270
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self.STEER_DRIVER_ALLOWANCE = 250
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self.STEER_DRIVER_MULTIPLIER = 2
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self.STEER_THRESHOLD = 250
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self.STEER_DELTA_UP = 2
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self.STEER_DELTA_DOWN = 3
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# To determine the limit for your car, find the maximum value that the stock LKAS will request.
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# If the max stock LKAS request is <384, add your car to this list.
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elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
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CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
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CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
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self.STEER_MAX = 255
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# these cars have significantly more torque than most HKG; limit to 70% of max
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elif CP.flags & HyundaiFlags.ALT_LIMITS:
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self.STEER_MAX = 270
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self.STEER_DELTA_UP = 2
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self.STEER_DELTA_DOWN = 3
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# Default for most HKG
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else:
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self.STEER_MAX = 384
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class HyundaiFlags(IntFlag):
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# Dynamic Flags
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CANFD_HDA2 = 1
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CANFD_ALT_BUTTONS = 2
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CANFD_ALT_GEARS = 2 ** 2
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CANFD_CAMERA_SCC = 2 ** 3
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ALT_LIMITS = 2 ** 4
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ENABLE_BLINKERS = 2 ** 5
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CANFD_ALT_GEARS_2 = 2 ** 6
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SEND_LFA = 2 ** 7
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USE_FCA = 2 ** 8
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CANFD_HDA2_ALT_STEERING = 2 ** 9
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# these cars use a different gas signal
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HYBRID = 2 ** 10
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EV = 2 ** 11
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# Static flags
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# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
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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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MANDO_RADAR = 2 ** 12
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CANFD = 2 ** 13
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# The radar does SCC on these cars when HDA I, rather than the camera
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RADAR_SCC = 2 ** 14
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CAMERA_SCC = 2 ** 15
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CHECKSUM_CRC8 = 2 ** 16
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CHECKSUM_6B = 2 ** 17
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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LEGACY = 2 ** 18
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# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
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UNSUPPORTED_LONGITUDINAL = 2 ** 19
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CANFD_NO_RADAR_DISABLE = 2 ** 20
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CLUSTER_GEARS = 2 ** 21
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TCU_GEARS = 2 ** 22
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MIN_STEER_32_MPH = 2 ** 23
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# FrogPilot HKG flags
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CAN_LFA_BTN = 2 ** 24
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class Footnote(Enum):
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CANFD = CarFootnote(
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"Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
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"comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
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Column.MODEL, shop_footnote=False)
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@dataclass
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class HyundaiCarDocs(CarDocs):
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package: str = "Smart Cruise Control (SCC)"
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def init_make(self, CP: car.CarParams):
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if CP.flags & HyundaiFlags.CANFD:
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self.footnotes.insert(0, Footnote.CANFD)
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@dataclass
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class HyundaiPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None))
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def init(self):
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if self.flags & HyundaiFlags.MANDO_RADAR:
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self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated')
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if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
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self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
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@dataclass
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class HyundaiCanFDPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None))
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def init(self):
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self.flags |= HyundaiFlags.CANFD
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class CAR(Platforms):
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# Hyundai
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HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
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CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
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)
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HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
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[
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HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
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HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
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],
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CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
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flags=HyundaiFlags.HYBRID,
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)
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HYUNDAI_ELANTRA = HyundaiPlatformConfig(
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[
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# TODO: 2017-18 could be Hyundai G
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HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
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HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
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],
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# steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
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CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
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)
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HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
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[
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HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
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HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
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],
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HYUNDAI_ELANTRA.specs,
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flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
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)
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HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
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CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
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flags=HyundaiFlags.CHECKSUM_CRC8,
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)
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HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
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car_parts=CarParts.common([CarHarness.hyundai_k]))],
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CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
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flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
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)
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HYUNDAI_GENESIS = HyundaiPlatformConfig(
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[
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# TODO: check 2015 packages
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HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
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HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
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],
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CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
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flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
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)
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HYUNDAI_IONIQ = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
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CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
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)
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HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))], # TODO: confirm 2020-21 harness,
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CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
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)
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HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
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CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
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)
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HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
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CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.EV,
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)
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HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
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CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
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)
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HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
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CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.HYBRID,
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)
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HYUNDAI_KONA = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))],
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CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.CLUSTER_GEARS,
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)
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HYUNDAI_KONA_EV = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
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CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.EV,
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)
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HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
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CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
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)
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HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
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[HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
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car_parts=CarParts.common([CarHarness.hyundai_r]))],
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CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
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)
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HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages,
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CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.HYBRID,
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)
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HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
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car_parts=CarParts.common([CarHarness.hyundai_d]))],
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CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
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flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
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)
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HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
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car_parts=CarParts.common([CarHarness.hyundai_l]))],
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HYUNDAI_SANTA_FE.specs,
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flags=HyundaiFlags.CHECKSUM_CRC8,
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)
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HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
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HYUNDAI_SANTA_FE.specs,
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flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
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)
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HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
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HYUNDAI_SANTA_FE.specs,
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flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
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)
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HYUNDAI_SONATA = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
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car_parts=CarParts.common([CarHarness.hyundai_a]))],
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CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
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flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
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)
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HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
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CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
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flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
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)
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HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
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[HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
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CarSpecs(mass=2205, wheelbase=3.273, 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
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)
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HYUNDAI_TUCSON = HyundaiPlatformConfig(
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[
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HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
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HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
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],
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CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
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flags=HyundaiFlags.TCU_GEARS,
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)
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HYUNDAI_PALISADE = HyundaiPlatformConfig(
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[
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HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
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HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
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],
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CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
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flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
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)
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HYUNDAI_VELOSTER = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
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CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
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flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
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)
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HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
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[HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
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HYUNDAI_SONATA.specs,
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flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
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)
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HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
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[
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HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
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HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
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HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
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],
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CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
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flags=HyundaiFlags.EV,
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)
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HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
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[HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
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HYUNDAI_IONIQ_5.specs,
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flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
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)
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HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
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[
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HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
|
HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
|
HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
|
HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
|
],
|
|
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
|
)
|
|
HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
|
|
[HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
|
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
|
|
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
|
|
)
|
|
HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
|
|
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
|
|
flags=HyundaiFlags.CHECKSUM_CRC8,
|
|
)
|
|
|
|
# Kia
|
|
KIA_FORTE = HyundaiPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
|
|
HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
|
],
|
|
CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
|
|
)
|
|
KIA_K5_2021 = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
|
CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
|
|
flags=HyundaiFlags.CHECKSUM_CRC8,
|
|
)
|
|
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
|
KIA_K5_2021.specs,
|
|
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
|
|
)
|
|
KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
|
|
[HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
|
|
# mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
|
|
CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
|
|
)
|
|
KIA_NIRO_EV = HyundaiPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
|
HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
|
HyundaiCarDocs("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
|
HyundaiCarDocs("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
|
],
|
|
CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars
|
|
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
|
|
)
|
|
KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
|
|
[HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
|
KIA_NIRO_EV.specs,
|
|
flags=HyundaiFlags.EV,
|
|
)
|
|
KIA_NIRO_PHEV = HyundaiPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
|
|
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
|
|
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
|
],
|
|
KIA_NIRO_EV.specs,
|
|
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
|
|
)
|
|
KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
|
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
|
],
|
|
KIA_NIRO_EV.specs,
|
|
flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
|
|
)
|
|
KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
|
HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
|
],
|
|
KIA_NIRO_EV.specs,
|
|
flags=HyundaiFlags.HYBRID,
|
|
)
|
|
KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
|
|
[HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
|
KIA_NIRO_EV.specs,
|
|
)
|
|
KIA_OPTIMA_G4 = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
|
|
car_parts=CarParts.common([CarHarness.hyundai_b]))], # TODO: may support 2016, 2018
|
|
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
|
|
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
|
|
)
|
|
KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
|
|
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
|
|
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
|
|
)
|
|
# TODO: may support adjacent years. may have a non-zero minimum steering speed
|
|
KIA_OPTIMA_H = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
|
|
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
|
|
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
|
|
)
|
|
KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
|
|
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
|
|
flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
|
|
)
|
|
KIA_SELTOS = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
|
CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
|
|
flags=HyundaiFlags.CHECKSUM_CRC8,
|
|
)
|
|
KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
|
HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
|
],
|
|
# weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
|
|
CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
|
|
)
|
|
KIA_SORENTO = HyundaiPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
|
|
car_parts=CarParts.common([CarHarness.hyundai_e])),
|
|
HyundaiCarDocs("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
|
],
|
|
CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable
|
|
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
|
|
)
|
|
KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
|
|
[HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
|
|
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
|
|
flags=HyundaiFlags.RADAR_SCC,
|
|
)
|
|
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
|
HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
|
],
|
|
CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
|
|
flags=HyundaiFlags.RADAR_SCC,
|
|
)
|
|
KIA_STINGER = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
|
|
car_parts=CarParts.common([CarHarness.hyundai_c]))],
|
|
CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable
|
|
)
|
|
KIA_STINGER_2022 = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
|
|
KIA_STINGER.specs,
|
|
)
|
|
KIA_CEED = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))],
|
|
CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
|
|
flags=HyundaiFlags.LEGACY,
|
|
)
|
|
KIA_EV6 = HyundaiCanFDPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
|
|
HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
|
HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
|
|
],
|
|
CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
|
|
flags=HyundaiFlags.EV,
|
|
)
|
|
KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
|
HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
|
|
],
|
|
CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
|
|
flags=HyundaiFlags.RADAR_SCC,
|
|
)
|
|
|
|
# Genesis
|
|
GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
|
HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
|
],
|
|
CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
|
|
flags=HyundaiFlags.EV,
|
|
)
|
|
GENESIS_G70 = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
|
|
CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
|
|
flags=HyundaiFlags.LEGACY,
|
|
)
|
|
GENESIS_G70_2020 = HyundaiPlatformConfig(
|
|
[
|
|
# TODO: 2021 MY harness is unknown
|
|
HyundaiCarDocs("Genesis G70 2019-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
|
# TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
|
|
HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
|
],
|
|
GENESIS_G70.specs,
|
|
flags=HyundaiFlags.MANDO_RADAR,
|
|
)
|
|
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
|
|
[
|
|
HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
|
HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
|
],
|
|
CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
|
|
flags=HyundaiFlags.RADAR_SCC,
|
|
)
|
|
GENESIS_G80 = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
|
|
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
|
|
flags=HyundaiFlags.LEGACY,
|
|
)
|
|
GENESIS_G90 = HyundaiPlatformConfig(
|
|
[HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
|
|
CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
|
|
)
|
|
GENESIS_GV80 = HyundaiCanFDPlatformConfig(
|
|
[HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
|
|
CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
|
|
flags=HyundaiFlags.RADAR_SCC,
|
|
)
|
|
|
|
|
|
class Buttons:
|
|
NONE = 0
|
|
RES_ACCEL = 1
|
|
SET_DECEL = 2
|
|
GAP_DIST = 3
|
|
CANCEL = 4 # on newer models, this is a pause/resume button
|
|
|
|
|
|
def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
|
|
# Returns unique, platform-specific identification codes for a set of versions
|
|
codes = set() # (code-Optional[part], date)
|
|
for fw in fw_versions:
|
|
code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
|
|
part_match = PART_NUMBER_FW_PATTERN.search(fw)
|
|
date_match = DATE_FW_PATTERN.search(fw)
|
|
if code_match is not None:
|
|
code: bytes = code_match.group()
|
|
part = part_match.group() if part_match else None
|
|
date = date_match.group() if date_match else None
|
|
if part is not None:
|
|
# part number starts with generic ECU part type, add what is specific to platform
|
|
code += b"-" + part[-5:]
|
|
|
|
codes.add((code, date))
|
|
return codes
|
|
|
|
|
|
def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
|
|
# Non-electric CAN FD platforms often do not have platform code specifiers needed
|
|
# to distinguish between hybrid and ICE. All EVs so far are either exclusively
|
|
# electric or specify electric in the platform code.
|
|
fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
|
|
candidates: set[str] = set()
|
|
|
|
for candidate, fws in offline_fw_versions.items():
|
|
# Keep track of ECUs which pass all checks (platform codes, within date range)
|
|
valid_found_ecus = set()
|
|
valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
|
|
for ecu, expected_versions in fws.items():
|
|
addr = ecu[1:]
|
|
# Only check ECUs expected to have platform codes
|
|
if ecu[0] not in PLATFORM_CODE_ECUS:
|
|
continue
|
|
|
|
# Expected platform codes & dates
|
|
codes = get_platform_codes(expected_versions)
|
|
expected_platform_codes = {code for code, _ in codes}
|
|
expected_dates = {date for _, date in codes if date is not None}
|
|
|
|
# Found platform codes & dates
|
|
codes = get_platform_codes(live_fw_versions.get(addr, set()))
|
|
found_platform_codes = {code for code, _ in codes}
|
|
found_dates = {date for _, date in codes if date is not None}
|
|
|
|
# Check platform code + part number matches for any found versions
|
|
if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
|
|
break
|
|
|
|
if ecu[0] in DATE_FW_ECUS:
|
|
# If ECU can have a FW date, require it to exist
|
|
# (this excludes candidates in the database without dates)
|
|
if not len(expected_dates) or not len(found_dates):
|
|
break
|
|
|
|
# Check any date within range in the database, format is %y%m%d
|
|
if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
|
|
break
|
|
|
|
valid_found_ecus.add(addr)
|
|
|
|
# If all live ECUs pass all checks for candidate, add it as a match
|
|
if valid_expected_ecus.issubset(valid_found_ecus):
|
|
candidates.add(candidate)
|
|
|
|
return candidates - fuzzy_platform_blacklist
|
|
|
|
|
|
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
|
p16(0xf100) # Long description
|
|
|
|
HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
|
p16(0xf110) # Alt long description
|
|
|
|
HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
|
p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
|
|
|
|
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
|
|
|
# Regex patterns for parsing platform code, FW date, and part number from FW versions
|
|
PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
|
|
b')[A-Z]{2}[A-Za-z0-9]{0,2})')
|
|
DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
|
|
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
|
|
|
|
# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
|
|
CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
|
|
# TODO: the hybrid variant is not out yet
|
|
CAR.KIA_CARNIVAL_4TH_GEN}
|
|
|
|
# List of ECUs expected to have platform codes, camera and radar should exist on all cars
|
|
# TODO: use abs, it has the platform code and part number on many platforms
|
|
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
|
|
# So far we've only seen dates in fwdCamera
|
|
# TODO: there are date codes in the ABS firmware versions in hex
|
|
DATE_FW_ECUS = [Ecu.fwdCamera]
|
|
|
|
# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we
|
|
# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera
|
|
FW_QUERY_CONFIG = FwQueryConfig(
|
|
requests=[
|
|
# TODO: add back whitelists
|
|
# CAN queries (OBD-II port)
|
|
Request(
|
|
[HYUNDAI_VERSION_REQUEST_LONG],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
),
|
|
|
|
# CAN & CAN-FD queries (from camera)
|
|
Request(
|
|
[HYUNDAI_VERSION_REQUEST_LONG],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
bus=0,
|
|
auxiliary=True,
|
|
),
|
|
Request(
|
|
[HYUNDAI_VERSION_REQUEST_LONG],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
bus=1,
|
|
auxiliary=True,
|
|
obd_multiplexing=False,
|
|
),
|
|
|
|
# CAN & CAN FD query to understand the three digit date code
|
|
# HDA2 cars usually use 6 digit date codes, so skip bus 1
|
|
Request(
|
|
[HYUNDAI_ECU_MANUFACTURING_DATE],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
bus=0,
|
|
auxiliary=True,
|
|
logging=True,
|
|
),
|
|
|
|
# CAN-FD alt request logging queries for hvac and parkingAdas
|
|
Request(
|
|
[HYUNDAI_VERSION_REQUEST_ALT],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
bus=0,
|
|
auxiliary=True,
|
|
logging=True,
|
|
),
|
|
Request(
|
|
[HYUNDAI_VERSION_REQUEST_ALT],
|
|
[HYUNDAI_VERSION_RESPONSE],
|
|
bus=1,
|
|
auxiliary=True,
|
|
logging=True,
|
|
obd_multiplexing=False,
|
|
),
|
|
],
|
|
# We lose these ECUs without the comma power on these cars.
|
|
# Note that we still attempt to match with them when they are present
|
|
non_essential_ecus={
|
|
Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
|
|
CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
|
|
CAR.KIA_CEED, CAR.KIA_SELTOS],
|
|
},
|
|
extra_ecus=[
|
|
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
|
|
(Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms)
|
|
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
|
|
(Ecu.cornerRadar, 0x7b7, None),
|
|
(Ecu.combinationMeter, 0x7c6, None), # CAN FD Instrument cluster
|
|
],
|
|
# Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
|
|
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
|
|
)
|
|
|
|
CHECKSUM = {
|
|
"crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8),
|
|
"6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B),
|
|
}
|
|
|
|
CAN_GEARS = {
|
|
# which message has the gear. hybrid and EV use ELECT_GEAR
|
|
"use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS),
|
|
"use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
|
|
}
|
|
|
|
CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
|
|
CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)
|
|
|
|
# These CAN FD cars do not accept communication control to disable the ADAS ECU,
|
|
# responds with 0x7F2822 - 'conditions not correct'
|
|
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)
|
|
|
|
# The camera does SCC on these cars, rather than the radar
|
|
CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
|
|
|
|
HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)
|
|
|
|
EV_CAR = CAR.with_flags(HyundaiFlags.EV)
|
|
|
|
LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
|
|
|
|
UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
|
|
|
|
DBC = CAR.create_dbc_map()
|