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Hyundai: longitudinal support for all CAN-FD EV and Hybrids #26345

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merged 24 commits into from
Nov 16, 2022
Merged

Hyundai: longitudinal support for all CAN-FD EV and Hybrids #26345

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51f173b
Update values.py
hoomoose Nov 2, 2022
0fb8835
Update interface.py
hoomoose Nov 2, 2022
8958d47
Update interface.py
hoomoose Nov 2, 2022
223d8a5
Update carcontroller.py
hoomoose Nov 2, 2022
621ee38
Merge branch 'commaai:master' into hda1-e2e
hoomoose Nov 2, 2022
bd73e7f
Merge branch 'commaai:master' into hda1-e2e
hoomoose Nov 3, 2022
c2f87d7
Merge branch 'commaai:master' into hda1-e2e
hoomoose Nov 3, 2022
a928950
Update interface.py
hoomoose Nov 4, 2022
b10b687
Update interface.py
hoomoose Nov 4, 2022
41cf228
Update values.py
hoomoose Nov 4, 2022
90a3d46
Update values.py
hoomoose Nov 4, 2022
d5021ab
Update interface.py
hoomoose Nov 4, 2022
8815e96
Update values.py
hoomoose Nov 4, 2022
b55e12b
Merge branch 'commaai:master' into hda1-e2e
hoomoose Nov 5, 2022
3585ec7
Merge branch 'commaai:master' into hda1-e2e
hoomoose Nov 5, 2022
7a1c3c7
Merge branch 'commaai:master' into hda1-e2e
hoomoose Nov 8, 2022
c154ca9
Update interface.py
hoomoose Nov 8, 2022
2cb8191
Update carcontroller.py
hoomoose Nov 8, 2022
a31124c
Merge branch 'commaai:master' into hda1-e2e
hoomoose Nov 14, 2022
c142fad
Merge branch 'master' of github.com:commaai/openpilot into hda1-e2e
adeebshihadeh Nov 15, 2022
944af73
cleanup
adeebshihadeh Nov 15, 2022
59479d9
update docs
adeebshihadeh Nov 15, 2022
66612b9
bump panda
adeebshihadeh Nov 15, 2022
0c96138
Merge branch 'master' of github.com:commaai/openpilot into hda1-e2e
adeebshihadeh Nov 15, 2022
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12 changes: 6 additions & 6 deletions docs/CARS.md
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -60,8 +60,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
Expand All @@ -83,13 +83,13 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Tucson Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
Expand All @@ -105,7 +105,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
Expand Down
2 changes: 1 addition & 1 deletion panda
Open in desktop
Submodule panda updated 26 files
+1 −1 board/SConscript
+1 −0 board/boards/black.h
+1 −0 board/boards/board_declarations.h
+5 −0 board/boards/dos.h
+1 −0 board/boards/grey.h
+1 −0 board/boards/pedal.h
+1 −0 board/boards/red.h
+1 −0 board/boards/red_v2.h
+8 −0 board/boards/tres.h
+1 −0 board/boards/uno.h
+1 −0 board/boards/white.h
+0 −1 board/bootstub.c
+134 −7 board/drivers/spi.h
+2 −8 board/drivers/uart.h
+0 −1 board/early_init.h
+3 −10 board/main.c
+0 −1 board/pedal/main.c
+11 −5 board/safety/safety_hyundai_canfd.h
+0 −7 board/stm32fx/board.h
+6 −102 board/stm32fx/llspi.h
+0 −6 board/stm32h7/board.h
+89 −1 board/stm32h7/llspi.h
+3 −0 board/stm32h7/peripherals.h
+2 −4 board/stm32h7/stm32h7_config.h
+5 −1 tests/hitl/4_can_loopback.py
+33 −0 tests/safety/test_hyundai_canfd.py
5 changes: 3 additions & 2 deletions selfdrive/car/hyundai/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ def update(self, CC, CS):
# *** common hyundai stuff ***

# tester present - w/ no response (keeps relevant ECU disabled)
if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5
Expand Down Expand Up @@ -122,7 +122,8 @@ def update(self, CC, CS):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))

if self.CP.openpilotLongitudinalControl:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
if hda2:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units))
Expand Down
4 changes: 2 additions & 2 deletions selfdrive/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -219,7 +219,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experi
if candidate in CANFD_CAR:
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2)
ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
Expand Down Expand Up @@ -283,7 +283,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experi

@staticmethod
def init(CP, logcan, sendcan):
if CP.openpilotLongitudinalControl:
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5
Expand Down