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Hyundai: Car Port for Nexo 2021 #933

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Hyundai: Car Port for Nexo 2021 #933

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34f4a23
Hyundai: Car Port for Nexo 2021
sunnyhaibin Aug 20, 2024
b67f25a
Merge remote-tracking branch 'commaai/opendbc/master' into nexo-2021-…
sunnyhaibin Sep 23, 2024
7044181
duplicated
sunnyhaibin Sep 25, 2024
17c6dcb
duplicated
sunnyhaibin Sep 25, 2024
7b05647
test route
sunnyhaibin Sep 25, 2024
45c17b9
Merge remote-tracking branch 'commaai/opendbc/master' into nexo-2021-…
sunnyhaibin Sep 25, 2024
cc0ba8c
point to feature branch to pass unit test for now
sunnyhaibin Sep 25, 2024
9cbf713
add back fingerprints
sunnyhaibin Sep 25, 2024
68240c9
Merge remote-tracking branch 'commaai/opendbc/master' into nexo-2021-…
sunnyhaibin Sep 28, 2024
5fcf387
add test routes
sunnyhaibin Sep 28, 2024
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14 changes: 12 additions & 2 deletions opendbc/car/hyundai/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@ def __init__(self, CP):
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
elif CP.flags & HyundaiFlags.FCEV:
self.shifter_values = can_define.dv["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]

Expand Down Expand Up @@ -127,8 +129,10 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED

if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
if self.CP.flags & HyundaiFlags.HYBRID:
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
if self.CP.flags & HyundaiFlags.FCEV:
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 254.
elif self.CP.flags & HyundaiFlags.HYBRID:
ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
else:
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
Expand All @@ -141,6 +145,8 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
elif self.CP.flags & HyundaiFlags.FCEV:
gear = cp.vl["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
Expand Down Expand Up @@ -294,6 +300,8 @@ def get_can_parser(self, CP):

if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
messages.append(("E_EMS11", 50))
elif CP.flags & HyundaiFlags.FCEV:
messages.append(("ACCELERATOR", 100))
else:
messages += [
("EMS12", 100),
Expand All @@ -302,6 +310,8 @@ def get_can_parser(self, CP):

if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
messages.append(("ELECT_GEAR", 20))
elif CP.flags & HyundaiFlags.FCEV:
messages.append(("EMS20", 100))
elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
pass
elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
Expand Down
6 changes: 5 additions & 1 deletion opendbc/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.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, \
UNSUPPORTED_LONGITUDINAL_CAR, Buttons
UNSUPPORTED_LONGITUDINAL_CAR, Buttons, FCEV_CAR
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.disable_ecu import disable_ecu
Expand Down Expand Up @@ -58,6 +58,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
ret.flags |= HyundaiFlags.HYBRID.value
elif candidate in EV_CAR:
ret.flags |= HyundaiFlags.EV.value
elif candidate in FCEV_CAR:
ret.flags |= HyundaiFlags.FCEV.value
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# Send LFA message on cars with HDA
if 0x485 in fingerprint[2]:
Expand Down Expand Up @@ -125,6 +127,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
elif ret.flags & HyundaiFlags.EV:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
elif ret.flags & HyundaiFlags.FCEV:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_FCEV_GAS

if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
ret.flags |= HyundaiFlags.ALT_LIMITS.value
Expand Down
9 changes: 9 additions & 0 deletions opendbc/car/hyundai/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ class HyundaiFlags(IntFlag):

MIN_STEER_32_MPH = 2 ** 23

FCEV = 2 ** 24


class Footnote(Enum):
CANFD = CarFootnote(
Expand Down Expand Up @@ -240,6 +242,11 @@ class CAR(Platforms):
CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID,
)
HYUNDAI_NEXO_1ST_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Nexo 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.79, steerRatio=14.19), # https://www.hyundainews.com/assets/documents/original/42768-2021NEXOProductGuideSpecs.pdf
flags=HyundaiFlags.FCEV,
)
HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
car_parts=CarParts.common([CarHarness.hyundai_d]))],
Expand Down Expand Up @@ -745,6 +752,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str

EV_CAR = CAR.with_flags(HyundaiFlags.EV)

FCEV_CAR = CAR.with_flags(HyundaiFlags.FCEV)
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LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)

UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
Expand Down
1 change: 1 addition & 0 deletions opendbc/car/torque_data/override.toml
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Expand Up @@ -65,6 +65,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
"LEXUS_GS_F" = [2.5, 2.5, 0.08]
"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]

# Dashcam or fallback configured as ideal car
"MOCK" = [10.0, 10, 0.0]
Expand Down
8 changes: 7 additions & 1 deletion opendbc/dbc/hyundai_kia_generic.dbc
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Expand Up @@ -442,6 +442,9 @@ BO_ 129 EMS_DCT12: 8 EMS
SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU
SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU

BO_ 145 ACCELERATOR: 8 XXX
SG_ ACCELERATOR_PEDAL : 48|8@1+ (1,0) [0|255] "" XXX

BO_ 897 MDPS11: 8 MDPS
SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS
SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS
Expand Down Expand Up @@ -1429,7 +1432,7 @@ BO_ 1280 ACU14: 1 ACU
SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU

BO_ 512 EMS20: 6 EMS
SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX
SG_ HYDROGEN_GEAR_SHIFTER : 11|3@1+ (1,0) [0|7] "" XXX
SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX
SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM

Expand Down Expand Up @@ -1648,11 +1651,14 @@ BO_ 1348 Navi_HU: 8 XXX
SG_ SpeedLim_Nav_Cam : 30|1@0+ (1,0) [0|1] "" XXX

CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
CM_ 145 "Contains signal with accelerator pedal press. Used by fuel cell hydrogen-powered (FCEV) cars such as the 2021 Hyundai Nexo.";
CM_ 512 "Contains signal with gear shifter. Used by fuel cell hydrogen-powered (FCEV) cars such as the 2021 Hyundai Nexo.";
CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go";
CM_ SG_ 1056 SCCInfoDisplay "Goes to 1 for a second while transitioning from Cruise Control to No Message";
CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";

VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
VAL_ 512 HYDROGEN_GEAR_SHIFTER 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled";
VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
Expand Down
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