Hyundai CAN FD: merge Sportage platforms (commaai#31235)

* merge Tucson 4th gen! * format fingerprints * fix torque params * fix * detect CANFD hybrid with ACCELERATOR_ALT * passes * add test * pass test * cmt * Revert "pass test" This reverts commit 5f48ab1. * combine sportage hybrid * merge sportage * format
gaanthony · Jan 31, 2024 · 2f4cadc · 2f4cadc
1 parent e92e856
commit 2f4cadc
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Showing 7 changed files with 13 additions and 25 deletions.
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
@@ -1579,15 +1579,6 @@
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
-  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
-    ],
-  },
   CAR.SANTA_CRUZ_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
@@ -1601,12 +1592,15 @@
   CAR.KIA_SPORTAGE_5TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
       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',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
       b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
+      b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
       b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
     ],
   },

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -195,7 +195,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.wheelbase = 2.63
       ret.steerRatio = 14.56
     elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
-      ret.mass = 1700.  # weight from SX and above trims, average of FWD and AWD versions
+      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):
@@ -229,10 +229,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
       ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
-      ret.mass = 1767.  # SX Prestige trim support only
-      ret.wheelbase = 2.756
-      ret.steerRatio = 13.6
     elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
       ret.wheelbase = 2.81
       ret.steerRatio = 13.5  # average of the platforms

diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -18,7 +18,6 @@
 NO_DATES_PLATFORMS = {
   # CAN FD
   CAR.KIA_SPORTAGE_5TH_GEN,
-  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
   CAR.SANTA_CRUZ_1ST_GEN,
   CAR.TUCSON_4TH_GEN,
   # CAN

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
@@ -126,7 +126,6 @@ class CAR(StrEnum):
   KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
   KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
   KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
-  KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
   KIA_STINGER = "KIA STINGER GT2 2018"
   KIA_STINGER_2022 = "KIA STINGER 2022"
   KIA_CEED = "KIA CEED INTRO ED 2019"
@@ -263,7 +262,10 @@ def init_make(self, CP: car.CarParams):
   CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
   CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.KIA_SPORTAGE_5TH_GEN: [
+    HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  ],
   CAR.KIA_SORENTO: [
     HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
                    car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -272,7 +274,6 @@ def init_make(self, CP: car.CarParams):
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
                                   car_parts=CarParts.common([CarHarness.hyundai_c])),
   CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -481,7 +482,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN,
              CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
              CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
              CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
@@ -570,7 +571,6 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
   CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
   CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
@@ -116,7 +116,6 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
   CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
-  CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
   CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
   CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
   CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN),
@@ -162,6 +161,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
   CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # openpilot longitudinal
+  CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # hybrid
   CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
   CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
   CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),

diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
@@ -46,8 +46,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
 "HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]
-"KIA SPORTAGE 5TH GEN" = [2.7, 2.7, 0.1]
-"KIA SPORTAGE HYBRID 5TH GEN" = [2.5, 2.5, 0.1]
+"KIA SPORTAGE 5TH GEN" = [2.6, 2.6, 0.1]
 "GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1]
 "KIA SORENTO PLUG-IN HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
 "GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1]