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HKG CAN FD: Merge Sorento Plug-in Hybrid and Hybrid (commaai#31241)
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* merge sorento plug-in hybrid and hybrid

* format

* allow fuzzy fingerprinting

* rm todo

* Revert "rm todo"

This reverts commit f2457eb.

* Revert "allow fuzzy fingerprinting"

This reverts commit 91f143f.
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@sshane
sshane authored Jan 31, 2024
1 parent 2f4cadc commit b4f958c
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Showing 6 changed files with 25 additions and 37 deletions.
33 changes: 13 additions & 20 deletions selfdrive/car/hyundai/fingerprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1511,15 +1511,6 @@
b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.KIA_SORENTO_PHEV_4TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.10 99210-P2000 210406',
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217',
],
},
CAR.KIA_EV6: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
Expand Down Expand Up @@ -1638,6 +1629,19 @@
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ',
],
},
CAR.KIA_SORENTO_HEV_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330',
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331',
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.10 99210-P2000 210406',
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ',
b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ',
b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ',
],
},
CAR.KIA_NIRO_HEV_2ND_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531',
Expand Down Expand Up @@ -1669,17 +1673,6 @@
b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ',
],
},
CAR.KIA_SORENTO_HEV_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330',
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331',
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ',
b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ',
],
},
CAR.KIA_K8_HEV_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907',
Expand Down
6 changes: 2 additions & 4 deletions selfdrive/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -229,15 +229,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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, CAR.KIA_SORENTO_PHEV_4TH_GEN):
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
elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN:
ret.mass = 4255 * CV.LB_TO_KG
else:
ret.mass = 4537 * CV.LB_TO_KG
ret.mass = 4396 * CV.LB_TO_KG
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
ret.mass = 2087.
ret.wheelbase = 3.09
Expand Down
14 changes: 6 additions & 8 deletions selfdrive/car/hyundai/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,6 @@ class CAR(StrEnum):
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
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_STINGER = "KIA STINGER GT2 2018"
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
Expand Down Expand Up @@ -272,8 +271,10 @@ def init_make(self, CP: car.CarParams):
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
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_SORENTO_HEV_4TH_GEN: [
HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
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])),
Expand Down Expand Up @@ -482,15 +483,13 @@ 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.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_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.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,
CAR.STARIA_4TH_GEN}

# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}

# These CAN FD cars do not accept communication control to disable the ADAS ECU,
# responds with 0x7F2822 - 'conditions not correct'
Expand Down Expand Up @@ -572,7 +571,6 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_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),
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/tests/routes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ class CarTestRoute(NamedTuple):
CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN), # plug-in hybrid
CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2
CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6), # HDA2
Expand Down
4 changes: 2 additions & 2 deletions selfdrive/car/tests/test_models_segs.txt
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Git LFS file not shown
3 changes: 1 addition & 2 deletions selfdrive/car/torque_data/override.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,16 +48,15 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 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]
"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1]
"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12]
"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14]
"GENESIS GV80 2023" = [2.5, 2.5, 0.1]
"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15]
"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2]
"LEXUS IS 2023" = [2.0, 2.0, 0.1]
"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1]
"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1]
"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1]
Expand Down

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