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Hyundai: support Elantra 2024 #30219

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Hyundai: support Elantra 2024 #30219

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7fc448e
new 2024 Elantra platform because it's camera SCC
sshane Oct 10, 2023
47980ad
add to docs
sshane Oct 10, 2023
dc5343b
correct checksum
sshane Oct 10, 2023
38732d1
add to new lkas11 list (really need to detect this)
sshane Oct 11, 2023
f10d6b1
Merge remote-tracking branch 'upstream/master' into elantra-2024
sshane Jan 6, 2024
11bd6f9
only radar and camera
sshane Jan 6, 2024
42919d5
bump opendbc
sshane Jan 6, 2024
c6f9704
bump panda
sshane Jan 6, 2024
7b66a37
try to trigger warning
sshane Jan 19, 2024
51618cc
Revert "try to trigger warning"
sshane Jan 26, 2024
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1 change: 1 addition & 0 deletions RELEASES.md
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Expand Up @@ -5,6 +5,7 @@ Version 0.9.5 (2023-XX-XX)
* Hyundai Azera 2022 support thanks to sunnyhaibin!
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
* Hyundai Elantra 2024 support
* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
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3 changes: 2 additions & 1 deletion docs/CARS.md
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Expand Up @@ -4,7 +4,7 @@

A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

# 265 Supported Cars
# 266 Supported Cars

|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
Expand Down Expand Up @@ -76,6 +76,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
|Hyundai|Elantra 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra 2024|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2024">Buy Here</a></sub></details>||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
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2 changes: 1 addition & 1 deletion selfdrive/car/hyundai/hyundaican.py
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Expand Up @@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN, CAR.ELANTRA_2024):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

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2 changes: 1 addition & 1 deletion selfdrive/car/hyundai/interface.py
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Expand Up @@ -94,7 +94,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
elif candidate in (CAR.ELANTRA_2021, CAR.ELANTRA_2024):
ret.mass = 2800. * CV.LB_TO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
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29 changes: 26 additions & 3 deletions selfdrive/car/hyundai/values.py
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Expand Up @@ -73,6 +73,7 @@ class CAR(StrEnum):
AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_2024 = "HYUNDAI ELANTRA 2024"
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
Expand Down Expand Up @@ -165,6 +166,7 @@ def init_make(self, CP: car.CarParams):
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.ELANTRA_2024: HyundaiCarInfo("Hyundai Elantra 2024", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.HYUNDAI_GENESIS: [
Expand Down Expand Up @@ -1759,6 +1761,26 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
],
},
CAR.ELANTRA_2024: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CN7_ RDR ----- 1.00 1.01 99110-AA500 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CN7 MDPS C 1.00 1.02 56300AA670\x00 4CSDC102',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.02 99210-AA500 230420',
],
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00CN ESC \t 104#\x07\x03 58910-AA850',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\xf1\x81HT6VAB20A1',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391002J341\xf1\x81HM6M2_0a0_PG0',
],
},
CAR.ELANTRA_HEV_2021: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930',
Expand Down Expand Up @@ -2051,7 +2073,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN, CAR.ELANTRA_2024],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}

Expand All @@ -2070,8 +2092,8 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
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, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6}

# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
# The camera does SCC on these CAN cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, CAR.ELANTRA_2024}

# these cars use a different gas signal
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
Expand Down Expand Up @@ -2099,6 +2121,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2024: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
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1 change: 1 addition & 0 deletions selfdrive/car/torque_data/substitute.yaml
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Expand Up @@ -34,6 +34,7 @@ HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
HYUNDAI ELANTRA 2024: HYUNDAI ELANTRA 2021
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
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