HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-24 (HDA2)

opendbc/car/hyundai/carcontroller.py

@@ -102,9 +102,13 @@ def update(self, CC, CS, now_nanos):
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
 
+    # Common shared configuration
+
+    hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
+    can_canfd_hybrid = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID)
+
     # CAN-FD platforms
-    if self.CP.carFingerprint in CANFD_CAR:
-      hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
+    if self.CP.carFingerprint in CANFD_CAR or can_canfd_hybrid:
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
@@ -132,7 +136,7 @@ def update(self, CC, CS, now_nanos):
           self.accel_last = accel
       else:
         # button presses
-        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
+        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=(hda2 and can_canfd_hybrid)))
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
@@ -174,12 +178,12 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
     can_sends = []
     if use_clu11:
       if CC.cruiseControl.cancel:
-        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
+        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP, self.CAN))
       elif CC.cruiseControl.resume:
         # send resume at a max freq of 10Hz
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
           # send 25 messages at a time to increases the likelihood of resume being accepted
-          can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
+          can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP, self.CAN)] * 25)
           if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
             self.last_button_frame = self.frame
     else:

opendbc/car/hyundai/carstate.py

@@ -113,11 +113,12 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
     else:
-      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
+      scc_bus = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else "SCC11"
+      ret.cruiseState.available = cp_cruise.vl[scc_bus]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
-      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
-      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
+      ret.cruiseState.standstill = cp_cruise.vl[scc_bus]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.nonAdaptive = cp_cruise.vl[scc_bus]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
+      ret.cruiseState.speed = cp_cruise.vl[scc_bus]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -151,7 +152,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl:
+    if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID):
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -172,6 +173,9 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
 
+    if self.CP.flags & (HyundaiFlags.CAN_CANFD_HYBRID | HyundaiFlags.CANFD_HDA2):
+      self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x2a4"])
+
     if self.CP.openpilotLongitudinalControl:
       ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
 
@@ -266,9 +270,11 @@ def get_can_parser(self, CP):
     if CP.carFingerprint in CANFD_CAR:
       return self.get_can_parser_canfd(CP)
 
+    mdps12_freq = 100 if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 50
+
     messages = [
       # address, frequency
-      ("MDPS12", 50),
+      ("MDPS12", mdps12_freq),
       ("TCS11", 100),
       ("TCS13", 50),
       ("TCS15", 10),
@@ -284,14 +290,18 @@ def get_can_parser(self, CP):
 
     if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
       messages += [
-        ("SCC11", 50),
         ("SCC12", 50),
       ]
+
+      if not (CP.flags & HyundaiFlags.CAN_CANFD_HYBRID):
+        messages.append(("SCC11", 50))
+
       if CP.flags & HyundaiFlags.USE_FCA.value:
         messages.append(("FCA11", 50))
 
     if CP.enableBsm:
-      messages.append(("LCA11", 50))
+      lca11_freq = 20 if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 50
+      messages.append(("LCA11", lca11_freq))
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("E_EMS11", 50))
@@ -310,7 +320,8 @@ def get_can_parser(self, CP):
     else:
       messages.append(("LVR12", 100))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
+    bus = CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -321,6 +332,9 @@ def get_cam_can_parser(CP):
       ("LKAS11", 100)
     ]
 
+    if CP.flags & (HyundaiFlags.CAN_CANFD_HYBRID | HyundaiFlags.CANFD_HDA2):
+      messages.append(("CAM_0x2a4", 20))
+
     if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
       messages += [
         ("SCC11", 50),
@@ -330,7 +344,8 @@ def get_cam_can_parser(CP):
       if CP.flags & HyundaiFlags.USE_FCA.value:
         messages.append(("FCA11", 50))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
+    bus = CanBus(CP).CAM if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 2
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   def get_can_parser_canfd(self, CP):
     messages = [

opendbc/car/hyundai/fingerprints.py

@@ -1155,4 +1155,21 @@
       b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
     ],
   },
+  CAR.HYUNDAI_PALISADE_2023: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.04 99211-S8150 220622',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9150 220708',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8150 220527',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.00 99211-S9160 230303',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8600 230317',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.01 99211-S8600 230817',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00LX2_ SCC -----      1.00 1.01 99110-S8150         ',
+      b'\xf1\x00ON__ SCC -----      1.00 1.01 99110-S9150         ',
+      b'\xf1\x00LX2_ SCC -----      1.00 1.00 99110-S8150         ',
+      b'\xf1\x00ON__ SCC -----      1.00 1.00 99110-S9160         ',
+      b'\xf1\x00LX2_ SCC -----      1.00 1.00 99110-S8600         ',
+    ],
+  },
 }

opendbc/car/hyundai/hyundaican.py

@@ -95,7 +95,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
-def create_clu11(packer, frame, clu11, button, CP):
+def create_clu11(packer, frame, clu11, button, CP, CAN):
   values = {s: clu11[s] for s in [
     "CF_Clu_CruiseSwState",
     "CF_Clu_CruiseSwMain",
@@ -112,8 +112,14 @@ def create_clu11(packer, frame, clu11, button, CP):
   ]}
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
-  # send buttons to camera on camera-scc based cars
-  bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
+
+  if CP.flags & HyundaiFlags.CAMERA_SCC:  # send buttons to camera on camera-scc based cars
+    bus = 2
+  elif CP.flags & HyundaiFlags.CAN_CANFD_HYBRID:
+    bus = CAN.ECAN
+  else:
+    bus = 0
+
   return packer.make_can_msg("CLU11", bus, values)
 
 

opendbc/car/hyundai/interface.py

@@ -22,6 +22,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     hda2 = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
     CAN = CanBus(None, fingerprint, hda2)
 
+    # detect HDA2 with HDA2-only steering messages
+    if hda2:
+      ret.flags |= HyundaiFlags.CANFD_HDA2.value
+
     if candidate in CANFD_CAR:
       # Shared configuration for CAN-FD cars
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
@@ -30,9 +34,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       if 0x105 in fingerprint[CAN.ECAN]:
         ret.flags |= HyundaiFlags.HYBRID.value
 
-      # detect HDA2 with ADAS Driving ECU
       if hda2:
-        ret.flags |= HyundaiFlags.CANFD_HDA2.value
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
@@ -56,7 +58,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.safetyConfigs = cfgs
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
         if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
           ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
@@ -67,7 +68,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     else:
       # Shared configuration for non CAN-FD cars
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
-      ret.enableBsm = 0x58b in fingerprint[0]
+      bsm_bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
+      ret.enableBsm = 0x58b in fingerprint[bsm_bus]
 
       # Send LFA message on cars with HDA
       if 0x485 in fingerprint[2]:
@@ -81,11 +83,22 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
         ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
       else:
-        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
+        cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundai), ]
+        if CAN.ECAN >= 4:
+          cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
+        ret.safetyConfigs = cfgs
 
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+      if ret.flags & HyundaiFlags.CAN_CANFD_HYBRID:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD_HYBRID
+
+    # Common shared configuration
+
+    if ret.flags & HyundaiFlags.CANFD_HDA2:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+
     # Common lateral control setup
 
     ret.centerToFront = ret.wheelbase * 0.4
@@ -122,7 +135,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     # Dashcam cars are missing a test route, or otherwise need validation
     # TODO: Optima Hybrid 2017 uses a different SCC12 checksum
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
+    # TODO: Palisade/Telluride 2023-24 non-HDA2 will be supported in another PR
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } or (candidate in (CAR.HYUNDAI_PALISADE_2023, ) and not hda2)
 
     return ret
 

opendbc/car/hyundai/tests/test_hyundai.py

@@ -127,7 +127,7 @@ def test_expected_platform_codes(self, subtests):
 
           # Third and fourth character are usually EV/hybrid identifiers
           codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
-          if car_model == CAR.HYUNDAI_PALISADE:
+          if car_model in (CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_PALISADE_2023):
             assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}"
           elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
             assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}"
@@ -139,7 +139,8 @@ def test_expected_platform_codes(self, subtests):
   def test_platform_code_ecus_available(self, subtests):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90,
+                                    CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_PALISADE_2023}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():

opendbc/car/hyundai/values.py

@@ -95,6 +95,8 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  CAN_CANFD_HYBRID = 2 ** 24
+
 
 class Footnote(Enum):
   CANFD = CarFootnote(
@@ -123,10 +125,13 @@ def init(self):
     if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
       self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
 
+    if self.flags & HyundaiFlags.CAN_CANFD_HYBRID:
+      self.dbc_dict = dbc_dict('hyundai_palisade_2023_generated', None)
+
 
 @dataclass
 class HyundaiCanFDPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None))
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd_generated", None))
 
   def init(self):
     self.flags |= HyundaiFlags.CANFD
@@ -294,6 +299,14 @@ class CAR(Platforms):
     CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
+  HYUNDAI_PALISADE_2023 = HyundaiPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_r])),
+      HyundaiCarDocs("Kia Telluride (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
+    ],
+    HYUNDAI_PALISADE.specs,
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAN_CANFD_HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
+  )
   HYUNDAI_VELOSTER = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
@@ -585,7 +598,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
   # Non-electric CAN FD platforms often do not have platform code specifiers needed
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
-  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
+  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - CAN_CANFD_HYBRID_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
   candidates: set[str] = set()
 
   for candidate, fws in offline_fw_versions.items():
@@ -749,6 +762,9 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 # responds with 0x7F2822 - 'conditions not correct'
 CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)
 
+# These cars have both CAN and CAN-FD definitions required in openpilot
+CAN_CANFD_HYBRID_CAR = CAR.with_flags(HyundaiFlags.CAN_CANFD_HYBRID)
+
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
 

opendbc/car/tests/routes.py

@@ -136,6 +136,7 @@ class CarTestRoute(NamedTuple):
   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_HEV_4TH_GEN),  # plug-in hybrid
   CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
+  CarTestRoute("696748e0ac8082fb|2023-08-31--14-25-28", HYUNDAI.HYUNDAI_PALISADE_2023),
   CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5),  # HDA2
   CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6),  # HDA2
   CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),

opendbc/car/torque_data/override.toml

@@ -67,6 +67,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
+"HYUNDAI_PALISADE_2023" = [2.32, 2.32, 0.05]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]