Hyundai CAN: new gear shifter signal for EV, HEV, PHEV

[sunnyhaibin]

Description

When the vehicle is in manual or alternative drive modes (e.g., Sport), openpilot currently fails to recognize the signals and returns with an “Gear not D” event, exiting the controls.

Added Jupyter notebook for validating Sport gear for CAN hybrid and electric vehicles.

Solution

This pull request implements support for parsing various forward gear signals and adds additional undefined forward gear signals to the DBC.

Validation

• Hyundai CAN: Explicitly parse gear shifter values for EV, HEV, PHEV openpilot#34113

Route ID

• e1107f9d04dfb1e2|2024-02-16--14-51-43
• 26a38e4bf36bb74a|2023-11-15--10-11-14

Reopen of

• Hyundai CAN: Explicitly parse gear shifter values for EV, HEV, PHEV openpilot#30648
• Hyundai CAN: Fix Elect_Gear_Shifter Sport Gear value #981

[sunnyhaibin]

After running against all 9000+ segments, only 2 results with the Sport gear on ELECT_GEAR | Elect_Gear_Shifter are found:

https://github.com/sunnyhaibin/openpilot-1/blob/6b7b72e94005030fa1a7378a44b5c5bd43f61451/tools/car_porting/examples/hkg_can_gear_message.ipynb

Analyzing segment 1220/9107    
Non-Drive gear found in segment 201c5aaced09a24a/2023-05-20--12-39-01/15/s   for HYUNDAI IONIQ PHEV 2020
  ELECT_GEAR      gear=4.0
Analyzing segment 1224/9107    
Non-Drive gear found in segment b28e9dbe4004e915/2023-06-11--19-55-28/2/s    for HYUNDAI IONIQ PHEV 2020
  ELECT_GEAR      gear=4.0
Analyzing segment 9107/9107 ...
Analysis finished. Total segments analyzed: 9107

[adeebshihadeh]

So that's good to know, but the critical question to ask in the validation is "where and how does the new signal mismatch the current one?".

[sunnyhaibin]

@adeebshihadeh We are currently already using ELECT_GEAR for the gear selector positions in master, for CAN Hybrid and EV:

opendbc/opendbc/car/hyundai/carstate.py

Lines 145 to 146 in b89fe79

	if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
	gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]

So, this PR is to match the definitions used during the init with the same message we already use to parse the gear positions (changes from this PR): https://github.com/sunnypilot/opendbc/blob/b4dfdf7cff4a0d62db6d4465f43314141e516c1c/opendbc/car/hyundai/carstate.py#L37-L38