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

RELEASES.md

@@ -1,6 +1,8 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Hyundai Palisade (without HDA II) 2023-24 support thanks to sunnyhaibin!
+* Kia Telluride (without HDA II) 2023-24 support thanks to sunnyhaibin!
 
 Version 0.9.7 (2024-06-13)
 ========================
@@ -50,9 +52,11 @@ Version 0.9.5 (2023-11-17)
 * Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Hyundai Palisade (without HDA II) 2023 support thanks to sunnyhaibin!
 * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Optima Hybrid 2019 support
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Telluride (without HDA II) 2023 support thanks to sunnyhaibin!
 * Lexus GS F 2016 support thanks to snyperifle!
 * Lexus IS 2023 support thanks to L3R5!
 

docs/CARS.md

@@ -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.
 
-# 288 Supported Cars
+# 290 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -106,6 +106,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|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 R 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=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|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 I 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=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|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 H 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=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade (without HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A 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=Palisade (without HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|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 N 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=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|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 D 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=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|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 L 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=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -162,6 +163,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Stinger 2018-20|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 C 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=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|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=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|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 H 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=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Kia|Telluride (without HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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=Kia&model=Telluride (without HDA II) 2023-24">Buy Here</a></sub></details>||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||

selfdrive/car/hyundai/carcontroller.py

@@ -6,7 +6,7 @@
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAN_CANFD_HYBRID_CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -103,9 +103,11 @@ def update(self, CC, CS, now_nanos):
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
+    hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
+    hda2_can_canfd_hybrid = hda2 and 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 and (self.CP.carFingerprint not in CAN_CANFD_HYBRID_CAR or hda2_can_canfd_hybrid):
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
@@ -153,7 +155,7 @@ def update(self, CC, CS, now_nanos):
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
-        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, self.frame, CC.enabled, self.CP))
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:

selfdrive/car/hyundai/carstate.py

@@ -8,7 +8,7 @@
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
-                                                   CANFD_CAR, Buttons, CarControllerParams
+                                                   CANFD_CAR, Buttons, CarControllerParams, CAN_CANFD_HYBRID_CAR
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -27,7 +27,7 @@ def __init__(self, CP):
     self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
                           "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
                           "GEAR_SHIFTER"
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
     elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -53,7 +53,7 @@ def __init__(self, CP):
     self.params = CarControllerParams(CP)
 
   def update(self, cp, cp_cam):
-    if self.CP.carFingerprint in CANFD_CAR:
+    if self.CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return self.update_canfd(cp, cp_cam)
 
     ret = car.CarState.new_message()
@@ -107,11 +107,12 @@ def update(self, cp, cp_cam):
       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.value 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
@@ -144,7 +145,7 @@ def update(self, cp, cp_cam):
 
     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.value):
       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
@@ -250,12 +251,14 @@ def update_canfd(self, cp, cp_cam):
     return ret
 
   def get_can_parser(self, CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return self.get_can_parser_canfd(CP)
 
+    freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID.value else 50
+
     messages = [
       # address, frequency
-      ("MDPS12", 50),
+      ("MDPS12", freq_mdps12),
       ("TCS11", 100),
       ("TCS13", 50),
       ("TCS15", 10),
@@ -269,16 +272,20 @@ def get_can_parser(self, CP):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
-      messages += [
-        ("SCC11", 50),
-        ("SCC12", 50),
-      ]
-      if CP.flags & HyundaiFlags.USE_FCA.value:
-        messages.append(("FCA11", 50))
+    if not CP.openpilotLongitudinalControl:
+      if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID.value:
+        messages.append(("SCC12", 50))
+      elif CP.carFingerprint not in CAMERA_SCC_CAR:
+        messages += [
+          ("SCC11", 50),
+          ("SCC12", 50),
+        ]
+        if CP.flags & HyundaiFlags.USE_FCA.value:
+          messages.append(("FCA11", 50))
 
     if CP.enableBsm:
-      messages.append(("LCA11", 50))
+      freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID.value else 50
+      messages.append(("LCA11", freq_lca11))
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("E_EMS11", 50))
@@ -297,11 +304,12 @@ 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.value else 0
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return CarState.get_cam_can_parser_canfd(CP)
 
     messages = [
@@ -317,7 +325,8 @@ 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 = [

selfdrive/car/hyundai/fingerprints.py

@@ -467,6 +467,21 @@
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
     ],
   },
+  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\x00ON  MFC  AT USA LHD 1.00 1.00 99211-S9160 230303',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9160 230802',
+    ],
+    (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 FHCUP      1.00 1.01 99110-S8150         ',
+      b'\xf1\x00ON__ SCC FHCUP      1.00 1.01 99110-S9150         ',
+      b'\xf1\x00ON__ SCC FHCUP      1.00 1.00 99110-S9160         ',
+    ],
+  },
   CAR.HYUNDAI_VELOSTER: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',