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

opendbc/car/hyundai/carcontroller.py

@@ -102,9 +102,11 @@ 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))
 
+    can_canfd_hybrid = self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID
+
     # CAN-FD platforms
+    hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
     if self.CP.carFingerprint in CANFD_CAR:
-      hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
@@ -132,7 +134,7 @@ 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 +176,12 @@ 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

@@ -8,7 +8,7 @@
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.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 opendbc.car.interfaces import CarStateBase
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -32,7 +32,7 @@ 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"]
@@ -58,7 +58,7 @@ def __init__(self, CP):
     self.params = CarControllerParams(CP)
 
   def update(self, cp, cp_cam, *_) -> structs.CarState:
-    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 = structs.CarState()
@@ -112,11 +112,12 @@ 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
@@ -150,7 +151,7 @@ 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
@@ -164,13 +165,17 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
       ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
     # save the entire LKAS11 and CLU11
-    self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
+    if not (self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID):
+      self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     prev_cruise_buttons = self.cruise_buttons[-1]
     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)
 
@@ -262,12 +267,14 @@ def update_canfd(self, cp, cp_cam) -> structs.CarState:
     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)
 
+    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),
@@ -281,16 +288,20 @@ def get_can_parser(self, CP):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
+    if not CP.openpilotLongitudinalControl and not CP.flags & (HyundaiFlags.CAMERA_SCC | HyundaiFlags.CAN_CANFD_HYBRID):
       messages += [
         ("SCC11", 50),
         ("SCC12", 50),
       ]
       if CP.flags & HyundaiFlags.USE_FCA.value:
         messages.append(("FCA11", 50))
 
+    if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAN_CANFD_HYBRID:
+      messages.append(("SCC12", 50))
+
     if CP.enableBsm:
-      messages.append(("LCA11", 50))
+      bsm_freq = 20 if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 50
+      messages.append(("LCA11", bsm_freq))
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("E_EMS11", 50))
@@ -309,16 +320,20 @@ 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):
-    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 = [
-      ("LKAS11", 100)
-    ]
+    messages = []
+
+    if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID:
+      messages.append(("CAM_0x2a4", 20))
+    else:
+      messages.append(("LKAS11", 100))
 
     if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
       messages += [
@@ -329,7 +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

@@ -1139,4 +1139,21 @@
       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

@@ -3,7 +3,7 @@
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
-                                                   UNSUPPORTED_LONGITUDINAL_CAR, Buttons
+                                                   UNSUPPORTED_LONGITUDINAL_CAR, CAN_CANFD_HYBRID_CAR, Buttons
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.disable_ecu import disable_ecu
@@ -19,25 +19,29 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
+    hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
+    CAN = CanBus(None, hda2, fingerprint)
+
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to opendbc/car/tests/routes.py, we can remove it from this list.
     # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } or (candidate in (CAR.HYUNDAI_PALISADE_2023, ) and not hda2)
 
-    hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
-    CAN = CanBus(None, hda2, fingerprint)
+    pure_canfd_car = CANFD_CAR - CAN_CANFD_HYBRID_CAR
+
+    # detect HDA2 with ADAS Driving ECU
+    if hda2:
+      ret.flags |= HyundaiFlags.CANFD_HDA2.value
 
-    if candidate in CANFD_CAR:
+    if candidate in pure_canfd_car:
       # detect if car is hybrid
       if 0x105 in fingerprint[CAN.ECAN]:
         ret.flags |= HyundaiFlags.HYBRID.value
       elif candidate in EV_CAR:
         ret.flags |= HyundaiFlags.EV.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:
@@ -75,7 +79,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.steerActuatorDelay = 0.2
 
     # *** longitudinal control ***
-    if candidate in CANFD_CAR:
+    if candidate in pure_canfd_car:
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
@@ -89,20 +93,20 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.longitudinalActuatorDelay = 0.5
 
     # *** feature detection ***
-    if candidate in CANFD_CAR:
+    if candidate in pure_canfd_car:
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
     else:
-      ret.enableBsm = 0x58b in fingerprint[0]
+      bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
+      ret.enableBsm = 0x58b in fingerprint[bus]
 
     # *** panda safety config ***
-    if candidate in CANFD_CAR:
+    if candidate in pure_canfd_car:
       cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
         cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
       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:
@@ -114,11 +118,19 @@ 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 candidate in CAN_CANFD_HYBRID_CAR:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD_HYBRID
+
+    if ret.flags & HyundaiFlags.CANFD_HDA2:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID: