HKG: Car Port for Genesis GV70 Electrified 2023 (HDA2)

[sunnyhaibin]

Checklist

• added entry to CAR in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• test route added to routes.py
• route with openpilot: afe09b9f5d3f3548/00000011--15fefe1c50
• route with openpilot longitudinal: afe09b9f5d3f3548/0000001b--a1129a4a15
• route with stock system: afe09b9f5d3f3548/00000005--fe8cd35e57
• car harness used (if comma doesn't sell it, put N/A): Harness Q

Thanks to community 2023 Genesis GV70 Electrified (HDA2) owner gv70e_81046 (Discord).

Requires

• Hyundai CAN-FD: Use ACCELERATOR for EV gear shifter positions #1280

Superseded commaai/openpilot#32765

[github-actions]

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[jyoung8607]

Looks like the ACCELERATOR message is common to all CAN-FD EVs. Does it only have gearshift position data on this car, or might it be available on all the others? Might be an opportunity here to reduce complexity rather than increase it.

Also:

• test route added to routes.py

This is not done, will need you to add it.

[Net1Pro]

Hello, Please forgive my ignorance but I am not sure if the " This is not done, will need you to add it" (uploading test route) was directed to me or someone else. Please advise. Thanks!

…

On Mon, Sep 23, 2024 at 8:45 PM Jason Young ***@***.***> wrote: Looks like the ACCELERATOR message is common to all CAN-FD EVs. Does it only have gearshift position data on this car, or might it be available on all the others? Might be an opportunity here to reduce complexity rather than increase it. Also: - test route added to routes.py <https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py> This is not done, will need you to add it. — Reply to this email directly, view it on GitHub <#1131 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BIZXN2SPXTF6DTVGMVG3IKDZYCY2JAVCNFSM6AAAAABMZ66NBWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDGNRZHA3TGOJZGE> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[sunnyhaibin]

Looks like the ACCELERATOR message is common to all CAN-FD EVs. Does it only have gearshift position data on this car, or might it be available on all the others? Might be an opportunity here to reduce complexity rather than increase it.

The signals in the ACCELERATOR message are only relevant for CAN-FD EV platforms, and for this car, the gearshift position data is not found in GEAR_ALT or GEAR_ALT_2. It's one of the unique quirks of HKG CAN-FD across different models and model years.

• test route added to routes.py

This is not done, will need you to add it.

Added back!

[jyoung8607]

Going to mark this as draft, pending a slight refactor to cleanly support all CAN-FD EV vehicles the same way.

[jyoung8607]

GTM!

• Safety and openpilot operation equivalent to all the other HKG CAN-FD EVs
• Lateral accel control performance is reasonable and meets guidelines
• No complaints of the common HKG issue with HUD grasp-wheel/take-over alerts

Offline validation:

• Test routes were already uploaded
• pytest opendbc passes
• pytest selfdrive/car/tests passes

Caveats:

• We're not seeing the VIN, but we're also not getting it from the comma fleet EV6