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

[sunnyhaibin]

Checklist

• added entry to CarInfo in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• test route added to routes.py
• route with stock system:
  • Hyundai Palisade 2023: 28aa956828c3407d|2023-01-28--21-56-53
  • Kia Telluride 2023: caf6a54b6d467dbd|2023-02-18--20-59-58
• route with openpilot:
  • Hyundai Palisade 2023 (HDA2): 28aa956828c3407d|2023-08-27--03-22-18
  • Kia Telluride 2023 (HDA2): caf6a54b6d467dbd|2023-02-28--21-18-30
• harness type:
  • Hyundai Palisade 2023:
    • Hyundai N Hyundai A (Modified) (HDA2), with CAN bus pairs flipped manually (see links below with instructions) ✅
      • https://cdn.discordapp.com/attachments/524611978208215070/1003351781251756182/unknown.png
      • Video instruction on how to flip CAN bus pairs
      • Hyundai R harness #27580 is the direct replacement of the Hyundai A (Modified)
  • Kia Telluride 2023:
    • Hyundai P (HDA2) ✅
• architecture: CAN-FD

Link to all physical parts during installation

• comma 3X
• car harness kit
  • Hyundai Palisade 2023:
    • Hyundai R (HDA2)
  • Kia Telluride 2023:
    • Hyundai P (HDA2)

Software URL

• https://bit.ly/sp-palisade-2023-hda2

Requires

• HKG: Car Port for Hyundai Palisade 2023 and Kia Telluride 2023 (HDA2) panda#1243
• HKG: DBC for Hyundai Palisade and Kia Telluride 2023-24 (HDA2) opendbc#784
• Carcontroller: consolidate can sends method imports #29695
• Hyundai CAN-FD: Panda safety config assignments cleanup #29733

Resolves

• Hyundai: 2023 Palisade port support #26571

Related

• HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-24 (non-HDA2) #27478
• HKG: Car Port for Hyundai Palisade 2023 and Kia Telluride 2023 (non-HDA2) panda#1267

Thanks to community Hyundai Palisade 2023 owner yumybraun and Kia Telluride 2023 owner kjanoudi.

[sunnyhaibin]

Upon investigation, LKAS11 | 0x340 broadcasts on bus 4, and we were unable to send steering commands to this message as we were not able to intercept. We will need to find another steering message that we can use.

[Guardiola31337]

Hey @sunnyhaibin thanks for bringing support to these cars! I'm an owner of a Kia Telluride 2023 and I'd love to test. May I ask why you have mark the harness with a warning?

Kia Telluride 2023: Hyundai L ⚠️

Please let me know if I can help with any testing, happy to!

[sunnyhaibin]

Hey @sunnyhaibin thanks for bringing support to these cars! I'm an owner of a Kia Telluride 2023 and I'd love to test. May I ask why you have mark the harness with a warning?

Kia Telluride 2023: Hyundai L ⚠️

Please let me know if I can help with any testing, happy to!

I forgot to update it. The harness for 2023 Telluride should be Harness P. Updated the description.

[Guardiola31337]

Yeah, I've just seen 👍

Thanks for confirming!

[sunnyhaibin]

Proof that it works 🎉 Route with raw logs will be added to routes.py once all raw logs are uploaded.

Upload.from.GitHub.for.iOS.MOV

[sshane]

We've moved the car interfacing code to our opendbc repository, which is now the new home for car ports and fingerprints. Please re-open your pull request against opendbc at your convenience by using this command below. This will transform all changes under selfdrive/car/ to opendbc_repo/opendbc/car/. Make sure you have initialized submodules beforehand and have checked out the latest opendbc commit.

PR_NUMBER=33045
curl -L https://github.com/commaai/openpilot/pull/$PR_NUMBER.patch | sed -e 's/selfdrive\/car/opendbc_repo\/opendbc\/car/g' | git apply -v --reject

Simply replace the PR number with your own. Once done, add the files, fix any conflicts, and open a new PR. Alternatively, you may start a new PR from scratch if that is easier for you.