Hyundai CAN-FD: support for ICE cars

[sunnyhaibin]

Checklist

• [x] added entry to CarInfo in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• [x] test route added to routes.py

2022 Hyundai Santa Cruz

• [x] route with openpilot:
  • stock longitudinal: f0709d2bc6ca451f|2022-10-15--08-13-54
  • openpilot longitudinal: f0709d2bc6ca451f|2022-10-15--10-39-32
• [x] harness type: Hyundai N

2023 Kia Sportage

• [x] route with openpilot:
  • stock longitudinal: 192283cdbb7a58c2|2022-10-15--00-57-57
  • openpilot longitudinal: 192283cdbb7a58c2|2022-10-15--01-43-18, 965a780ebeeed150|2022-10-16--20-50-38
• [x] harness type: Hyundai N

2022 Genesis GV70

• [x] route with openpilot: ca4de5b12321bd98|2022-10-18--21-15-59
• [x] harness type: Hyundai L

Physical setup

• Top port behind comma three
  • comma Power <-> First Harness Box <-> comma three USB C/Right-Angle C <-> comma three
• Bottom port behind comma three
  • Camera Harness <-> Second Harness Box <-> USB C/C 3.1 <-> Red Panda <-> USB A/A <-> USB A to C OTG Adapter <-> comma three

openpilot Longitudinal Control

• openpilot longitudinal control support for 2022 Hyundai Santa Cruz (ICE) and 2023 Kia Sportage (ICE), without radar disable. Message 0x1a0 | CRUISE_INFO is on bus 6, we block the message from bus 6 and send our own longitudinal commands to 0x1a0 | CRUISE_INFO bus 4.

Prerequisites

• https://github.com/commaai/openpilot/pull/25276
• https://github.com/commaai/panda/pull/999

Requires

• https://github.com/commaai/openpilot/pull/26086
• https://github.com/commaai/panda/pull/1031
• https://github.com/commaai/opendbc/pull/680

Thanks to community Santa Cruz owner chrsfr, Sportage owner gaanthony and Daltoh, and GV70 owner zunichky.

[zunichky]

Closed the gv70 (#26068) pr so we only have one open.

[zunichky]

@adeebshihadeh @sunnyhaibin Idk if there are any more cars that are going to be like this, or if it's a genesis thing, so not sure how we want these changes generic.

GV70 LAT Changes: CRUISE_INFO comes from bus 4 not 6, so this bus needs to be changed to 4. return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)

GV70 LONG Changes: Maybe make this into a different PR? Radar/TP: 0x7d0, 4 CAM_0x2a4 comes from bus 5 In create_adrv_messages, I only need to send ADRV_0x160 to keep the car happy (mines HDA1, no side radars)

[sunnyhaibin]

@adeebshihadeh @sunnyhaibin Idk if there are any more cars that are going to be like this, or if it's a genesis thing, so not sure how we want these changes generic.

GV70 LAT Changes: CRUISE_INFO comes from bus 4 not 6, so this bus needs to be changed to 4. return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)

GV70 LONG Changes: Maybe make this into a different PR? Radar/TP: 0x7d0, 4 CAM_0x2a4 comes from bus 5 In create_adrv_messages, I only need to send ADRV_0x160 to keep the car happy (mines HDA1, no side radars)

I can try to take care of the change with CRUISE_INFO in carstate.

• Edit: This should be satisfied in https://github.com/commaai/openpilot/pull/25434/commits/063e6f79c4ad40c8b0cb6628ac02a1862dce0204.

I agree with having another PR for GV70's longitudinal support, with 0x1A0 being on bus 4 and we need to disable radar unlike the other ICE models we're supporting in this PR. We could submit another one once this is merged.

[adeebshihadeh]

@sunnyhaibin CarTestRoute("f0709d2bc6ca451f|2022-10-15--10-39-32", HYUNDAI.SANTA_CRUZ_1ST_GEN), doesn't have rlogs. can we get a new route?

[sunnyhaibin]

@sunnyhaibin CarTestRoute("f0709d2bc6ca451f|2022-10-15--10-39-32", HYUNDAI.SANTA_CRUZ_1ST_GEN), doesn't have rlogs. can we get a new route?

@adeebshihadeh would the ones from the PR description suffice? I believe they have rlogs uploaded. If not, we can request new ones from the Santa Cruz user.

[adeebshihadeh]

@sunnyhaibin CarTestRoute("f0709d2bc6ca451f|2022-10-15--10-39-32", HYUNDAI.SANTA_CRUZ_1ST_GEN), doesn't have rlogs. can we get a new route?

@adeebshihadeh would the ones from the PR description suffice? I believe they have rlogs uploaded. If not, we can request new ones from the Santa Cruz user.

Yeah, looks like that'll work.

[sunnyhaibin]

@adeebshihadeh User with the Sportage 2023 mentioned that he received a Controls Mismatch alert when he updated to the latest commit:

• 192283cdbb7a58c2|2022-10-22--11-49-07

Control Mismatch resolved by pointing the panda directory to the open panda PR along with this one.

• https://github.com/commaai/openpilot/pull/25434/commits/b5cbf7f9277ebdbdc1aab6f6a000b59be80ac507

[sunnyhaibin]

Here's another route from the 2023 Kia Sportage triggering FCW from the car: 192283cdbb7a58c2|2022-10-27--09-34-58

[sshane]

Checked and there's no common gear message :(. There's a duplicate gear signal in the ACCELERATOR message for our EV6, but it's not filled out on the Santa Cruz

[sshane]

Removed the GV70 from this PR as it's the sole HDA1 car where the camera doesn't do SCC (radar). @sunnyhaibin is making another PR just for that car