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Merge branch 'master' into speedup-pytest-1184
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@fahhem
fahhem authored Jan 7, 2025
2 parents e1f8ca3 + c1a8eae commit 91ef556
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9 changes: 5 additions & 4 deletions docs/CARS.md
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@@ -1,6 +1,6 @@
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

# Support Information for 344 Known Cars
# Support Information for 345 Known Cars

|Make|Model|Package|Support Level|
|---|---|---|:---:|
Expand Down Expand Up @@ -61,6 +61,7 @@
|Genesis|GV60 (Performance Trim) 2022-23|All|[Upstream](#upstream)|
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23|All|[Upstream](#upstream)|
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|[Upstream](#upstream)|
|Genesis|GV70 Electrified (Australia Only) 2022|All|[Upstream](#upstream)|
|Genesis|GV70 Electrified (with HDA II) 2023|Highway Driving Assist II|[Upstream](#upstream)|
|Genesis|GV80 2023|All|[Upstream](#upstream)|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|[Upstream](#upstream)|
Expand Down Expand Up @@ -91,7 +92,7 @@
|Honda|Passport 2019-23|All|[Upstream](#upstream)|
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|Honda|Pilot 2023-24|All|[Community](#community)|
|Honda|Ridgeline 2017-24|Honda Sensing|[Upstream](#upstream)|
|Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
|Hyundai|Azera 2022|All|[Upstream](#upstream)|
|Hyundai|Azera Hybrid 2019|All|[Upstream](#upstream)|
|Hyundai|Azera Hybrid 2020|All|[Upstream](#upstream)|
Expand All @@ -103,7 +104,7 @@
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|Hyundai|Ioniq 5 (Non-US only) 2022-24|All|[Upstream](#upstream)|
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
Expand Down Expand Up @@ -345,7 +346,7 @@
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|

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3 changes: 3 additions & 0 deletions opendbc/car/chrysler/fingerprints.py
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Expand Up @@ -97,6 +97,7 @@
b'04672758AB',
b'68417813AF',
b'68540436AA',
b'68540436AB',
b'68540436AC',
b'68540436AD',
b'68598670AB',
Expand Down Expand Up @@ -573,6 +574,7 @@
b'68378743AM ',
b'68378748AL ',
b'68378758AM ',
b'68378759AM ',
b'68448163AJ',
b'68448163AK',
b'68448163AL',
Expand Down Expand Up @@ -625,6 +627,7 @@
b'68360080AL',
b'68360080AM',
b'68360081AM',
b'68360081AN',
b'68360085AH',
b'68360085AJ',
b'68360085AL',
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4 changes: 2 additions & 2 deletions opendbc/car/docs.py
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Expand Up @@ -41,7 +41,7 @@ def get_all_footnotes() -> dict[Enum, int]:
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}


def build_sorted_car_docs_list(platforms, footnotes=None, include_dashcam=False, include_custom=False):
def build_sorted_car_docs_list(platforms, footnotes=None, include_dashcam=False):
collected_car_docs: list[CarDocs | ExtraCarDocs] = []
for model, platform in platforms.items():
car_docs = platform.config.car_docs
Expand Down Expand Up @@ -70,7 +70,7 @@ def get_all_car_docs() -> list[CarDocs]:


def get_car_docs_with_extras() -> list[CarDocs | ExtraCarDocs]:
sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, include_custom=True, include_dashcam=True)
sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, include_dashcam=True)
return sorted_list


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1 change: 1 addition & 0 deletions opendbc/car/honda/fingerprints.py
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Expand Up @@ -876,6 +876,7 @@
b'77959-T20-A970\x00\x00',
b'77959-T20-A980\x00\x00',
b'77959-T20-M820\x00\x00',
b'77959-T39-A910\x00\x00',
b'77959-T47-A940\x00\x00',
b'77959-T47-A950\x00\x00',
],
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2 changes: 1 addition & 1 deletion opendbc/car/honda/values.py
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Expand Up @@ -256,7 +256,7 @@ class CAR(Platforms):
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HONDA_RIDGELINE = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
[HondaCarDocs("Honda Ridgeline 2017-25", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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6 changes: 6 additions & 0 deletions opendbc/car/hyundai/fingerprints.py
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Expand Up @@ -49,12 +49,14 @@
b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00AE MDPS C 1.00 1.03 56310/G2300 4AEHC103',
b'\xf1\x00AE MDPS C 1.00 1.05 56310/G2501 4AEHC105',
b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107',
b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222',
b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G7200 160418',
b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2400 180222',
],
},
Expand Down Expand Up @@ -141,6 +143,7 @@
b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
Expand Down Expand Up @@ -393,6 +396,7 @@
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.03 99110-S8100 ',
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ',
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ',
b'\xf1\x00ON__ FCA FHCU- 1.00 1.00 99110-S9110 ',
b'\xf1\x00ON__ FCA FHCUP 1.00 1.00 99110-S9110 ',
b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ',
b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ',
Expand Down Expand Up @@ -993,6 +997,7 @@
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI010 230110',
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206',
b'\xf1\x00NE1 MFC AT IND RHD 1.00 1.07 99211-GI010 230620',
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719',
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614',
Expand Down Expand Up @@ -1082,6 +1087,7 @@
},
CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JK1EMFC AT AUS RHD 1.00 1.01 99211-DS100 220125',
b'\xf1\x00JK1EMFC AT USA LHD 1.00 1.00 99211-IT100 220919',
],
(Ecu.fwdRadar, 0x7d0, None): [
Expand Down
3 changes: 2 additions & 1 deletion opendbc/car/hyundai/values.py
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Expand Up @@ -309,7 +309,7 @@ class CAR(Platforms):
)
HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
Expand Down Expand Up @@ -532,6 +532,7 @@ class CAR(Platforms):
)
GENESIS_GV70_ELECTRIFIED_1ST_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Genesis GV70 Electrified (Australia Only) 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarDocs("Genesis GV70 Electrified (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CarSpecs(mass=2260, wheelbase=2.87, steerRatio=17.1),
Expand Down
1 change: 1 addition & 0 deletions opendbc/car/mazda/fingerprints.py
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Expand Up @@ -11,6 +11,7 @@
(Ecu.engine, 0x7e0, None): [
b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX2C-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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4 changes: 1 addition & 3 deletions opendbc/car/toyota/carcontroller.py
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Expand Up @@ -86,7 +86,6 @@ def __init__(self, dbc_names, CP):
self.secoc_lka_message_counter = 0
self.secoc_lta_message_counter = 0
self.secoc_prev_reset_counter = 0
self.secoc_mismatch_counter = 0

def update(self, CC, CS, now_nanos):
actuators = CC.actuators
Expand All @@ -109,9 +108,8 @@ def update(self, CC, CS, now_nanos):
self.secoc_prev_reset_counter = CS.secoc_synchronization['RESET_CNT']

expected_mac = build_sync_mac(self.secoc_key, int(CS.secoc_synchronization['TRIP_CNT']), int(CS.secoc_synchronization['RESET_CNT']))
if int(CS.secoc_synchronization['AUTHENTICATOR']) != expected_mac and self.secoc_mismatch_counter < 100:
if int(CS.secoc_synchronization['AUTHENTICATOR']) != expected_mac:
carlog.error("SecOC synchronization MAC mismatch, wrong key?")
self.secoc_mismatch_counter += 1

# *** steer torque ***
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
Expand Down
1 change: 1 addition & 0 deletions opendbc/car/toyota/fingerprints.py
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Expand Up @@ -1381,6 +1381,7 @@
b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152606201\x00\x00\x00\x00\x00\x00',
b'F152606202\x00\x00\x00\x00\x00\x00',
b'F152633171\x00\x00\x00\x00\x00\x00',
],
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2 changes: 1 addition & 1 deletion opendbc/car/volkswagen/values.py
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Expand Up @@ -332,7 +332,7 @@ class CAR(Platforms):
)
VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("Volkswagen Tiguan 2018-24"),
VWCarDocs("Volkswagen Tiguan 2018-23"),
VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
],
VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
Expand Down

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