Upstreaming missing HKG models

[adeebshihadeh]

If your HKG car isn't supported or doesn't work with stock openpilot, comment your model and dongle ID here. We'll work to get support for these cars in upstream openpilot.

[geohot]

Also, if you are currently using an MDPS harness and want to switch to a stock harness, for a limited time only, we are offering $100 off a new harness with proof of MDPS. E-mail support@comma.ai with a picture + an order number for your panda/C2.

[rrruuunnn2]

Dongle
0a8a3298a7b6b17b
Hyundai ioniq 2020

[13r0ck]

Reading the discord, geohot mentioned the possibility of adding support for Hyundais w/o SCC. Does this mean that a 2018 Hyundai elantra se (trim w/o cameras) has the possibility of future C2 support?

[13r0ck]

I just checked, se trim uses hydraulic brakes. No C2 for me 😭

Thanks for the hard work to everyone at Comma! Hopefully Comma will be in my next car!

[geohot]

I mean, all cars use hydraulic brakes. As opposed to what?

[13r0ck]

Idk put my feet through the floor and flintstone it? I clearly have no idea what I am talking about. I'll just subscribe to the shopify notification and gtfo lol

[TK211X]

@13r0ck The ESC unit controls brakes and forwards gas requests to EMS via P-CAN. All models pretty much have the same ECU for every trim. 2017 & 2018 Elantras do have SCC and LKA on a higher trim. So the ESC and MDPS does accept LKA requests and SCC requests even though the OEM requesting ECU is not present such as in your case. (Though the ESC may need variant coding to accept SCC)

[13r0ck]

Wow, thank you for taking the time to explain that to me. I really appreciate it! I have a lot to learn!

[Hacksore]

For a while, I was running the xps fork so that I could use it on a 17' Kia Sportage that doesn't have SCC or LKAS only LDW. There were some hacks/logic in xps' fork to allow for OP to engage on +/- or cruise enable.

I'm curious if stock will have a way to determine if the car doesn't have SCC and ultimately know how to engage for vehicles also like this?

edit: For those without SCC, comma staff basically said they won't support a vehicle like that.

[Denna93]

Please add the Kia Ceed 2019 from HKG community fork to the community release, thanks! This will also enable the Kia Proceed 2019, becuase its essentially same car just different body type

[adeebshihadeh]

Does your car have SCC?

[Denna93]

Yeah. I have the Kia Proceed GT version. The top specced

[adeebshihadeh]

which fork and branch do you currently use?

[adeebshihadeh]

can you try this branch? #2403

[VirtuallyChris]

@Denna93 would be great if you can try the branch out so we can get your vehicle working!

[ivanivra]

Kona ev 2020 with scc
Dongle id db8b25e291678484

[adeebshihadeh]

Added your fingerprint in 92a8469

[rambor]

2020 IONIQ PHEV with SCC

[VirtuallyChris]

Hi @rambor , what's your Dongle ID? This is found in Settings -> Device -> Dongle ID

[cdwillie76]

2019 Santa Fe - 37a08ed13f6eebf1

Making the following changes on release2 worked well (console lights behave as expected (lkas icon and lane detection on HUD matches EON)

selfdrive/car/hyundai/carcontroller.py - line 83 - add CAR.SANTA_FE
selfdrive/car/hyundai/hyundaican.py - line 19 - add CAR.SANTA_FE

[adeebshihadeh]

Can you make a PR for this? The line numbers have changed

[cdwillie76]

PR #2490

[gnarf0815]

2020 Kia e-Niro - c24c83e096db29d9
with SCC and LKAS; German model

On the XPS_Community_Release it worked well

[nickn17]

Should I try the branch master-ci?
Just downloading regular openpilot did not work with my car.

Yes, master-ci is ok .. https://github.com/commaai/openpilot/blob/master-ci/selfdrive/car/hyundai/values.py

This morning I did comparing video (xps vs master)
https://www.youtube.com/watch?v=Prq_1Wq29rk&t=392s

• XPS had improved PIcontroller - steering there was much better (smooth and more capable). I never seen this so good on master/xx979xx. But I can't change PIcontroller on the master.
• "Gas pedal allow" was much safer for me on EV. Niro EV reset steering wheel to zero position when brake/gas pressed. This is dangerous on turns (car goes straight). Btw note ... sometimes gas press cancel L0-L3 AUTO recuperation. And don't forget If you have L3 recuperation mode, light gas press turn off SCC and car starts strongly braking with because L3 mode (one pedal driving).

[VirtuallyChris]

hey Nick feel free to make a pull request for that tune. We will never allow gas pedal on master, but this is hidden behind an unsafe flag in panda so it can easily be activated on a fork.

[nickn17]

@VirtuallyChris Thank you. I will try to play with it.

[gnarf0815]

The car does work with master-ci - that's great.
I can confirm what nickn17 said.
Steering indeed is jittery at speeds below 60. It is a bit ping-pongy.
Also upon disengaging it would be great if the steering wheel stayed in the same position as it was just before disengagement.

I can live without gas pedal on master. Would be great if the smooth steering from xps fork could somehow be included.

Thank you nickn17 for your efforts!!

[nickn17]

Also upon disengaging it would be great if the steering wheel stayed in the same position as it was just before disengagement.

I agree. This can solve many dangerous situations with brake&gas press on Niro. Then I don't need "gas pedal allow" too.
But I don't know how to do it :)

[realistic69]

2020 Sonata Hybrid limited
8ad3857087181f80

[VirtuallyChris]

Thanks for this! We'll work on getting a branch together for you to test. Are you on our discord? What's your username? I'd like to be able to ping you as necessary.

[realistic69]

Yes I'm on your discord, my username is Realistic

[VirtuallyChris]

Here's the branch for you to try #2487 it's based on master so after you switch to it be sure to type git submodule init and git submodule update then reboot while SSHed in

[ohber]

2019 Genesis G70
(I opened a pull request with the necessary changes)

70c5bec28ec8e345

[adeebshihadeh]

Fixed your fingerprinting issue. We'll merge your PR after the tests pass.

[sunilm1992]

Kia Optima 2017
What is the dongle ID? my EON?

[sunilm1992]

c7f89112bca83879

[adeebshihadeh]

Your car should now be recognized and supported. e511d62

[sunilm1992]

Since this minute or already?

[VirtuallyChris]

Kia Optima 2017 confirmed working :)

[sunilm1992]

:D thanks guys it's great

[senaizgi]

2019 Kia Stinger GT2 (Variable Gear Ratio Steering Rack)
9ec9dc1a3a0fe4a5

[sebastian4k]

If your HKG car isn't supported or doesn't work with stock openpilot, comment your model and dongle ID here. We'll work to get support for these cars in upstream openpilot.

2021 Genesis G70
Dongle ID: d73f21a64ca211b

[slppo]

Hi,

I'm trying to get OP working on my 2018 Genesis G80. When I try to activate, it immediately gives me the "Take Control Immediately, Controls Mismatch" screen.

Dongle ID 6b301bf83f10aa90

[slppo]

Related PR? 89d02dc

[VirtuallyChris]

Should work now via this commit 9c93612

[plastikdj]

2018 Genesis G80 Sport
Dongle ID: 9cb768746284c595

[VirtuallyChris]

Does it work after 9c93612 or does it still need its own fingerprint?

[lsvennbeck]

Hyundai Kona EV 2019
Dongle ID: 38264bbbda1d6df9
Has ACC and LKAS

[jcn2185]

Hyundai Ioniq PHEV 2020 Limited
Dongle ID: a26275d08a7ce7b7

Has ACC & LKAS

[spikeysash]

Hyundai Tucson 2020 no SCC.
DongleID 792bd90652f522cf

By replacing the Kia Sportage with my fingerprint below and using "use_tcu_gears", I was able to make steering control work nicely with xx979xx XPS_Community_Release.

I enjoy the new functionality and would really like to get some longitudinal controls going but was unable.

fingerprints:

{
(Ecu.transmission, 0x7E1, None): [
b'\xf1\x87KMLDCU700665TJ20Wwwwh\x88\x98\x89wwwwvfgf\x98w\177\xff\x99\xff\177\xf8\001\xbf\xf1\x816T6G4051\000\000\xf1\0006T6J0_C2\000\0006T6G4051\000\000TTL4G24NH2\000\000\000\000',
],
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\000TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107',
],
(Ecu.engine, 0x7E0, None): [
b'\xf1\x81606G3051\000\000\000\000\000\000\000\000',
],
},

64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 909: 8, 916: 8, 1040: 8, 1064: 8, 1065: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1292: 8, 1294: 8, 1312: 8, 1313: 8, 1314: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8

[me8761-afk]

JEEP CHEROKEE 2019
DONGLE ID 8393c102a6b8c276
Has ACC, LKAS

[Wykillin]

Hyundai Santa Fe 2020
Dongle id: 21adf1570c3e619e
It used to work before .8.2. I get CAN Error: Check Connection

After checking all of the connections and replacing the wires I tried HKG_community again, and I am no longer getting a can error. I just turned the car on and checked.

[Soonmok]

Hyundai Genesis G80 2020
Dongle id: 61ad8e9537b07ac7

[jostrin]

2019 Kia Niro EV
ID : 4a498ed5529e1e04

Car is virtually the same as the 2020 (only minor appearance changes) but not listed as a supported model.

I’ve tried replacing the fingerprint with by SSH into the Comma 2 with one suggested by a 2020 owner but it didn’t work.

Thanks for the help!

[wadeknoke]

2020 Kia Sportage
ID: b549e94c4e23f374

Thank you!

[VictorLier]

2017 Ioniq EV
ID: bc202a950a79fb6d

Thanks!

[max2020201]

ID : a3b2d141e497235d
Hyundai Santa Fe sport 2017 Ultimate
Please check this timeline

is this fingerprint

carFw = [
( ecu = transmission,
fwVersion = "\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B3051\000\000\xf1\0006T6H0_C2\000\0006T6B3051\000\000TAN4T20NS1\000\000\000\000",
address = 2017,
subAddress = 0 ),
( ecu = fwdCamera,
fwVersion = "\xf1\000AN LDWS AT USA LHD 1.00 1.00 95890-2W503 151102",
address = 1988,
subAddress = 0 ),
( ecu = engine,
fwVersion = "\xf1\x81606B4K51\000\000\000\000\000\000\000\000",
address = 2016,
subAddress = 0 ) ],
radarTimeStep = 0.05,
communityFeature = false,
steerLimitTimer = 0,
fingerprintSource = can,
networkLocation = fwdCamera,
minSpeedCan = 0.3,
stoppingBrakeRate = 0.2,
startingBrakeRate = 0.8,
maxSteeringAngleDeg = 0,
fuzzyFingerprint = false,
enableBsm = false,
hasStockCamera = false ) )
( logMonoTime = 223035699651,
valid = true,
carParams = (
carName = "mock",
carFingerprint = "mock",
enableGasInterceptor = false,
enableCruise = true,
enableCamera = false,
enableDsu = false,
enableApgs = false,
minEnableSpeed = -1,
minSteerSpeed = 0,
safetyModel = noOutput,
safetyParam = 0,
steerMaxBP = [0],
steerMaxV = [1],
gasMaxBP = [0],
gasMaxV = [0.5],
brakeMaxBP = [0],
brakeMaxV = [1],
mass = 1700,
wheelbase = 2.7,
centerToFront = 1.35,
steerRatio = 13,
steerRatioRear = 0,
rotationalInertia = 2500,
tireStiffnessFront = 1e06,
tireStiffnessRear = 1e06,
longitudinalTuning = (
kpBP = [0],
kpV = [1],
kiBP = [0],
kiV = [1],
deadzoneBP = [0],
deadzoneV = [0] ),
lateralTuning = (pid = (kf = 0)),
steerLimitAlert = false,
vEgoStopping = 0,
directAccelControl = false,
stoppingControl = false,
startAccel = 0,
steerRateCost = 0,
steerControlType = torque,
radarOffCan = false,
steerActuatorDelay = 0,
openpilotLongitudinalControl = false,
carVin = "5XYZWDLAXHG440606",
isPandaBlackDEPRECATED = false,
dashcamOnly = false,
safetyModelPassive = silent,
transmissionType = unknown,

[outcast00096]

2020 Veloster Turbo Ultimate - SCC+LKAS - Should have stop and go (I haven't been able to use it, it likes to speed up when it should be slowing down while using the smart cruise control. I don't like how it barrels toward other cars when they are stopped.). I have a pull request on my Github with, I hope I did it right, the information you need.

Dongle ID abf11e7a8a5e6355

CAR.VELOSTER_2020_TURBO_ULTIMATE: {
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\000JS LKAS AT USA LHD 1.00 1.03 95740-J3000 K33',
],
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\000JS__ SCC H-CUP 1.00 1.02 95650-J3200',
],
(Ecu.engine, 0x7e0, None): [
b'391282BJF6',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308',
],
},

[moreno7798]

2020 KIA SPORTAGE (S Model)
Dongle ID: 1e56e8771f73bb46
Forward Collision Avoidance Assist
Blind-Spot Collision Warning
Rear Cross-Traffic Collision Warning
Lane Departure Warning
Lane Keeping Assist
Driver Attention Warning
High Beam Assist
Fingerprint 2.0:
carFw = [
( ecu = transmission,
fwVersion = "\xf1\x87KKKBBH312096U43Z\x9a\xaa\xaa\xaax\x89\x98\x99\x98\x88\x89\x88effV\x98\x88\xbf\xffw\xff\x8f\xf6\x19\x19\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TQL2G24NH0;\xd5\x1e\xc7",
address = 2017,
subAddress = 0 ),
( ecu = fwdCamera,
fwVersion = "\xf1\x00QL MFC AT USA LHD 1.00 1.05 99211-F1000 181204",
address = 1988,
subAddress = 0 ),
( ecu = engine,
fwVersion = "\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00",
address = 2016,
subAddress = 0 ) ],

[320Pilot]

2021 KIA K5

Dongle ID: 007d5e4ad9f86d13

K5 Finger Print:

67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8

carFw = [
( ecu = fwdRadar,
fwVersion = "\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ",
address = 2000,
subAddress = 0 ),
( ecu = eps,
fwVersion = "\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101\xf1\xa01.01",
address = 2004,
subAddress = 0 ),
( ecu = esp,
fwVersion = "\xf1\000DL ESC \006 101 \004\002 58910-L3200",
address = 2001,
subAddress = 0 ),
( ecu = fwdCamera,
fwVersion = "\xf1\000DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915",
address = 1988,
subAddress = 0 ),
( ecu = engine,
fwVersion = "\xf1\x87391212MKT0\xf1\xa00240",
address = 2016,
subAddress = 0 ),
( ecu = transmission,
fwVersion = "\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8",
address = 2017,
subAddress = 0 ) ],

(Ecu.type, 0xAddress-converted-to-hex, 0xSub-address-converted-to-hex-'None'-if-0): [
b'fwVersion',
b'existingFirmware',
],
},

[enriqueresendez]

2022 Hyundai Santa Fe
Dongle_id bf43d9df2b660eb0

[somkanae]

Honda HRV 2022 eHev
dongle id 1e4baee1aa2687a0
radarless like civic2022

'carParams': {'carFingerprint': 'mock',
'carFw': [{'address': 416961521, 'ecu': 'srs', 'fwVersion': b'77959-3N1-Z840\x00\x00', 'subAddress': 0},
{'address': 417001457, 'ecu': 'gateway', 'fwVersion': b'38897-3M0-Z010\x00\x00', 'subAddress': 0},
{'address': 416952561, 'ecu': 'eps', 'fwVersion': b'39990-3M0-J030\x00\x00', 'subAddress': 0},
{'address': 416964849, 'ecu': 'combinationMeter', 'fwVersion': b'78109-3N0-TA10\x00\x00', 'subAddress': 0},
{'address': 416985329, 'ecu': 'fwdRadar', 'fwVersion': b'8S102-3M3-T050\x00\x00', 'subAddress': 0},
{'address': 416950513, 'ecu': 'vsa', 'fwVersion': b'57114-3N1-T020\x00\x00', 'subAddress': 0}],

[somkanae]

CAR.HRV_22:{
(Ecu.eps, 0x18DA53F1, None):[
b'39990-3M0-J030\x00\x00'
],
(Ecu.gateway, 0x18DAEFF1, None):[
b'38897-3M0-Z010\x00\x00',
],
(Ecu.srs, 0x18DA53F1, None):[
b'77959-3N1-Z840\x00\x00'
],
(Ecu.combinationMeter, 0x18DA60F1, None):[
b'78109-3N0-TA10\x00\x00',
],
# This car doesn't have a radar, so is this really the camera fw?
(Ecu.fwdRadar, 0x18DAB0F1, None): [
b'8S102-3M3-T050\x00\x00'
],
(Ecu.vsa, 0x18DA28F1, None):[
b'57114-3N1-T020\x00\x00'
],
},