HKG: Car Port for Genesis G70 2024

opendbc/car/hyundai/carcontroller.py

@@ -141,6 +141,9 @@ def update(self, CC, CS, now_nanos):
       if not self.CP.openpilotLongitudinalControl:
         can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
 
+        if self.frame % 7 and self.CP.flags & HyundaiFlags.CAMERA_SCC:
+          can_sends.append(hyundaican.create_hda11_mfc(self.packer, self.frame, CS.hda11_mfc))
+
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0

opendbc/car/hyundai/carstate.py

@@ -166,9 +166,12 @@ def update(self, can_parsers) -> structs.CarState:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
       ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
-    # save the entire LKAS11 and CLU11
+    # save the entire LKAS11, CLU11, and HDA11_MFC
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
+    if not self.CP.openpilotLongitudinalControl and self.CP.flags & HyundaiFlags.CAMERA_SCC:
+      self.hda11_mfc = copy.copy(cp_cam.vl["HDA11_MFC"])
+
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     prev_cruise_buttons = self.cruise_buttons[-1]
     prev_main_buttons = self.main_buttons[-1]
@@ -376,6 +379,7 @@ def get_can_parsers(self, CP):
       cam_messages += [
         ("SCC11", 50),
         ("SCC12", 50),
+        ("HDA11_MFC", 14),
       ]
 
       if CP.flags & HyundaiFlags.USE_FCA.value:

opendbc/car/hyundai/fingerprints.py

@@ -1173,4 +1173,12 @@
       b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
     ],
   },
+  CAR.GENESIS_G70_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.02 99211-G9500 230712',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IKPE RDR -----      1.00 1.00 99110-G9600         ',
+    ],
+  },
 }

opendbc/car/hyundai/hyundaican.py

@@ -38,7 +38,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
                            CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                            CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
                            CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.GENESIS_G70_2024):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -117,12 +117,30 @@ def create_clu11(packer, frame, clu11, button, CP):
   return packer.make_can_msg("CLU11", bus, values)
 
 
+def create_hda11_mfc(packer, frame, hda11_mfc):
+  values = {s: hda11_mfc[s] for s in [
+    "Counter",
+    "NEW_SIGNAL_1",
+    "NEW_SIGNAL_2",
+    "NEW_SIGNAL_3",
+    "NEW_SIGNAL_5",
+    "NEW_SIGNAL_6",
+    "NEW_SIGNAL_7",
+    "NEW_SIGNAL_9",
+  ]}
+  values["NEW_SIGNAL_4"] = 0x00
+  values["NEW_SIGNAL_8"] = 0x00
+  values["Counter"] = frame % 0x10
+  return packer.make_can_msg("HDA11_MFC", 0, values)
+
+
 def create_lfahda_mfc(packer, enabled):
   values = {
     "LFA_Icon_State": 2 if enabled else 0,
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
+
 def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
   commands = []
 
@@ -184,6 +202,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
 
   return commands
 
+
 def create_acc_opt(packer):
   commands = []
 
@@ -203,6 +222,7 @@ def create_acc_opt(packer):
 
   return commands
 
+
 def create_frt_radar_opt(packer):
   frt_radar11_values = {
     "CF_FCA_Equip_Front_Radar": 1,

opendbc/car/hyundai/tests/test_hyundai.py

@@ -147,7 +147,8 @@ def test_expected_platform_codes(self, subtests):
   def test_platform_code_ecus_available(self, subtests):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90,
+                                    CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA, CAR.GENESIS_G70_2024}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():

opendbc/car/hyundai/values.py

@@ -521,6 +521,11 @@ class CAR(Platforms):
     GENESIS_G70.specs,
     flags=HyundaiFlags.MANDO_RADAR,
   )
+  GENESIS_G70_2024 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Genesis G70 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1769, wheelbase=2.83, steerRatio=12.9),  # steerRatio guesstimate from G70 1st Gen platform
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAMERA_SCC,
+  )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
       # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)

opendbc/car/tests/routes.py

@@ -181,6 +181,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
   CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
+  CarTestRoute("a6310918f9699ef5/2024-02-28--14-55-10", HYUNDAI.GENESIS_G70_2024), # 3.3T
   CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 
   CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.TOYOTA_ALPHARD_TSS2),

opendbc/car/torque_data/override.toml

@@ -72,6 +72,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
+"GENESIS_G70_2024" = [2.7, 2.7, 0.11]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]