commaai · sunnyhaibin · Sep 4, 2023 · Sep 4, 2023 · Sep 4, 2023 · Sep 4, 2023
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,6 +1,7 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Hyundai Nexo 2021 support thanks to sunnyhaibin!
 
 Version 0.9.7 (2024-06-13)
 ========================

diff --git a/docs/CARS.md b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 287 Supported Cars
+# 288 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -104,6 +104,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
+|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

diff --git a/opendbc b/opendbc
diff --git a/panda b/panda
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
@@ -33,6 +33,8 @@ def __init__(self, CP):
  self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
  elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
  self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
+ elif CP.flags & HyundaiFlags.FCEV:
+ self.shifter_values = can_define.dv["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
  else: # preferred and elect gear methods use same definition
  self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
@@ -122,8 +124,10 @@ def update(self, cp, cp_cam):
  ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
  ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
- if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
- if self.CP.flags & HyundaiFlags.HYBRID:
+ if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
+ if self.CP.flags & HyundaiFlags.FCEV:
+ ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 254.
+ elif self.CP.flags & HyundaiFlags.HYBRID:
  ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
  else:
  ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
@@ -136,6 +140,8 @@ def update(self, cp, cp_cam):
  # as this seems to be standard over all cars, but is not the preferred method.
  if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
  gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
+ elif self.CP.flags & HyundaiFlags.FCEV:
+ gear = cp.vl["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
  elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
  gear = cp.vl["CLU15"]["CF_Clu_Gear"]
  elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
@@ -283,6 +289,8 @@ def get_can_parser(self, CP):
 
  if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
  messages.append(("E_EMS11", 50))
+ elif CP.flags & HyundaiFlags.FCEV:
+ messages.append(("ACCELERATOR", 100))
  else:
  messages += [
  ("EMS12", 100),
@@ -291,6 +299,8 @@ def get_can_parser(self, CP):
 
  if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
  messages.append(("ELECT_GEAR", 20))
+ elif CP.flags & HyundaiFlags.FCEV:
+ messages.append(("EMS20", 100))
  elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
  pass
  elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:

diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
@@ -1138,4 +1138,18 @@
  b'\xf1\x00US4_ RDR ----- 1.00 1.00 99110-CG000 ',
  ],
  },
+ CAR.HYUNDAI_NEXO_1ST_GEN: {
+ (Ecu.abs, 0x7D1, None): [
+ b'\xf1\x00FE IEB \x01 312 \x11\x13 58520-M5000',
+ ],
+ (Ecu.fwdCamera, 0x7C4, None): [
+ b'\xf1\x00FE MFC AT KOR LHD 1.00 1.00 99211-M5100 201218',
+ ],
+ (Ecu.eps, 0x7D4, None): [
+ b'\xf1\x00FE MDPS C 1.00 1.05 56340-M5000 9903',
+ ],
+ (Ecu.fwdRadar, 0x7D0, None): [
+ b'\xf1\x00FE__ SCC FHCUP 1.00 1.05 99110-M5000 ',
+ ],
+ },
 }
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -3,7 +3,7 @@
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
  CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
- UNSUPPORTED_LONGITUDINAL_CAR, Buttons
+ UNSUPPORTED_LONGITUDINAL_CAR, Buttons, FCEV_CAR
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -62,6 +62,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
  ret.flags |= HyundaiFlags.HYBRID.value
  elif candidate in EV_CAR:
  ret.flags |= HyundaiFlags.EV.value
+ elif candidate in FCEV_CAR:
+ ret.flags |= HyundaiFlags.FCEV.value
 
  # Send LFA message on cars with HDA
  if 0x485 in fingerprint[2]:
@@ -129,6 +131,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
  ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
  elif ret.flags & HyundaiFlags.EV:
  ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
+ elif ret.flags & HyundaiFlags.FCEV:
+ ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_FCEV_GAS
 
  if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
  ret.flags |= HyundaiFlags.ALT_LIMITS.value

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
@@ -95,6 +95,8 @@ class HyundaiFlags(IntFlag):
 
  MIN_STEER_32_MPH = 2 ** 23
 
+ FCEV = 2 ** 24
+
 
 class Footnote(Enum):
  CANFD = CarFootnote(
@@ -240,6 +242,11 @@ class CAR(Platforms):
  CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
  flags=HyundaiFlags.HYBRID,
  )
+ HYUNDAI_NEXO_1ST_GEN = HyundaiPlatformConfig(
+ [HyundaiCarDocs("Hyundai Nexo 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
+ CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.79, steerRatio=14.19), # https://www.hyundainews.com/assets/documents/original/42768-2021NEXOProductGuideSpecs.pdf
+ flags=HyundaiFlags.FCEV,
+ )
  HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
  [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
  car_parts=CarParts.common([CarHarness.hyundai_d]))],
@@ -745,6 +752,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 
 EV_CAR = CAR.with_flags(HyundaiFlags.EV)
 
+FCEV_CAR = CAR.with_flags(HyundaiFlags.FCEV)
+
 LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
 
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
@@ -107,6 +107,7 @@ class CarTestRoute(NamedTuple):
  CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
  CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
+ CarTestRoute("a74afe0cf708748f|2023-09-10--11-18-49", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),
  CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
  CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),

diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
@@ -68,6 +68,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
 "LEXUS_GS_F" = [2.5, 2.5, 0.08]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
+"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]