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Add support for Hyundai Grandeur Diesel 2019 #307

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atawi44 wants to merge 3 commits into from
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Add support for Hyundai Grandeur Diesel 2019 #307

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02158d0
Add torque data for HYUNDAI_GRANDEUR_DIESEL_2019
atawi44 May 3, 2026
6d0e5ea
Add support for Hyundai Grandeur Diesel 2019
atawi44 May 3, 2026
9d6c54e
Add firmware versions for Hyundai Grandeur Diesel 2019
atawi44 May 3, 2026
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11 changes: 11 additions & 0 deletions selfdrive/car/hyundai/fingerprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,17 @@
}

FW_VERSIONS = {
CAR.HYUNDAI_GRANDEUR_DIESEL_2019: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IG__ SCC FHCUP 1.00 1.01 96400-G8500 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00IG MDPS C 1.00 1.01 56310G8350\x00 4IG8C101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IG MFC AT KOR LHD 1.00 1.00 95740-M9200 170919',
],
},
CAR.HYUNDAI_AZERA_6TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ',
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5 changes: 5 additions & 0 deletions selfdrive/car/hyundai/values.py
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Expand Up @@ -145,6 +145,11 @@ def init(self):

class CAR(Platforms):
# Hyundai
HYUNDAI_GRANDEUR_DIESEL_2019 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Azera Diesel 19", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1650, wheelbase=2.885, steerRatio=14.5),
flags=HyundaiFlags.CLUSTER_GEARS,
)
HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
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1 change: 1 addition & 0 deletions selfdrive/car/torque_data/override.toml
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Expand Up @@ -65,6 +65,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
"GMC_ACADIA" = [1.6, 1.6, 0.2]
"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
"HYUNDAI_GRANDEUR_DIESEL_2019" = [1.8, 1.8, 0.1]
"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
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