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HKG: Car Port for 2022 Kia Stinger (#26397)

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* HKG: Car Port for 2022 Kia Stinger

* Substitute KIA STINGER GT2 2018 torque params

* bump panda

* Add test route

* Update CARS.md

* Not this checksum

* Update test route

* Update CARS.md

* Harness C -> Harness K

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/214/head
Jason Wen 3 years ago committed by GitHub
parent 8e91ce1eb4
commit 2d766fee14
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8 changed files with 30 additions and 5 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 2
      selfdrive/car/hyundai/carcontroller.py
  4. 3
      selfdrive/car/hyundai/hyundaican.py
  5. 2
      selfdrive/car/hyundai/interface.py
  6. 22
      selfdrive/car/hyundai/values.py
  7. 1
      selfdrive/car/tests/routes.py
  8. 1
      selfdrive/car/torque_data/substitute.yaml

1
RELEASES.md
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@ -30,6 +30,7 @@ Version 0.8.17 (2022-11-21)
* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
* Kia Sportage 2023 support thanks to sunnyhaibin!
* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
* Kia Stinger 2022 support thanks to sunnyhaibin!
Version 0.8.16 (2022-08-26)
========================

3
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 214 Supported Cars
# 215 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@ -107,6 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Kia|Telluride 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)](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|

2
selfdrive/car/hyundai/carcontroller.py
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@ -175,7 +175,7 @@ class CarController:
if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
# 5 Hz ACC options

3
selfdrive/car/hyundai/hyundaican.py
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@ -20,7 +20,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

2
selfdrive/car/hyundai/interface.py
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@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5
if candidate == CAR.KIA_OPTIMA_G4:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_STINGER:
elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable

22
selfdrive/car/hyundai/values.py
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@ -95,6 +95,7 @@ class CAR:
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
KIA_EV6 = "KIA EV6 2022"
@ -181,6 +182,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
CAR.KIA_EV6: [
HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l),
@ -790,6 +792,23 @@ FW_VERSIONS = {
b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
],
},
CAR.KIA_STINGER_2022: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
],
},
CAR.PALISADE: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ',
@ -1451,7 +1470,7 @@ FEATURES = {
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN}
@ -1496,6 +1515,7 @@ DBC = {
CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None),
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),

1
selfdrive/car/tests/routes.py
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@ -111,6 +111,7 @@ routes = [
CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2
CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1

1
selfdrive/car/torque_data/substitute.yaml
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@ -37,6 +37,7 @@ HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
KIA STINGER 2022: KIA STINGER GT2 2018
GENESIS G90 2017: GENESIS G70 2018
GENESIS G80 2017: GENESIS G70 2018
GENESIS G70 2020: HYUNDAI SONATA 2020

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