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2020 Ioniq PHEV Support (#21147)

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* use DriverOverride

* keep using EMS16 msg which is available on manuals, TCS13 is not

* Need to differentiate between hybrid ev and ev

* bump opendbc

* add to release files

* try this

* try this

* fixup

* shouldn't need multiple dbc's

* update comments

* combine phev into ev_hybrid

* clean up

* accel_pedal_pos is a percent

* bump

* bump

* update list name

* do this in another PR

* not 2020+

* explicitly set safety param

* full hyundai gas press test coverage

* bump

* bump

* bump

* bump

* like this convention better

* bump

* revert some null gas_signal changes for now

* revert style change

* Add Ioniq PHEV 2020

* Use appropriate signals

* can't verify this to be true

* defaults

* order should really be opposite...

* original style

* bump panda

* bump

* update releases

* bump panda

* Update test route

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: e7df9adfe3
commatwo_master
ShaneSmiskol 4 years ago committed by GitHub
parent ee9ac35ca5
commit 0ba3c1ada3
9 changed files with 55 additions and 18 deletions
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  1. 1
      README.md
  2. 1
      RELEASES.md
  3. 2
      panda
  4. 2
      selfdrive/car/hyundai/carcontroller.py
  5. 24
      selfdrive/car/hyundai/carstate.py
  6. 2
      selfdrive/car/hyundai/hyundaican.py
  7. 14
      selfdrive/car/hyundai/interface.py
  8. 26
      selfdrive/car/hyundai/values.py
  9. 1
      selfdrive/test/test_routes.py

1
README.md
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@ -155,6 +155,7 @@ Community Maintained Cars and Features
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Ioniq PHEV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |

1
RELEASES.md
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@ -1,5 +1,6 @@
Version 0.8.6 (2021-XX-XX)
========================
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
Version 0.8.5 (2021-06-11)
========================

2
panda

@ -1 +1 @@
Subproject commit e99d41e6cf43ecb6bdc69f190532493d270f19aa
Subproject commit ad12330d506ca31fe16f99a5b5aca76aab8a1ec9

2
selfdrive/car/hyundai/carcontroller.py
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@ -82,7 +82,7 @@ class CarController():
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KONA_EV,
CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
can_sends.append(create_lfahda_mfc(self.packer, enabled))
return can_sends

24
selfdrive/car/hyundai/carstate.py
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@ -1,6 +1,6 @@
import copy
from cereal import car
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV
@ -56,11 +56,14 @@ class CarState(CarStateBase):
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
if self.CP.carFingerprint in EV_HYBRID:
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 256.
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if self.CP.carFingerprint in HYBRID_CAR:
ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
else:
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
ret.gasPressed = ret.gas > 0
else:
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# TODO: refactor gear parsing in function
@ -228,10 +231,15 @@ class CarState(CarStateBase):
]
checks += [("LCA11", 50)]
if CP.carFingerprint in EV_HYBRID:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0),
]
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if CP.carFingerprint in HYBRID_CAR:
signals += [
("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0)
]
else:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0)
]
checks += [
("E_EMS11", 50),
]

2
selfdrive/car/hyundai/hyundaican.py
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@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

14
selfdrive/car/hyundai/interface.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.car.hyundai.values import CAR
from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -108,7 +108,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020]:
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate != CAR.IONIQ_EV_2020:
if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005
@ -220,11 +220,17 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.KIA_SELTOS,
CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
# set appropriate safety param for gas signal
if candidate in HYBRID_CAR:
ret.safetyParam = 2
elif candidate in EV_CAR:
ret.safetyParam = 1
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for

26
selfdrive/car/hyundai/values.py
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@ -27,6 +27,7 @@ class CAR:
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
KONA = "HYUNDAI KONA 2020"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
SANTA_FE = "HYUNDAI SANTA FE 2019"
@ -153,6 +154,23 @@ FINGERPRINTS = {
FW_VERSIONS = {
CAR.IONIQ_PHEV: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\000AEhe SCC FHCUP 1.00 1.02 99110-G2100 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\000AE MDPS C 1.00 1.01 56310/G2510 4APHC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\000AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6F6051\000\000\000\000\000\000\000\000',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
],
},
CAR.IONIQ_EV_2020: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ',
@ -616,13 +634,14 @@ FEATURES = {
# which message has the gear
"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]),
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
}
EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
HYBRID_CAR = set([CAR.IONIQ_PHEV]) # these cars use a different gas signal
EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
@ -632,6 +651,7 @@ DBC = {
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),

1
selfdrive/test/test_routes.py
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@ -73,6 +73,7 @@ routes = [
TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),

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