HKG: Car Port for Kia Sorento Plug-in Hybrid 2022 (#26635)

* HKG: Car Port for Kia Sorento Plug-in Hybrid 2022

* Add torque params

* Typo

* This car has SCC on bus 4, needs radar disable to use openpilot longitudinal :/

* Need to check on bus 4 as well

* Different unit signal

* Unit signal cleanup

* Add test route

* Regenerate car docs

* Different logic

* 2023 should be the same

* Fix 0x1a0 check race condition

* Update RELEASES.md

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

RELEASES.md

@@ -2,6 +2,7 @@ Version 0.9.1 (2022-12-XX)
 ========================
 * Adjust alert volume using ambient noise level
 * Removed driver monitoring timer resetting on interaction if face detected and distracted
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 
 Version 0.9.0 (2022-11-21)
 ========================

docs/CARS.md

@@ -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.
 
-# 215 Supported Cars
+# 216 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -104,6 +104,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Seltos 2021|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)](##)|Hyundai A|
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Kia|Sorento Plug-in Hybrid 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |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)|openpilot available[<sup>1</sup>](#footnotes)|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|

opendbc

@@ -1 +1 @@
-Subproject commit 871e054d9a94629d92c22fe89cae71af5b0d3823
+Subproject commit 18bff2369b44ecb36638885c974aae1891616ae5

selfdrive/car/hyundai/carstate.py

@@ -6,7 +6,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -197,7 +197,9 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
     ret.cruiseState.available = True
-    self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
+    distance_unit_msg = cruise_btn_msg if self.CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN else "CLUSTER_INFO"
+    self.is_metric = cp.vl[distance_unit_msg]["DISTANCE_UNIT"] != 1
     if not self.CP.openpilotLongitudinalControl:
       speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
       cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
@@ -206,7 +208,6 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
-    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -446,6 +447,9 @@ class CarState(CarStateBase):
       ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"),
     ]
 
+    if CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN:
+      signals.append(("DISTANCE_UNIT", cruise_btn_msg))
+
     checks = [
       ("WHEEL_SPEEDS", 100),
       (gear_msg, 100),

selfdrive/car/hyundai/interface.py

@@ -185,6 +185,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6
+    elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
+      ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
+      ret.wheelbase = 2.81
+      ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:

selfdrive/car/hyundai/values.py

@@ -93,6 +93,7 @@ class CAR:
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
   KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
   KIA_STINGER = "KIA STINGER GT2 2018"
   KIA_STINGER_2022 = "KIA STINGER 2022"
@@ -180,6 +181,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
   ],
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   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),
@@ -1394,6 +1396,14 @@ FW_VERSIONS = {
       b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00'
     ],
   },
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.06 99110-P4000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
+    ]
+  },
   CAR.KIA_EV6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
@@ -1478,15 +1488,15 @@ FEATURES = {
   "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}
+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, CAR.KIA_SORENTO_PHEV_4TH_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
-CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, }
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}  # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -1543,4 +1553,5 @@ DBC = {
   CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/tests/routes.py

@@ -98,6 +98,7 @@ routes = [
   CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
   CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
   CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
+  CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
   CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
   CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),

selfdrive/car/torque_data/override.yaml

@@ -34,6 +34,7 @@ HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
 KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
 KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
 GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
+KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]