Kia Niro HEV 2021 port (#21779)

* Initial Niro HEV 2021 port.

* Add test route and update readme.

* Tweak configuration.

README.md

@@ -172,6 +172,7 @@ Community Maintained Cars and Features
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Kia       | Forte 2018-2021               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro Hybrid 2021              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro PHEV 2019                | SCC + LKAS        | Stock            | 10mph              | 32mph        |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |

selfdrive/car/hyundai/carcontroller.py

@@ -77,8 +77,8 @@ class CarController():
         self.last_resume_frame = frame
 
     # 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,
+    if 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.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
                                                    CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]:
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 

selfdrive/car/hyundai/hyundaican.py

@@ -17,9 +17,9 @@ 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,
+  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
-                         CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
+                         CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
-                         CAR.SONATA_HYBRID, CAR.KONA_HEV]:
+                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]:
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -135,11 +135,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
       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.KIA_NIRO_EV, CAR.KIA_NIRO_HEV]:
+    elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1737. + STD_CARGO_KG
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.73  # Spec
+      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
       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]]

selfdrive/car/hyundai/values.py

@@ -45,6 +45,7 @@ class CAR:
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_HEV = "KIA NIRO HYBRID 2019"
+  KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
   KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
   KIA_SELTOS = "KIA SELTOS 2021"
@@ -585,6 +586,24 @@ FW_VERSIONS = {
       b'\xf1\000DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
+  CAR.KIA_NIRO_HEV_2021: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00',
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.07 99211-G5000 201221',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
+    ],
+  },
   CAR.KIA_SELTOS: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         \xf1\xa01.05',],
     (Ecu.esp, 0x7d1, None): [
@@ -696,13 +715,13 @@ 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_NIRO_HEV, 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]),
+  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, 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]),
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
   "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_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, CAR.KONA_HEV]),
 }
 
-HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.SONATA_HYBRID, CAR.KONA_HEV])  # these cars use a different gas signal
+HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV])  # 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 = {
@@ -721,6 +740,7 @@ DBC = {
   CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),

selfdrive/test/test_routes.py

@@ -85,6 +85,7 @@ routes = [
   TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
   TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV),
+  TestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
   TestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   TestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
   TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),