Optima: split into two platforms (#24815)

* Add missing fw versions for 2019 Optima

* move versions to new platform

* add temp fw version notes

temp notes

* clean up

* Update docs

* add fw versions from the last 180 days

* add tests

* fix

* remove FPv1 for Optima

* seems like the 2016 is the same

* revert

* add versions from our 2019 Optima

* label/move some versions

* add some versions from a 2020! (3d96bd05b5513638)

* this is from the same 2017 as earlier
(4f930156368f7830)

* vin lookup isn't perfect

* Revert "vin lookup isn't perfect"

This reverts commit 62c563bc45.

* a 2020 (df71aec6e636d7e4)

* cleanup, this transmission is also a 2020 version

df71aec6e636d7e4|2021-10-07--17-59-28

* this comes with scc

* one line

* revert

* bump panda

* add our transmission FW

* Add test route

panda

@@ -1 +1 @@
-Subproject commit 046fd58e8d64c58ed80769fcbec5ac2417a04c71
+Subproject commit 11ea112258b66a0969fa340cd5e2d870378e5c5d

selfdrive/car/hyundai/hyundaican.py

@@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 
   # Likely cars lacking the ability to show individual lane lines in the dash
-  elif car_fingerprint in (CAR.KIA_OPTIMA,):
+  elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019):
     # SysWarning 4 = keep hands on wheel + beep
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 

selfdrive/car/hyundai/interface.py

@@ -202,11 +202,13 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.timeConstantV = [1.4]
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
-    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
+    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.KIA_OPTIMA_H):
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
+      if candidate == CAR.KIA_OPTIMA:
+        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005

selfdrive/car/hyundai/values.py

@@ -85,7 +85,8 @@ class CAR:
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
-  KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
+  KIA_OPTIMA = "KIA OPTIMA 2016"
+  KIA_OPTIMA_2019 = "KIA OPTIMA 2019"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@@ -156,10 +157,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
     HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
   ],
-  CAR.KIA_OPTIMA: [
-    HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
-    HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g),
-  ],
+  CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b),  # TODO: may support 2016, 2018
+  CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g),
   CAR.KIA_OPTIMA_H: [
     HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
     HyundaiCarInfo("Kia Optima Hybrid 2019", "Smart Cruise Control (SCC)"),
@@ -230,9 +229,6 @@ FINGERPRINTS = {
   CAR.SONATA_LF: [
     {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
   ],
-  CAR.KIA_OPTIMA: [{
-    64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8, 1371: 8, 1397: 8, 1961: 8
-  }],
   CAR.KIA_SORENTO: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
   }],
@@ -1144,25 +1140,40 @@ FW_VERSIONS = {
   },
   CAR.KIA_OPTIMA: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
+      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
     ],
     (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
+      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
     ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00',
+    ],
+  },
+  CAR.KIA_OPTIMA_2019: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
+      b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260",
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
-      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31',
+      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
+      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
+      b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
+      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
       b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
       b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
+      b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
       b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
     ],
   },
   CAR.ELANTRA_2021: {
@@ -1358,7 +1369,7 @@ CHECKSUM = {
 FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
-  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
   "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
@@ -1374,7 +1385,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {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_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
+LEGACY_SAFETY_MODE_CAR = {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_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
@@ -1400,6 +1411,7 @@ DBC = {
   CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_2019: 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),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format

selfdrive/car/tests/routes.py

@@ -89,6 +89,7 @@ routes = [
   CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
   CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
+  CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_2019, segment=0),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
   CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),

selfdrive/car/torque_data/substitute.yaml

@@ -17,7 +17,8 @@ LEXUS RC 2020: LEXUS NX 2020
 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 
-KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020
+KIA OPTIMA 2016: HYUNDAI SONATA 2020
+KIA OPTIMA 2019: HYUNDAI SONATA 2020
 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020