diff --git a/README.md b/README.md index 5e7c211442..ae53e11eaf 100644 --- a/README.md +++ b/README.md @@ -163,6 +163,7 @@ Community Maintained Cars and Features | Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph | +| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph | | Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph | | Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph | diff --git a/RELEASES.md b/RELEASES.md index 6c18134503..6bcd9fce4e 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.8.3 (2021-XX-XX) ======================== + * Kia Ceed 2019 support thanks to ZanZaD13! Version 0.8.2 (2021-02-26) ======================== diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index e71ba6d6e8..0b04fd351a 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -81,7 +81,8 @@ 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.IONIQ_EV_2020]: + if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020, + CAR.KIA_CEED]: can_sends.append(create_lfahda_mfc(self.packer, enabled)) return can_sends diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index f66be1e132..450915c5ef 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -167,6 +167,15 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.KIA_CEED: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 1450. + STD_CARGO_KG + ret.wheelbase = 2.65 + ret.steerRatio = 13.75 + tire_stiffness_factor = 0.5 + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # Genesis elif candidate == CAR.GENESIS_G70: @@ -199,7 +208,7 @@ class CarInterface(CarInterfaceBase): # 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, CAR.SONATA_LF, - CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80]: + CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED]: ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy ret.centerToFront = ret.wheelbase * 0.4 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 987ab736a3..09752c7485 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -41,6 +41,7 @@ class CAR: KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_STINGER = "KIA STINGER GT2 2018" + KIA_CEED = "KIA CEED INTRO ED 2019" # Genesis GENESIS_G70 = "GENESIS G70 2018" @@ -140,6 +141,9 @@ FINGERPRINTS = { CAR.KIA_NIRO_EV: [{ 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 }], + CAR.KIA_CEED: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 576: 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, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1427: 6, 1456: 4, 2015: 8 + }], CAR.KIA_FORTE: [{ 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 576: 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, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 }], @@ -158,7 +162,7 @@ FINGERPRINTS = { } # Don't use these fingerprints for fingerprinting, they are still used for ECU detection -IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA] +IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA, CAR.KIA_CEED] FW_VERSIONS = { CAR.IONIQ_EV_2020: { @@ -347,6 +351,14 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ], (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ], }, + CAR.KIA_CEED: { + (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', ], + (Ecu.esp, 0x7D4, None): [b'\xf1\000CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', ], + (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ], + (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ], + (Ecu.transmission, 0x7E1, None): [b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000', ], + (Ecu.esp, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ], + }, CAR.KONA_EV: { (Ecu.esp, 0x7D1, None): [ b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000\xf1\xa01.05', @@ -428,6 +440,7 @@ DBC = { CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), CAR.PALISADE: dbc_dict('hyundai_kia_generic', None), CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), } STEER_THRESHOLD = 150 diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py index cf87d8346b..2abc65f8d9 100755 --- a/selfdrive/test/test_car_models.py +++ b/selfdrive/test/test_car_models.py @@ -197,6 +197,10 @@ routes = { 'carFingerprint': HYUNDAI.SANTA_FE, 'enableCamera': True, }, + "e0e98335f3ebc58f|2021-03-07--16-38-29": { + 'carFingerprint': HYUNDAI.KIA_CEED, + 'enableCamera': True, + }, "7653b2bce7bcfdaa|2020-03-04--15-34-32": { 'carFingerprint': HYUNDAI.KIA_OPTIMA, 'enableCamera': True, @@ -497,7 +501,7 @@ routes = { 'carFingerprint': MAZDA.Mazda3, 'enableCamera': True, }, - "b72d3ec617c0a90f|2020-12-11--15-38-17": { + "b72d3ec617c0a90f|2020-12-11--15-38-17": { 'carFingerprint': NISSAN.ALTIMA, 'enableCamera': True, },