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HKG: Car Port for Kia Niro Hybrid 2023 (HDA1) (#26827)

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* HKG: Car Port for Kia Niro Hybrid 2023 (HDA1)

* bump opendbc

* bump

* Found gear signal

* Only set one flag

* bump opendbc

* Update CARS.md

* Update routes.py

* bump opendbc

* Update CARS.md

* some values cleanup

* new route with rlogs

* set from data

* merge

(3854+3391+3227+3336)/4

* fine move back down here for now

fine move back down here for now

* Update selfdrive/car/hyundai/interface.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: dae1331817
beeps
Jason Wen 2 years ago committed by GitHub
parent 72f3223951
commit 3c3f0da05a
7 changed files with 33 additions and 9 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 8
      selfdrive/car/hyundai/carstate.py
  4. 11
      selfdrive/car/hyundai/interface.py
  5. 17
      selfdrive/car/hyundai/values.py
  6. 1
      selfdrive/car/tests/routes.py
  7. 1
      selfdrive/car/torque_data/override.yaml

1
RELEASES.md
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@ -9,6 +9,7 @@ Version 0.9.1 (2023-2-20)
* Genesis GV60 2023 support thanks to sunnyhaibin!
* Hyundai Tucson 2022-23 support
* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
* Kia Sorento 2022-23 support thanks to sunnyhaibin!
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!

3
docs/CARS.md
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@ -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.
# 234 Supported Cars
# 235 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -107,6 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro Hybrid 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
|Kia|Niro Hybrid 2022|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||

8
selfdrive/car/hyundai/carstate.py
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@ -21,7 +21,9 @@ class CarState(CarStateBase):
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_SHIFTER"
if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
@ -425,7 +427,9 @@ class CarState(CarStateBase):
def get_can_parser_canfd(CP):
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_SHIFTER"
signals = [
("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
("WHEEL_SPEED_2", "WHEEL_SPEEDS"),

11
selfdrive/car/hyundai/interface.py
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@ -35,9 +35,12 @@ class CarInterface(CarInterfaceBase):
# non-HDA2
if 0x1cf not in fingerprint[4]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
# ICE cars do not have 0x130; GEARS message on 0x40 instead
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[4]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
if 0x40 not in fingerprint[4]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
if candidate not in CANFD_RADAR_SCC_CAR:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
@ -129,8 +132,8 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
ret.mass = 1737. + STD_CARGO_KG
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars
ret.wheelbase = 2.7
ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
tire_stiffness_factor = 0.385

17
selfdrive/car/hyundai/values.py
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@ -61,6 +61,8 @@ class HyundaiFlags(IntFlag):
ENABLE_BLINKERS = 32
CANFD_ALT_GEARS_2 = 64
class CAR:
# Hyundai
@ -100,6 +102,7 @@ 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_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
@ -208,6 +211,7 @@ 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_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a),
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
CAR.KIA_OPTIMA_H: [
@ -1627,6 +1631,14 @@ FW_VERSIONS = {
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ',
],
},
CAR.KIA_NIRO_HEV_2ND_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ',
],
},
}
CHECKSUM = {
@ -1644,7 +1656,7 @@ 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, CAR.KIA_K5_HEV_2020},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, 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, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, 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, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
@ -1652,7 +1664,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
# 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, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020} # 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, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_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, CAR.GENESIS_GV60_EV_1ST_GEN}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
@ -1714,4 +1726,5 @@ DBC = {
CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
}

1
selfdrive/car/tests/routes.py
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@ -127,6 +127,7 @@ routes = [
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),

1
selfdrive/car/torque_data/override.yaml
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@ -38,6 +38,7 @@ GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]

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