Kia EV6 (#24485)

* ev6 squash

* test route

* cleanup

* remove those

* resume spam

* setme

* more reliable button pressing

* new steer signals

* for now

* update docs

opendbc

@@ -1 +1 @@
-Subproject commit 210237fa635eeb76ad855c2031d2cad3bde3a2c0
+Subproject commit 7701277d2666119bc7fcaca9f8cfefd50cd5b071

release/files_common

@@ -491,6 +491,7 @@ opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
 opendbc/honda_insight_ex_2019_can_generated.dbc
 opendbc/acura_ilx_2016_nidec.dbc
 
+opendbc/kia_ev6.dbc
 opendbc/hyundai_kia_generic.dbc
 opendbc/hyundai_kia_mando_front_radar.dbc
 

selfdrive/car/hyundai/carcontroller.py

@@ -3,8 +3,8 @@ from common.realtime import DT_CTRL
 from common.numpy_fast import clip, interp
 from common.conversions import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc, create_acc_commands, create_acc_opt, create_frt_radar_opt
+from selfdrive.car.hyundai import hda2can, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -44,13 +44,12 @@ class CarController:
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
     self.steer_rate_limited = False
-    self.last_resume_frame = 0
+    self.last_button_frame = 0
     self.accel = 0
 
   def update(self, CC, CS):
     actuators = CC.actuators
     hud_control = CC.hudControl
-    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     # Steering Torque
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
@@ -67,58 +66,75 @@ class CarController:
 
     can_sends = []
 
-    # tester present - w/ no response (keeps radar disabled)
+    if self.CP.carFingerprint in HDA2_CAR:
-    if self.CP.openpilotLongitudinalControl:
+      # steering control
-      if self.frame % 100 == 0:
+      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
-        can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
+
-
+      # cruise cancel
-    can_sends.append(create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-                                   CS.lkas11, sys_warning, sys_state, CC.enabled,
+        if CC.cruiseControl.cancel:
-                                   hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+          for _ in range(20):
-                                   left_lane_warning, right_lane_warning))
+            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False))
-
+          self.last_button_frame = self.frame
-    if not self.CP.openpilotLongitudinalControl:
+
-      if pcm_cancel_cmd:
+        # cruise standstill resume
-        can_sends.append(create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
+        elif CC.enabled and CS.out.cruiseState.standstill:
-      elif CS.out.cruiseState.standstill:
+          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
-        # send resume at a max freq of 10Hz
+          self.last_button_frame = self.frame
-        if (self.frame - self.last_resume_frame) * DT_CTRL > 0.1:
+    else:
-          # send 25 messages at a time to increases the likelihood of resume being accepted
+
-          can_sends.extend([create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+      # tester present - w/ no response (keeps radar disabled)
-          self.last_resume_frame = self.frame
+      if self.CP.openpilotLongitudinalControl:
-
+        if self.frame % 100 == 0:
-    if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
+          can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
-      accel = actuators.accel
+
-      jerk = 0
+      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
-
+                                     CS.lkas11, sys_warning, sys_state, CC.enabled,
-      if CC.longActive:
+                                     hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-        jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
+                                     left_lane_warning, right_lane_warning))
-        if accel < 0:
+
-          accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
+      if not self.CP.openpilotLongitudinalControl:
-
+        if CC.cruiseControl.cancel:
-      accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
-
+        elif CS.out.cruiseState.standstill:
-      lead_visible = False
+          # send resume at a max freq of 10Hz
-      stopping = actuators.longControlState == LongCtrlState.stopping
+          if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
-      set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
+            # send 25 messages at a time to increases the likelihood of resume being accepted
-      can_sends.extend(create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
-                                           set_speed_in_units, stopping, CS.out.gasPressed))
+            self.last_button_frame = self.frame
-      self.accel = accel
+
-
+      if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
-    # 20 Hz LFA MFA message
+        accel = actuators.accel
-    if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
+        jerk = 0
-                                                        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, CAR.SANTA_FE_2022,
+        if CC.longActive:
-                                                        CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
+          jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
-      can_sends.append(create_lfahda_mfc(self.packer, CC.enabled))
+          if accel < 0:
-
+            accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
-    # 5 Hz ACC options
+
-    if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
+        accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-      can_sends.extend(create_acc_opt(self.packer))
+
-
+        lead_visible = False
-    # 2 Hz front radar options
+        stopping = actuators.longControlState == LongCtrlState.stopping
-    if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
+        set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
-      can_sends.append(create_frt_radar_opt(self.packer))
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
+                                             set_speed_in_units, stopping, CS.out.gasPressed))
+        self.accel = accel
+
+      # 20 Hz LFA MFA message
+      if self.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.KONA_EV,
+                                                          CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
+                                                          CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
+
+      # 5 Hz ACC options
+      if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
+        can_sends.extend(hyundaican.create_acc_opt(self.packer))
+
+      # 2 Hz front radar options
+      if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
+        can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX

selfdrive/car/hyundai/carstate.py

@@ -5,7 +5,7 @@ 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 DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR, Buttons
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 4
@@ -19,14 +19,23 @@ 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)
 
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if CP.carFingerprint in HDA2_CAR:
+      self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
+    elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
     else:  # preferred and elect gear methods use same definition
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
+    self.brake_error = False
+    self.park_brake = False
+    self.buttons_counter = 0
+
   def update(self, cp, cp_cam):
+    if self.CP.carFingerprint in HDA2_CAR:
+      return self.update_hda2(cp, cp_cam)
+
     ret = car.CarState.new_message()
 
     ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
@@ -120,8 +129,55 @@ class CarState(CarStateBase):
 
     return ret
 
+  def update_hda2(self, cp, cp_cam):
+    ret = car.CarState.new_message()
+
+    ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
+    ret.gasPressed = ret.gas > 1e-3
+    ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
+
+    ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
+    ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
+
+    gear = cp.vl["ACCELERATOR"]["GEAR"]
+    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
+
+    # TODO: figure out positions
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
+    )
+    ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw < 0.1
+
+    ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
+    ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
+    ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
+                                                                      cp.vl["BLINKERS"]["RIGHT_LAMP"])
+
+    ret.cruiseState.available = True
+    ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
+    ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+
+    speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
+    ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
+
+    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"]
+
+    return ret
+
   @staticmethod
   def get_can_parser(CP):
+    if CP.carFingerprint in HDA2_CAR:
+      return CarState.get_can_parser_hda2(CP)
+
     signals = [
       # sig_name, sig_address
       ("WHL_SPD_FL", "WHL_SPD11"),
@@ -256,6 +312,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
+    if CP.carFingerprint in HDA2_CAR:
+      return None
+
     signals = [
       # sig_name, sig_address
       ("CF_Lkas_LdwsActivemode", "LKAS11"),
@@ -280,3 +339,50 @@ class CarState(CarStateBase):
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+
+  @staticmethod
+  def get_can_parser_hda2(CP):
+    signals = [
+      ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
+      ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
+      ("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
+      ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
+
+      ("ACCELERATOR_PEDAL", "ACCELERATOR"),
+      ("GEAR", "ACCELERATOR"),
+      ("BRAKE_PRESSED", "BRAKE"),
+
+      ("STEERING_RATE", "STEERING_SENSORS"),
+      ("STEERING_ANGLE", "STEERING_SENSORS"),
+      ("STEERING_COL_TORQUE", "MDPS"),
+      ("STEERING_OUT_TORQUE", "MDPS"),
+
+      ("CRUISE_ACTIVE", "SCC1"),
+      ("SET_SPEED", "CRUISE_INFO"),
+      ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+      ("_COUNTER", "CRUISE_BUTTONS"),
+
+      ("DISTANCE_UNIT", "CLUSTER_INFO"),
+
+      ("LEFT_LAMP", "BLINKERS"),
+      ("RIGHT_LAMP", "BLINKERS"),
+
+      ("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"),
+      ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"),
+    ]
+
+    checks = [
+      ("WHEEL_SPEEDS", 100),
+      ("ACCELERATOR", 100),
+      ("BRAKE", 100),
+      ("STEERING_SENSORS", 100),
+      ("MDPS", 100),
+      ("SCC1", 50),
+      ("CRUISE_INFO", 50),
+      ("CRUISE_BUTTONS", 50),
+      ("CLUSTER_INFO", 4),
+      ("BLINKERS", 4),
+      ("DOORS_SEATBELTS", 4),
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5)

selfdrive/car/hyundai/hda2can.py

@@ -0,0 +1,23 @@
+def create_lkas(packer, enabled, frame, lat_active, apply_steer):
+  values = {
+    "LKA_MODE": 2,
+    "LKA_ICON": 2 if enabled else 1,
+    "TORQUE_REQUEST": apply_steer,
+    "LKA_ASSIST": 0,
+    "STEER_REQ": 1 if lat_active else 0,
+    "STEER_MODE": 0,
+    "SET_ME_1": 0,
+    "NEW_SIGNAL_1": 0,
+    "NEW_SIGNAL_2": 0,
+  }
+  return packer.make_can_msg("LKAS", 4, values, frame % 255)
+
+
+def create_buttons(packer, cnt, cancel, resume):
+  values = {
+    "_COUNTER": cnt % 0xf,
+    "SET_ME_1": 1,
+    "DISTANCE_BTN": 1 if resume else 0,
+    "PAUSE_RESUME_BTN": 1 if cancel else 0,
+  }
+  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)

selfdrive/car/hyundai/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerRateCost = 0.5
@@ -243,6 +243,21 @@ 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_EV6:
+      ret.mass = 2055 + STD_CARGO_KG
+      ret.wheelbase = 2.9
+      ret.steerRatio = 16.
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+                           get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
+      tire_stiffness_factor = 0.65
+
+      max_lat_accel = 2.
+      ret.lateralTuning.init('torque')
+      ret.lateralTuning.torque.useSteeringAngle = True
+      ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
+      ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
+      ret.lateralTuning.torque.ki = 0.1 / max_lat_accel
+      ret.lateralTuning.torque.friction = 0.01
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
@@ -321,7 +336,8 @@ class CarInterface(CarInterfaceBase):
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
+    allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR
+    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True)
 
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)

selfdrive/car/hyundai/values.py

@@ -7,7 +7,7 @@ from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
 Ecu = car.CarParams.Ecu
 
-# Steer torque limits
+
 class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
@@ -15,7 +15,9 @@ class CarControllerParams:
   def __init__(self, CP):
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    if CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
+    if CP.carFingerprint in HDA2_CAR:
+      self.STEER_MAX = 150
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
                              CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
                              CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
@@ -67,6 +69,7 @@ class CAR:
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
   KIA_STINGER = "KIA STINGER GT2 2018"
   KIA_CEED = "KIA CEED INTRO ED 2019"
+  KIA_EV6 = "KIA EV6 2022"
 
   # Genesis
   GENESIS_G70 = "GENESIS G70 2018"
@@ -138,6 +141,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.none),
 
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
@@ -1166,6 +1170,21 @@ FW_VERSIONS = {
       b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00'
     ],
   },
+  CAR.KIA_EV6: {
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x8758520CV100\xf1\x00CV  IEB \x02 101!\x10\x18 58520-CV100',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
+      b'\xf1\x8799110CV000\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1183,6 +1202,8 @@ FEATURES = {
   "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, 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_DIESEL_2019},
 }
 
+HDA2_CAR = {CAR.KIA_EV6, }
+
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, 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}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
 
@@ -1230,6 +1251,7 @@ DBC = {
   CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_EV6: dbc_dict('kia_ev6', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
 }
 

selfdrive/car/tests/routes.py

@@ -98,6 +98,7 @@ routes = [
   TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
   TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
   TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
+  TestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),
   TestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV),

selfdrive/car/tests/test_models.py

@@ -69,7 +69,7 @@ class TestCarModel(unittest.TestCase):
         continue
 
       can_msgs = []
-      fingerprint = {i: dict() for i in range(3)}
+      fingerprint = defaultdict(dict)
       for msg in lr:
         if msg.which() == "can":
           for m in msg.can:
@@ -98,8 +98,10 @@ class TestCarModel(unittest.TestCase):
 
     # TODO: check safetyModel is in release panda build
     self.safety = libpandasafety_py.libpandasafety
-    set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
+
-    self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs}")
+    cfg = self.CP.safetyConfigs[-1]
+    set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
+    self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
     self.safety.init_tests()
 
   def test_car_params(self):
@@ -168,7 +170,7 @@ class TestCarModel(unittest.TestCase):
         if msg.src >= 64:
           continue
 
-        to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
+        to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
         if self.safety.safety_rx_hook(to_send) != 1:
           failed_addrs[hex(msg.address)] += 1