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pull/24815/head
Shane Smiskol 3 years ago
parent 6b767e9875
commit 5af4c614e1
4 changed files with 19 additions and 18 deletions
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  1. 2
      selfdrive/car/hyundai/hyundaican.py
  2. 2
      selfdrive/car/hyundai/interface.py
  3. 32
      selfdrive/car/hyundai/values.py
  4. 1
      selfdrive/car/tests/routes.py

2
selfdrive/car/hyundai/hyundaican.py
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@ -41,7 +41,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
# This field is actually LdwsActivemode
# Genesis and Optima fault when forwarding while engaged
values["CF_Lkas_LdwsActivemode"] = 2
elif car_fingerprint == CAR.KIA_OPTIMA:
elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019):
values["CF_Lkas_LdwsActivemode"] = 0
dat = packer.make_can_msg("LKAS11", 0, values)[2]

2
selfdrive/car/hyundai/interface.py
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@ -215,7 +215,7 @@ 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.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80

32
selfdrive/car/hyundai/values.py
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@ -63,7 +63,8 @@ class CAR:
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 = "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"
@ -132,10 +133,8 @@ 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", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
],
CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2016-17", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima 2017, 2019"), # TODO: info may be incorrect
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
CAR.KIA_SORENTO: [
@ -1036,24 +1035,24 @@ FW_VERSIONS = {
},
CAR.KIA_OPTIMA: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 '],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',
b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
],
(Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
(Ecu.engine, 0x7e0, None): [
b'\x01TJFAJNU06F201H03',
b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
b'0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409'],
(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',
],
(Ecu.transmission, 0x7e1, None): [
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\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
},
CAR.KIA_OPTIMA_2019: {
(Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',],
(Ecu.engine, 0x7e0, None): [b'0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',], # FIXME: engine does not look quite right
(Ecu.eps, 0x7d4, None): [b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409',],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',],
},
CAR.ELANTRA_2021: {
(Ecu.fwdRadar, 0x7d0, None): [
@ -1212,7 +1211,7 @@ 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_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, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
@ -1225,7 +1224,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NI
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
# 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
@ -1251,6 +1250,7 @@ DBC = {
CAR.KIA_NIRO_HEV: 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

1
selfdrive/car/tests/routes.py
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@ -81,6 +81,7 @@ routes = [
TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022),
TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
# TestRoute("", HYUNDAI.CAR.KIA_OPTIMA_2019), # TODO: this
TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),

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