Hyundai: Car Port for Kona EV 2nd Generation (HDA2, 2023 Korean Ver.) (#28725)

* Hyundai: Car Port for Kona EV 2nd Generation (2023 Korean Ver.)

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* gate with flag

* new blinker signals for 2nd Gen Kona

* add test route

* Update CARS.md

* bump opendbc

* match opendbc definition

* Attempt to block laneline information to suppress LFA

* Try 0x364

* Block 0x364|BYTE7

* Block all bus 2/6 messages

* Lowercase to match DBC

* Aight

* we don't use this

* Final test to block LFA

* No byte 7

* Fix

* Fix tx

* cleanup

* HDA2 support

* Update RELEASES.md

* bump opendbc

* from `liveTorqueParameters`

* add test route

* bump panda

* official spec

* Check for new LKAS addr instead

* Update comment

* sync with dbc

* Combine LFA suppress can sends

* bump opendbc

* Add new tx to unit test

* linter

* Consolidate

* rename and update torque params

* add note for blinker weirdness

* bump

* bump

* clean up block msg

* it uses LFA if long

* not used in multiple places

* bump panda

* correct name

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: fafca0e44d

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.9.5 (202X-XX-XX)
 ========================
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!
 

docs/CARS.md

@@ -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. Supported vehicles reference the US market unless otherwise specified.
 
-# 258 Supported Cars
+# 259 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -89,6 +89,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Kona 2020|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>||
 |Hyundai|Kona Hybrid 2020|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||

opendbc

@@ -1 +1 @@
-Subproject commit 034ca989bd19e1dc2f6f5be903c037bc1aca750a
+Subproject commit ef302f7183cb05820b27e41cd4919cb6c319cd52

panda

@@ -1 +1 @@
-Subproject commit 91d457cbb13836aa12084b56c732ea27fcf14eef
+Subproject commit e6c16488351762cd2aa096b523b09b009892c8c4

selfdrive/car/hyundai/carcontroller.py

@@ -112,7 +112,8 @@ class CarController:
 
       # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
       if self.frame % 5 == 0 and hda2:
-        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
+                                                          self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):

selfdrive/car/hyundai/carstate.py

@@ -202,8 +202,12 @@ class CarState(CarStateBase):
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
 
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
+    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
-                                                                      cp.vl["BLINKERS"]["RIGHT_LAMP"])
+    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
+    if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
+      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
+                                                                      cp.vl["BLINKERS"][right_blinker_sig])
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
       ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
@@ -229,7 +233,8 @@ class CarState(CarStateBase):
     ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & HyundaiFlags.CANFD_HDA2:
-      self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
+      self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
+                                          else cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
@@ -336,7 +341,8 @@ class CarState(CarStateBase):
   def get_cam_can_parser_canfd(CP):
     messages = []
     if CP.flags & HyundaiFlags.CANFD_HDA2:
-      messages += [("CAM_0x2a4", 20)]
+      block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
+      messages += [(block_lfa_msg, 20)]
     elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
       messages += [
         ("SCC_CONTROL", 50),

selfdrive/car/hyundai/hyundaicanfd.py

@@ -52,22 +52,26 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
   }
 
   if CP.flags & HyundaiFlags.CANFD_HDA2:
+    hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
     if CP.openpilotLongitudinalControl:
       ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
-    ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
+    ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
   else:
     ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
 
   return ret
 
-def create_cam_0x2a4(packer, CAN, cam_0x2a4):
+def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
-  values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24) if i != 7}
+  suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
-  values["COUNTER"] = cam_0x2a4["COUNTER"]
+  msg_bytes = 32 if hda2_alt_steering else 24
+
+  values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
+  values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
   values["SET_ME_0"] = 0
   values["SET_ME_0_2"] = 0
   values["LEFT_LANE_LINE"] = 0
   values["RIGHT_LANE_LINE"] = 0
-  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
+  return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):
   values = {

selfdrive/car/hyundai/interface.py

@@ -38,6 +38,8 @@ class CarInterface(CarInterfaceBase):
       # detect HDA2 with ADAS Driving ECU
       if hda2:
         ret.flags |= HyundaiFlags.CANFD_HDA2.value
+        if 0x110 in fingerprint[CAN.CAM]:
+          ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
         # non-HDA2
         if 0x1cf not in fingerprint[CAN.ECAN]:
@@ -104,10 +106,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN):
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.)
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.)
-      ret.wheelbase = 2.6
+      ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6)
-      ret.steerRatio = 13.42  # Spec
+      ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42)  # Spec
       ret.tireStiffnessFactor = 0.385
     elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
       ret.mass = 1490.  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
@@ -277,6 +279,8 @@ class CarInterface(CarInterfaceBase):
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:

selfdrive/car/hyundai/values.py

@@ -64,6 +64,7 @@ class HyundaiFlags(IntFlag):
   CANFD_ALT_GEARS_2 = 64
   SEND_LFA = 128
   USE_FCA = 256
+  CANFD_HDA2_ALT_STEERING = 512
 
 
 class CAR:
@@ -81,6 +82,7 @@ class CAR:
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
   KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
+  KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
   KONA_HEV = "HYUNDAI KONA HYBRID 2020"
   SANTA_FE = "HYUNDAI SANTA FE 2019"
   SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
@@ -174,6 +176,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
                                                                       car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
                                                                       car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -1430,6 +1433,14 @@ FW_VERSIONS = {
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
     ],
   },
+  CAR.KONA_EV_2ND_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+    ],
+  },
   CAR.KIA_NIRO_EV: {
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
@@ -1941,11 +1952,11 @@ CAN_GEARS = {
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, 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, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_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, CAR.GENESIS_GV80,
-                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1957,7 +1968,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
               CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
-          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}
+          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # 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_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
@@ -2029,4 +2040,5 @@ DBC = {
   CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
   CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/tests/routes.py

@@ -133,6 +133,7 @@ routes = [
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
+  CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
   CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
   CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
   CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),

selfdrive/car/torque_data/override.yaml

@@ -57,6 +57,7 @@ KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
 GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
 LEXUS IS 2023: [2.0, 2.0, 0.1]
 KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
+HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]