Car Port: 2020 Kia Niro EV (#2416)

README.md

@@ -151,6 +151,7 @@ Community Maintained Cars and Features
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |

selfdrive/car/hyundai/interface.py

@@ -105,6 +105,14 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 12.069
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+    elif candidate == CAR.KIA_NIRO_EV:
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.mass = 1737. + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73  # Spec
+      tire_stiffness_factor = 0.385
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
@@ -164,7 +172,7 @@ 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_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019, 
-                     CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]:
+                     CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]:
       ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
 
     ret.centerToFront = ret.wheelbase * 0.4

selfdrive/car/hyundai/values.py

@@ -28,6 +28,7 @@ class CAR:
   IONIQ = "HYUNDAI IONIQ ELECTRIC PREMIUM SE 2020"
   IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
   KIA_FORTE = "KIA FORTE E 2018"
+  KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@@ -129,6 +130,9 @@ FINGERPRINTS = {
   CAR.KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 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, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
   }],
+  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_FORTE: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 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, 909: 8, 916: 8, 1040: 8, 1042: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1427: 6, 1456: 4, 1470: 8
   }],
@@ -256,6 +260,24 @@ 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_NIRO_EV: {
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         \xf1\xa01.03',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         \xf1\xa01.00',      
+    ],
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\xa01.06',
+      b'\xf1\xa01.07',      
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
+      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
+    ],
+  },
   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',],
@@ -275,15 +297,15 @@ FEATURES = {
   # which message has the gear
   "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
   "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
+  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
 
   "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
 }
 
-EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV])
+EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
 
 DBC = {
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
@@ -295,6 +317,7 @@ DBC = {
   CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
   CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),

selfdrive/test/test_car_models.py

@@ -233,6 +233,10 @@ routes = {
     'carFingerprint': HYUNDAI.VELOSTER,
     'enableCamera': True,
   },
+  "50c6c9b85fd1ff03|2020-10-26--17-56-06": {
+    'carFingerprint': HYUNDAI.KIA_NIRO_EV,
+    'enableCamera': True,
+  },
   "f7b6be73e3dfd36c|2019-05-12--18-07-16": {
     'carFingerprint': TOYOTA.AVALON,
     'enableCamera': False,