From a3d754a8d88404ec7f8ef1f0c1d04dd65c1fa90a Mon Sep 17 00:00:00 2001 From: xps-genesis <65239463+xps-genesis@users.noreply.github.com> Date: Tue, 11 Aug 2020 16:42:19 -0400 Subject: [PATCH] Car Port: 2020 Hyundai Kona (#2010) * update KONA car port * update Kona Car Port * ignore kona EV * add Kona route * update readme for Hyundia Kona * remove electric for regular Kona --- README.md | 1 + selfdrive/car/hyundai/interface.py | 8 ++++++++ selfdrive/car/hyundai/values.py | 21 +++++++++++++++++---- selfdrive/test/test_car_models.py | 4 ++++ 4 files changed, 30 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 949d3851cd..f78a070883 100644 --- a/README.md +++ b/README.md @@ -145,6 +145,7 @@ Community Maintained Cars and Features | Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph | | Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph | | Hyundai | Ioniq Electric Limited 2019 | SCC + LKAS | Stock | 0mph | 32mph | +| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph | | Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph | | Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph | diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 7d0d35c4cf..553d48a2b5 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -117,6 +117,14 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable 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.KONA: + ret.lateralTuning.pid.kf = 0.00005 + ret.mass = 1275. + STD_CARGO_KG + ret.wheelbase = 2.7 + ret.steerRatio = 13.73 * 1.15 # 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 == CAR.KONA_EV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1685. + STD_CARGO_KG diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0dd217112c..1eb2d451e3 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -28,6 +28,7 @@ class CAR: KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_STINGER = "KIA STINGER GT2 2018" + KONA = "HYUNDAI KONA 2020" KONA_EV = "HYUNDAI KONA ELECTRIC 2019" SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019" SONATA = "HYUNDAI SONATA 2020" @@ -123,6 +124,9 @@ FINGERPRINTS = { { 68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 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: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 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, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 }], + CAR.KONA: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 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, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1193: 8, 1265: 4,1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8 + }], 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 }], @@ -148,7 +152,7 @@ ECU_FINGERPRINT = { } # Don't use these fingerprints for fingerprinting, they are still used for ECU detection -IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70] +IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA] FW_VERSIONS = { CAR.SONATA: { @@ -235,6 +239,14 @@ FW_VERSIONS = { (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ], (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ], (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ], + }, + CAR.KONA: { + (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 \xf1\xa01.00', ], + (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00\xf1\xa01.05', ], + (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ], + (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ], + (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', ], } } @@ -245,14 +257,14 @@ CHECKSUM = { FEATURES = { # which message has the gear - "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30]), + "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]), # 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]), + "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_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90]), + "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]) @@ -271,6 +283,7 @@ DBC = { CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), + CAR.KONA: dbc_dict('hyundai_kia_generic', None), CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None), CAR.SONATA: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py index 2d6b68fe96..fb7d89dbc4 100755 --- a/selfdrive/test/test_car_models.py +++ b/selfdrive/test/test_car_models.py @@ -212,6 +212,10 @@ routes = { 'carFingerprint': HYUNDAI.IONIQ, 'enableCamera': True, }, + "22d955b2cd499c22|2020-08-10--19-58-21": { + 'carFingerprint': HYUNDAI.KONA, + 'enableCamera': True, + }, "5dddcbca6eb66c62|2020-07-26--13-24-19": { 'carFingerprint': HYUNDAI.KIA_STINGER, 'enableCamera': True,