Hyundai: support Kona Electric 2022 (camera SCC) (#23517)

* Rebase and merge upstream * Bump panda * bump panda * todo comments, minor clean up * Add test route * send CLU11 on bus 2 * Update docs * Use Chrysler cp ternary naming convention * Add FW version * Update with latest test route * Use segment with engaging/disengaging and moving * sort FW * push ci route * add comment * bump panda * bump panda * clean up * Limit torque * bump panda * bump panda * bump panda * Add missing FW * Add CAN fingerprint (need to fix spotty queries) * missing fingerprints * bump panda * use O * It's 2022, how is SCC still not standard! * space * bump panda to master Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 1ab63cc8d8
3 years ago · bf97b74636
parent 8dd844a1a0
commit bf97b74636
10 changed files with 96 additions and 28 deletions
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support

 Version 0.8.15 (2022-07-20)
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.


-# 197 Supported Cars
+# 198 Supported Cars

 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@ -77,6 +77,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7f6ef7cd00a31a3c50afd76804370e078f677ccc
+Subproject commit 89989abca5def32c73b8c9e66da804acb12be357
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -54,7 +54,7 @@ class CarController:

    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
    steer = actuators.steer
-    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
      steer = clip(steer, -0.7, 0.7)
    new_steer = int(round(steer * self.params.STEER_MAX))
    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
@ -101,12 +101,12 @@ class CarController:

      if not self.CP.openpilotLongitudinalControl:
        if CC.cruiseControl.cancel:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
        elif CC.cruiseControl.resume:
          # send resume at a max freq of 10Hz
          if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
            # send 25 messages at a time to increases the likelihood of resume being accepted
-            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
            self.last_button_frame = self.frame

      if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
@ -128,7 +128,7 @@ class CarController:

      # 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.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
                                                          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))
--- a/selfdrive/car/hyundai/carstate.py
+++ b/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, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase

 PREV_BUTTON_SAMPLES = 8
@ -40,6 +40,8 @@ class CarState(CarStateBase):

    ret = car.CarState.new_message()

+    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
+
    ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
                        cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])

@ -73,11 +75,11 @@ class CarState(CarStateBase):
      ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
      ret.cruiseState.standstill = False
    else:
-      ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
-      ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
+      ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
+      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
      speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
-      ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
+      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv

    # TODO: Find brake pressure
    ret.brake = 0
@ -110,11 +112,11 @@ class CarState(CarStateBase):

    if not self.CP.openpilotLongitudinalControl:
      if self.CP.carFingerprint in FEATURES["use_fca"]:
-        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
-        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2
      else:
-        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
-        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2

    if self.CP.enableBsm:
      ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@ -251,7 +253,7 @@ class CarState(CarStateBase):
      ("SAS11", 100),
    ]

-    if not CP.openpilotLongitudinalControl:
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
      signals += [
        ("MainMode_ACC", "SCC11"),
        ("VSetDis", "SCC11"),
@ -343,6 +345,31 @@ class CarState(CarStateBase):
      ("LKAS11", 100)
    ]

+    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
+      signals += [
+        ("MainMode_ACC", "SCC11"),
+        ("VSetDis", "SCC11"),
+        ("SCCInfoDisplay", "SCC11"),
+        ("ACC_ObjDist", "SCC11"),
+        ("ACCMode", "SCC12"),
+      ]
+      checks += [
+        ("SCC11", 50),
+        ("SCC12", 50),
+      ]
+
+      if CP.carFingerprint in FEATURES["use_fca"]:
+        signals += [
+          ("FCA_CmdAct", "FCA11"),
+          ("CF_VSM_Warn", "FCA11"),
+        ]
+        checks.append(("FCA11", 50))
+      else:
+        signals += [
+          ("AEB_CmdAct", "SCC12"),
+          ("CF_VSM_Warn", "SCC12"),
+        ]
+
    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

  @staticmethod
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM
+from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR

 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)

@ -18,8 +18,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,

  if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                         CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, 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.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
+                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

@ -62,11 +62,13 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
  return packer.make_can_msg("LKAS11", 0, values)


-def create_clu11(packer, frame, clu11, button):
+def create_clu11(packer, frame, clu11, button, car_fingerprint):
  values = clu11
  values["CF_Clu_CruiseSwState"] = button
  values["CF_Clu_AliveCnt1"] = frame % 0x10
-  return packer.make_can_msg("CLU11", 0, values)
+  # send buttons to camera on camera-scc based cars
+  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
+  return packer.make_can_msg("CLU11", bus, values)


 def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
--- a/selfdrive/car/hyundai/interface.py
+++ b/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, CAMERA_SCC_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, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None

    # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)
+    ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))

    ret.pcmCruise = not ret.openpilotLongitudinalControl

@ -115,9 +115,9 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
      ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
      ret.wheelbase = 2.6
      ret.steerRatio = 13.42  # Spec
      tire_stiffness_factor = 0.385
@ -305,6 +305,9 @@ class CarInterface(CarInterfaceBase):
    if ret.openpilotLongitudinalControl:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG

+    if candidate in CAMERA_SCC_CAR:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+
    return ret

  @staticmethod
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -54,6 +54,7 @@ class CAR:
  IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
  KONA = "HYUNDAI KONA 2020"
  KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
+  KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
  KONA_HEV = "HYUNDAI KONA HYBRID 2020"
  SANTA_FE = "HYUNDAI SANTA FE 2019"
  SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
@ -114,6 +115,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o),
  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
@ -249,6 +251,9 @@ 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, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
  }],
+  CAR.KONA_EV_2022: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 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
  }],
@ -978,6 +983,29 @@ FW_VERSIONS = {
      b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
    ],
  },
+  CAR.KONA_EV_2022: {
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
+      # TODO: these return from the MULTI request, above return from LONG
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
+    ],
+  },
  CAR.KIA_NIRO_EV: {
    (Ecu.fwdRadar, 0x7D0, None): [
      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
@ -1250,16 +1278,19 @@ 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_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},
+  "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, CAR.KONA_EV_2022},

  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "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},
+  "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, CAR.KONA_EV_2022},
 }

 HDA2_CAR = {CAR.KIA_EV6, }

+# The camera does SCC on these cars, rather than the radar
+CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
+
 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}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}

 # 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}
@ -1294,6 +1325,7 @@ DBC = {
  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.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
  CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -97,6 +97,7 @@ routes = [
  TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
  TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
  TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  TestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
  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),
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@ -28,6 +28,7 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
 HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019