2020 Ioniq PHEV Support (#21147)

* use DriverOverride

* keep using EMS16 msg which is available on manuals, TCS13 is not

* Need to differentiate between hybrid ev and ev

* bump opendbc

* add to release files

* try this

* try this

* fixup

* shouldn't need multiple dbc's

* update comments

* combine phev into ev_hybrid

* clean up

* accel_pedal_pos is a percent

* bump

* bump

* update list name

* do this in another PR

* not 2020+

* explicitly set safety param

* full hyundai gas press test coverage

* bump

* bump

* bump

* bump

* like this convention better

* bump

* revert some null gas_signal changes for now

* revert style change

* Add Ioniq PHEV 2020

* Use appropriate signals

* can't verify this to be true

* defaults

* order should really be opposite...

* original style

* bump panda

* bump

* update releases

* bump panda

* Update test route

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

README.md

@@ -155,6 +155,7 @@ Community Maintained Cars and Features
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq PHEV 2020               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.8.6 (2021-XX-XX)
 ========================
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
 
 Version 0.8.5 (2021-06-11)
 ========================

panda

@@ -1 +1 @@
-Subproject commit e99d41e6cf43ecb6bdc69f190532493d270f19aa
+Subproject commit ad12330d506ca31fe16f99a5b5aca76aab8a1ec9

selfdrive/car/hyundai/carcontroller.py

@@ -82,7 +82,7 @@ class CarController():
 
     # 20 Hz LFA MFA message
     if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KONA_EV,
-                                                   CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
+                                                   CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
     return can_sends

selfdrive/car/hyundai/carstate.py

@@ -1,6 +1,6 @@
 import copy
 from cereal import car
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
@@ -56,11 +56,14 @@ class CarState(CarStateBase):
     ret.brake = 0
     ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
 
-    if self.CP.carFingerprint in EV_HYBRID:
+    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
-      ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 256.
+      if self.CP.carFingerprint in HYBRID_CAR:
+        ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
+      else:
+        ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
       ret.gasPressed = ret.gas > 0
     else:
-      ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100
+      ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
       ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
 
     # TODO: refactor gear parsing in function
@@ -228,9 +231,14 @@ class CarState(CarStateBase):
       ]
       checks += [("LCA11", 50)]
 
-    if CP.carFingerprint in EV_HYBRID:
+    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      if CP.carFingerprint in HYBRID_CAR:
+        signals += [
+          ("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0)
+        ]
+      else:
         signals += [
-        ("Accel_Pedal_Pos", "E_EMS11", 0),
+          ("Accel_Pedal_Pos", "E_EMS11", 0)
         ]
       checks += [
         ("E_EMS11", 50),

selfdrive/car/hyundai/hyundaican.py

@@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_ActToi"] = steer_req
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
+  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.hyundai.values import CAR
+from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -108,7 +108,7 @@ class CarInterface(CarInterfaceBase):
       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.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020]:
+    elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
       ret.wheelbase = 2.7
@@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
       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]]
-      if candidate != CAR.IONIQ_EV_2020:
+      if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.VELOSTER:
       ret.lateralTuning.pid.kf = 0.00005
@@ -220,11 +220,17 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
 
     # 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_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
+    if candidate in [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_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.KIA_SELTOS,
                      CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA]:
       ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
 
+    # set appropriate safety param for gas signal
+    if candidate in HYBRID_CAR:
+      ret.safetyParam = 2
+    elif candidate in EV_CAR:
+      ret.safetyParam = 1
+
     ret.centerToFront = ret.wheelbase * 0.4
 
     # TODO: get actual value, for now starting with reasonable value for

selfdrive/car/hyundai/values.py

@@ -27,6 +27,7 @@ class CAR:
   IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
   IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
   IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
+  IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
   SANTA_FE = "HYUNDAI SANTA FE 2019"
@@ -153,6 +154,23 @@ FINGERPRINTS = {
 
 
 FW_VERSIONS = {
+  CAR.IONIQ_PHEV: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\000AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\000AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\000AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
+    ],
+  },
   CAR.IONIQ_EV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
@@ -616,13 +634,14 @@ 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_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
+  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]),
 
   # 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_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
 }
 
-EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
+HYBRID_CAR = set([CAR.IONIQ_PHEV])  # these cars use a different gas signal
+EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
 
 DBC = {
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
@@ -632,6 +651,7 @@ DBC = {
   CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
   CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
+  CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
   CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
   CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
   CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),

selfdrive/test/test_routes.py

@@ -73,6 +73,7 @@ routes = [
   TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
   TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
+  TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
   TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
   TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
   TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),