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HKG: Car Port for Kia Carnival 2023 (HDA1) (#27785)

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* HKG: Car Port for Kia Carnival (China only) 2023 (HDA1)

* add FW

* seems to be radar SCC

* Update CARS.md

* Update CARS.md

* Add test route

* Fix docs

* New route

* Fix docs formatting

* update with US model

* 2 total

* Update RELEASES.md

* add FW for US carnival 2023

* fix docs

* update test routes

* no rlogs for chinese route

* update docs

* revert chinese to merge now

* Apply suggestions from code review

* fine to fully remove

* less precise

* remove from releases

* Apply suggestions from code review

* Update selfdrive/car/tests/routes.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
pull/28824/head
Jason Wen 2 years ago committed by GitHub
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 4
      selfdrive/car/hyundai/interface.py
  4. 18
      selfdrive/car/hyundai/values.py
  5. 1
      selfdrive/car/tests/routes.py
  6. 1
      selfdrive/car/torque_data/override.yaml

1
RELEASES.md
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@ -10,6 +10,7 @@ Version 0.9.4 (2023-XX-XX)
* Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
* Alerts are shown inside the border. Black/grey means info, orange means warning, and red means critical alert
* Ford Focus 2018 support
* Kia Carnival 2023 support thanks to sunnyhaibin!
Version 0.9.3 (2023-06-29)
========================

3
docs/CARS.md
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@ -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.
# 253 Supported Cars
# 254 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|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -106,6 +106,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E 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-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA 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-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA 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-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Carnival 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>View</summary><sub>- 1 Hyundai A 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-three.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E 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-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|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>View</summary><sub>- 1 Hyundai P 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-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P 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-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||

4
selfdrive/car/hyundai/interface.py
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@ -202,6 +202,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
else:
ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
ret.mass = 2087. + STD_CARGO_KG
ret.wheelbase = 3.09
ret.steerRatio = 14.23
# Genesis
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:

18
selfdrive/car/hyundai/values.py
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@ -118,6 +118,7 @@ class CAR:
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
KIA_EV6 = "KIA EV6 2022"
KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
# Genesis
GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
@ -241,6 +242,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CAR.KIA_CARNIVAL_4TH_GEN: [
HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
# HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
# Genesis
CAR.GENESIS_GV60_EV_1ST_GEN: [
@ -1859,6 +1864,14 @@ FW_VERSIONS = {
b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ',
],
},
CAR.KIA_CARNIVAL_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ',
],
},
}
CHECKSUM = {
@ -1873,10 +1886,10 @@ CAN_GEARS = {
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, 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, CAR.KIA_K5_HEV_2020},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, 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}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, 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}
# 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}
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}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@ -1947,4 +1960,5 @@ DBC = {
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
}

1
selfdrive/car/tests/routes.py
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@ -98,6 +98,7 @@ routes = [
CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),

1
selfdrive/car/torque_data/override.yaml
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@ -47,6 +47,7 @@ KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
GENESIS GV80 2023: [2.5, 2.5, 0.1]
KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]

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