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Kia EV6 (#24485)

Browse Source 
* ev6 squash

* test route

* cleanup

* remove those

* resume spam

* setme

* more reliable button pressing

* new steer signals

* for now

* update docs
This commit is contained in:
Adeeb Shihadeh
2022-05-23 19:16:17 -07:00
committed by GitHub
parent 26d8cdfd3d
commit 53a134f1c3
9 changed files with 246 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
opendbc

Submodule opendbc updated: 210237fa63...7701277d26

1
release/files_common
View File

@@ -491,6 +491,7 @@ opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
opendbc/honda_insight_ex_2019_can_generated.dbc
opendbc/acura_ilx_2016_nidec.dbc
opendbc/kia_ev6.dbc
opendbc/hyundai_kia_generic.dbc
opendbc/hyundai_kia_mando_front_radar.dbc

110
selfdrive/car/hyundai/carcontroller.py
View File

@@ -3,8 +3,8 @@ from common.realtime import DT_CTRL
from common.numpy_fast import clip, interp
from common.conversions import Conversions as CV
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc, create_acc_commands, create_acc_opt, create_frt_radar_opt
from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
from selfdrive.car.hyundai import hda2can, hyundaican
from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -44,13 +44,12 @@ class CarController:
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.steer_rate_limited = False
self.last_resume_frame = 0
self.last_button_frame = 0
self.accel = 0
def update(self, CC, CS):
actuators = CC.actuators
hud_control = CC.hudControl
pcm_cancel_cmd = CC.cruiseControl.cancel
# Steering Torque
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
@@ -67,58 +66,75 @@ class CarController:
can_sends = []
# tester present - w/ no response (keeps radar disabled)
if self.CP.openpilotLongitudinalControl:
if self.frame % 100 == 0:
can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
if self.CP.carFingerprint in HDA2_CAR:
# steering control
can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
can_sends.append(create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))
# cruise cancel
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
if CC.cruiseControl.cancel:
for _ in range(20):
can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False))
self.last_button_frame = self.frame
if not self.CP.openpilotLongitudinalControl:
if pcm_cancel_cmd:
can_sends.append(create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
elif CS.out.cruiseState.standstill:
# send resume at a max freq of 10Hz
if (self.frame - self.last_resume_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
self.last_resume_frame = self.frame
# cruise standstill resume
elif CC.enabled and CS.out.cruiseState.standstill:
can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
self.last_button_frame = self.frame
else:
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
accel = actuators.accel
jerk = 0
# tester present - w/ no response (keeps radar disabled)
if self.CP.openpilotLongitudinalControl:
if self.frame % 100 == 0:
can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
if CC.longActive:
jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
if accel < 0:
accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))
accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
if not self.CP.openpilotLongitudinalControl:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
elif CS.out.cruiseState.standstill:
# 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)
self.last_button_frame = self.frame
lead_visible = False
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
can_sends.extend(create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
set_speed_in_units, stopping, CS.out.gasPressed))
self.accel = accel
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
accel = actuators.accel
jerk = 0
# 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.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(create_lfahda_mfc(self.packer, CC.enabled))
if CC.longActive:
jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
if accel < 0:
accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
# 5 Hz ACC options
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(create_acc_opt(self.packer))
accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
# 2 Hz front radar options
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(create_frt_radar_opt(self.packer))
lead_visible = False
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
set_speed_in_units, stopping, CS.out.gasPressed))
self.accel = accel
# 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.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))
# 5 Hz ACC options
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(hyundaican.create_acc_opt(self.packer))
# 2 Hz front radar options
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / self.params.STEER_MAX

110
selfdrive/car/hyundai/carstate.py
View File

@@ -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, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR, Buttons
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 4
@@ -19,14 +19,23 @@ class CarState(CarStateBase):
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
if CP.carFingerprint in HDA2_CAR:
self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
self.brake_error = False
self.park_brake = False
self.buttons_counter = 0
def update(self, cp, cp_cam):
if self.CP.carFingerprint in HDA2_CAR:
return self.update_hda2(cp, cp_cam)
ret = car.CarState.new_message()
ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
@@ -120,8 +129,55 @@ class CarState(CarStateBase):
return ret
def update_hda2(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
ret.gasPressed = ret.gas > 1e-3
ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
gear = cp.vl["ACCELERATOR"]["GEAR"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
# TODO: figure out positions
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
cp.vl["BLINKERS"]["RIGHT_LAMP"])
ret.cruiseState.available = True
ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"]
return ret
@staticmethod
def get_can_parser(CP):
if CP.carFingerprint in HDA2_CAR:
return CarState.get_can_parser_hda2(CP)
signals = [
# sig_name, sig_address
("WHL_SPD_FL", "WHL_SPD11"),
@@ -256,6 +312,9 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
if CP.carFingerprint in HDA2_CAR:
return None
signals = [
# sig_name, sig_address
("CF_Lkas_LdwsActivemode", "LKAS11"),
@@ -280,3 +339,50 @@ class CarState(CarStateBase):
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
@staticmethod
def get_can_parser_hda2(CP):
signals = [
("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
("ACCELERATOR_PEDAL", "ACCELERATOR"),
("GEAR", "ACCELERATOR"),
("BRAKE_PRESSED", "BRAKE"),
("STEERING_RATE", "STEERING_SENSORS"),
("STEERING_ANGLE", "STEERING_SENSORS"),
("STEERING_COL_TORQUE", "MDPS"),
("STEERING_OUT_TORQUE", "MDPS"),
("CRUISE_ACTIVE", "SCC1"),
("SET_SPEED", "CRUISE_INFO"),
("CRUISE_STANDSTILL", "CRUISE_INFO"),
("_COUNTER", "CRUISE_BUTTONS"),
("DISTANCE_UNIT", "CLUSTER_INFO"),
("LEFT_LAMP", "BLINKERS"),
("RIGHT_LAMP", "BLINKERS"),
("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"),
("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"),
]
checks = [
("WHEEL_SPEEDS", 100),
("ACCELERATOR", 100),
("BRAKE", 100),
("STEERING_SENSORS", 100),
("MDPS", 100),
("SCC1", 50),
("CRUISE_INFO", 50),
("CRUISE_BUTTONS", 50),
("CLUSTER_INFO", 4),
("BLINKERS", 4),
("DOORS_SEATBELTS", 4),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5)

23
selfdrive/car/hyundai/hda2can.py Normal file
View File

@@ -0,0 +1,23 @@
def create_lkas(packer, enabled, frame, lat_active, apply_steer):
values = {
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1,
"TORQUE_REQUEST": apply_steer,
"LKA_ASSIST": 0,
"STEER_REQ": 1 if lat_active else 0,
"STEER_MODE": 0,
"SET_ME_1": 0,
"NEW_SIGNAL_1": 0,
"NEW_SIGNAL_2": 0,
}
return packer.make_can_msg("LKAS", 4, values, frame % 255)
def create_buttons(packer, cnt, cancel, resume):
values = {
"_COUNTER": cnt % 0xf,
"SET_ME_1": 1,
"DISTANCE_BTN": 1 if resume else 0,
"PAUSE_RESUME_BTN": 1 if cancel else 0,
}
return packer.make_can_msg("CRUISE_BUTTONS", 5, values)

22
selfdrive/car/hyundai/interface.py
View File

@@ -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, HDA2_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, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
@@ -243,6 +243,21 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5
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.KIA_EV6:
ret.mass = 2055 + STD_CARGO_KG
ret.wheelbase = 2.9
ret.steerRatio = 16.
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
tire_stiffness_factor = 0.65
max_lat_accel = 2.
ret.lateralTuning.init('torque')
ret.lateralTuning.torque.useSteeringAngle = True
ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
ret.lateralTuning.torque.ki = 0.1 / max_lat_accel
ret.lateralTuning.torque.friction = 0.01
# Genesis
elif candidate == CAR.GENESIS_G70:
@@ -321,7 +336,8 @@ class CarInterface(CarInterfaceBase):
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)

26
selfdrive/car/hyundai/values.py
View File

@@ -7,7 +7,7 @@ from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
Ecu = car.CarParams.Ecu
# Steer torque limits
class CarControllerParams:
ACCEL_MIN = -3.5 # m/s
ACCEL_MAX = 2.0 # m/s
@@ -15,7 +15,9 @@ class CarControllerParams:
def __init__(self, CP):
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
if CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
if CP.carFingerprint in HDA2_CAR:
self.STEER_MAX = 150
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
self.STEER_MAX = 255
@@ -67,6 +69,7 @@ class CAR:
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_STINGER = "KIA STINGER GT2 2018"
KIA_CEED = "KIA CEED INTRO ED 2019"
KIA_EV6 = "KIA EV6 2022"
# Genesis
GENESIS_G70 = "GENESIS G70 2018"
@@ -138,6 +141,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.none),
# Genesis
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
@@ -1166,6 +1170,21 @@ FW_VERSIONS = {
b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00'
],
},
CAR.KIA_EV6: {
(Ecu.esp, 0x7d1, None): [
b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
b'\xf1\x8799110CV000\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027',
],
},
}
CHECKSUM = {
@@ -1183,6 +1202,8 @@ FEATURES = {
"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_DIESEL_2019},
}
HDA2_CAR = {CAR.KIA_EV6, }
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}
@@ -1230,6 +1251,7 @@ DBC = {
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_EV6: dbc_dict('kia_ev6', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
}

1
selfdrive/car/tests/routes.py
View File

@@ -98,6 +98,7 @@ routes = [
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),
TestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),
TestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV),

10
selfdrive/car/tests/test_models.py
View File

@@ -69,7 +69,7 @@ class TestCarModel(unittest.TestCase):
continue
can_msgs = []
fingerprint = {i: dict() for i in range(3)}
fingerprint = defaultdict(dict)
for msg in lr:
if msg.which() == "can":
for m in msg.can:
@@ -98,8 +98,10 @@ class TestCarModel(unittest.TestCase):
# TODO: check safetyModel is in release panda build
self.safety = libpandasafety_py.libpandasafety
set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs}")
cfg = self.CP.safetyConfigs[-1]
set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
self.safety.init_tests()
def test_car_params(self):
@@ -168,7 +170,7 @@ class TestCarModel(unittest.TestCase):
if msg.src >= 64:
continue
to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
if self.safety.safety_rx_hook(to_send) != 1:
failed_addrs[hex(msg.address)] += 1