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Hyundai: Car Port for Kona EV 2nd Generation (HDA2, 2023 Korean Ver.) (#28725)
* Hyundai: Car Port for Kona EV 2nd Generation (2023 Korean Ver.)
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* gate with flag
* new blinker signals for 2nd Gen Kona
* add test route
* Update CARS.md
* bump opendbc
* match opendbc definition
* Attempt to block laneline information to suppress LFA
* Try 0x364
* Block 0x364|BYTE7
* Block all bus 2/6 messages
* Lowercase to match DBC
* Aight
* we don't use this
* Final test to block LFA
* No byte 7
* Fix
* Fix tx
* cleanup
* HDA2 support
* Update RELEASES.md
* bump opendbc
* from `liveTorqueParameters`
* add test route
* bump panda
* official spec
* Check for new LKAS addr instead
* Update comment
* sync with dbc
* Combine LFA suppress can sends
* bump opendbc
* Add new tx to unit test
* linter
* Consolidate
* rename and update torque params
* add note for blinker weirdness
* bump
* bump
* clean up block msg
* it uses LFA if long
* not used in multiple places
* bump panda
* correct name
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: fafca0e44d
This commit is contained in:
Jason Wen
@@ -1,5 +1,6 @@
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Version 0.9.5 (202X-XX-XX)
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========================
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* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
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* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
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* Lexus IS 2023 support thanks to L3R5!
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@@ -4,7 +4,7 @@
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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.
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# 258 Supported Cars
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# 259 Supported Cars
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|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> |Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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@@ -89,6 +89,7 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B 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-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
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|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
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|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
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|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R 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-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>||
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|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I 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-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
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2
opendbc
2
opendbc
Submodule opendbc updated: 034ca989bd...ef302f7183
2
panda
2
panda
Submodule panda updated: 91d457cbb1...e6c1648835
@@ -112,7 +112,8 @@ class CarController:
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# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
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if self.frame % 5 == 0 and hda2:
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can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
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can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
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self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
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# LFA and HDA icons
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if self.frame % 5 == 0 and (not hda2 or hda2_long):
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@@ -202,8 +202,12 @@ class CarState(CarStateBase):
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
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ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
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cp.vl["BLINKERS"]["RIGHT_LAMP"])
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# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
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left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
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if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
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left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
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cp.vl["BLINKERS"][right_blinker_sig])
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if self.CP.enableBsm:
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ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
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ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
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@@ -229,7 +233,8 @@ class CarState(CarStateBase):
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ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
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if self.CP.flags & HyundaiFlags.CANFD_HDA2:
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self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
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self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
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else cp_cam.vl["CAM_0x2a4"])
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return ret
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@@ -336,7 +341,8 @@ class CarState(CarStateBase):
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def get_cam_can_parser_canfd(CP):
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messages = []
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if CP.flags & HyundaiFlags.CANFD_HDA2:
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messages += [("CAM_0x2a4", 20)]
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block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
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messages += [(block_lfa_msg, 20)]
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elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
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messages += [
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("SCC_CONTROL", 50),
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@@ -52,22 +52,26 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
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}
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if CP.flags & HyundaiFlags.CANFD_HDA2:
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hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
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if CP.openpilotLongitudinalControl:
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ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
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ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
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ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
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else:
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ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
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return ret
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def create_cam_0x2a4(packer, CAN, cam_0x2a4):
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values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24) if i != 7}
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values["COUNTER"] = cam_0x2a4["COUNTER"]
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def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
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suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
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msg_bytes = 32 if hda2_alt_steering else 24
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values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
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values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
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values["SET_ME_0"] = 0
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values["SET_ME_0_2"] = 0
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values["LEFT_LANE_LINE"] = 0
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values["RIGHT_LANE_LINE"] = 0
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return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
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return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
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def create_buttons(packer, CP, CAN, cnt, btn):
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values = {
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@@ -38,6 +38,8 @@ class CarInterface(CarInterfaceBase):
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# detect HDA2 with ADAS Driving ECU
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if hda2:
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ret.flags |= HyundaiFlags.CANFD_HDA2.value
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if 0x110 in fingerprint[CAN.CAM]:
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ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
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else:
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# non-HDA2
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if 0x1cf not in fingerprint[CAN.ECAN]:
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@@ -104,10 +106,10 @@ class CarInterface(CarInterfaceBase):
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ret.wheelbase = 3.01
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ret.steerRatio = 16.5
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ret.minSteerSpeed = 60 * CV.KPH_TO_MS
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elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
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ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.)
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ret.wheelbase = 2.6
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ret.steerRatio = 13.42 # Spec
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elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN):
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ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.)
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ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6)
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ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42) # Spec
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ret.tireStiffnessFactor = 0.385
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elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
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ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
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@@ -277,6 +279,8 @@ class CarInterface(CarInterfaceBase):
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if ret.flags & HyundaiFlags.CANFD_HDA2:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
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if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
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if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
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if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
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@@ -64,6 +64,7 @@ class HyundaiFlags(IntFlag):
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CANFD_ALT_GEARS_2 = 64
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SEND_LFA = 128
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USE_FCA = 256
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CANFD_HDA2_ALT_STEERING = 512
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class CAR:
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@@ -81,6 +82,7 @@ class CAR:
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KONA = "HYUNDAI KONA 2020"
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KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
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KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
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KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
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KONA_HEV = "HYUNDAI KONA HYBRID 2020"
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SANTA_FE = "HYUNDAI SANTA FE 2019"
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SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
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@@ -174,6 +176,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
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CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
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CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
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car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
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CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])),
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CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
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CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
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car_parts=CarParts.common([CarHarness.hyundai_l])),
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@@ -1430,6 +1433,14 @@ FW_VERSIONS = {
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b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00',
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],
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},
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CAR.KONA_EV_2ND_GEN: {
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ',
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],
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410',
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],
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},
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CAR.KIA_NIRO_EV: {
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(Ecu.fwdRadar, 0x7D0, None): [
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b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ',
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@@ -1941,11 +1952,11 @@ CAN_GEARS = {
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CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
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CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
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CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
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CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
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CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
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# The radar does SCC on these cars when HDA I, rather than the camera
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CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
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CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
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CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
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# The camera does SCC on these cars, rather than the radar
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CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
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@@ -1957,7 +1968,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
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CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
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EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
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CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}
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CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
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@@ -2029,4 +2040,5 @@ DBC = {
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CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
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CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
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CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
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CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
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}
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@@ -133,6 +133,7 @@ routes = [
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CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
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CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
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CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
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CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
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CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
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CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
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CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
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@@ -57,6 +57,7 @@ KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
|
||||
GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
|
||||
LEXUS IS 2023: [2.0, 2.0, 0.1]
|
||||
KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
|
||||
HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
mock: [10.0, 10, 0.0]
|
||||
|
||||
Reference in New Issue
Block a user