mirror of https://github.com/commaai/openpilot.git
HKG: Car Port for 2021 Kia K5 (#22347)
* HKG: Kia K5 2021 Car Port * Update CARS.md and RELEASES.md * Add test route: Kia K5 2021 * Update firmware format due to recent query change * Update CARS.md: not all 2021 Kia K5 have SCC * Update test_routes.py
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Jason Wen
GitHub
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@ -11,6 +11,7 @@ Version 0.8.10 (2021-XX-XX)
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* Moved community-supported cars outside of the Community Features toggle
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* Honda Freed 2020 support thanks to belm0!
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* Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
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* Kia K5 2021 support thanks to sunnyhaibin!
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* Škoda Kamiq 2021 support thanks to jyoung8607!
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* Škoda Karoq 2019 support thanks to jyoung8607!
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* Volkswagen Arteon 2021 support thanks to jyoung8607!
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@ -113,6 +113,7 @@ Community Maintained Cars and Features
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| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | K5 2021 | SCC + LFA | Stock | 0mph | 0mph |
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| Kia | Niro EV 2019-21 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
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@ -104,7 +104,7 @@ class CarController():
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
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CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022]:
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CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021]:
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can_sends.append(create_lfahda_mfc(self.packer, enabled))
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# 5 Hz ACC options
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@ -18,7 +18,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022]:
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021]:
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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@ -216,6 +216,14 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate in [CAR.KIA_K5_2021]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3228. * CV.LB_TO_KG
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ret.wheelbase = 2.85
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ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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# Genesis
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elif candidate == CAR.GENESIS_G70:
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@ -12,7 +12,7 @@ class CarControllerParams:
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def __init__(self, CP):
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if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
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CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022]:
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021]:
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self.STEER_MAX = 384
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else:
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self.STEER_MAX = 255
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@ -46,6 +46,7 @@ class CAR:
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# Kia
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KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
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KIA_K5_2021 = "KIA K5 2021"
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KIA_NIRO_EV = "KIA NIRO EV 2020"
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KIA_NIRO_HEV = "KIA NIRO HYBRID 2019"
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KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
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@ -548,6 +549,26 @@ FW_VERSIONS = {
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b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
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],
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},
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CAR.KIA_K5_2021: {
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(Ecu.fwdRadar, 0x7D0, None): [
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b'\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ',
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],
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(Ecu.eps, 0x7D4, None): [
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b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
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],
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(Ecu.fwdCamera, 0x7C4, None): [
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b'\xf1\000DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915',
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],
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(Ecu.esp, 0x7D1, None): [
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b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
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],
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(Ecu.engine, 0x7E0, None): [
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b'\xf1\x87391212MKT0\xf1\xa00240',
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],
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(Ecu.transmission, 0x7E1, None): [
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b'\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
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],
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},
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CAR.KONA_EV: {
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(Ecu.esp, 0x7D1, None): [
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b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
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@ -761,7 +782,7 @@ FW_VERSIONS = {
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}
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CHECKSUM = {
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"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022],
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"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021],
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"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
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}
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@ -772,7 +793,7 @@ FEATURES = {
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"use_elect_gears": set([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]),
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# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_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, CAR.KONA_HEV, CAR.SANTA_FE_2022]),
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"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_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, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021]),
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}
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HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]) # these cars use a different gas signal
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@ -794,6 +815,7 @@ DBC = {
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CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
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CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
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CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
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@ -86,6 +86,7 @@ routes = [
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TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
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TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
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TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
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TestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
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TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
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TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV),
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TestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
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