Kia Ceed 2019 (#20283)

* Update values.py * Update interface.py * Update values.py * Update README.md * Update README.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update test_car_models.py * Update test_car_models.py * passes tests * only fw * add to release notes * move that * send lfa mfa Co-authored-by: ZanZaD13 <65367004+ZanZaD13@users.noreply.github.com> old-commit-hash: 62512d6265ee8039f48dc482a160c6fb2d58045c
2021-03-10 17:02:31 -08:00
parent 3cb80fc4f5
commit 2d5e91925d
6 changed files with 33 additions and 4 deletions
--- a/README.md
+++ b/README.md
@@ -163,6 +163,7 @@ Community Maintained Cars and Features
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2018-19                 | ProPILOT          | Stock            | 0mph               | 0mph         |
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.3 (2021-XX-XX)
 ========================
+ * Kia Ceed 2019 support thanks to ZanZaD13!

 Version 0.8.2 (2021-02-26)
 ========================
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -81,7 +81,8 @@ class CarController():
        self.last_resume_frame = frame

    # 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.IONIQ_EV_2020]:
+    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020,
+                                                   CAR.KIA_CEED]:
      can_sends.append(create_lfahda_mfc(self.packer, enabled))

    return can_sends
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -167,6 +167,15 @@ 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_CEED:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1450. + STD_CARGO_KG
+      ret.wheelbase = 2.65
+      ret.steerRatio = 13.75
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]

    # Genesis
    elif candidate == CAR.GENESIS_G70:
@@ -199,7 +208,7 @@ class CarInterface(CarInterfaceBase):

    # 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, CAR.SONATA_LF,
-                     CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80]:
+                     CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED]:
      ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy

    ret.centerToFront = ret.wheelbase * 0.4
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -41,6 +41,7 @@ class CAR:
  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
  KIA_STINGER = "KIA STINGER GT2 2018"
+  KIA_CEED = "KIA CEED INTRO ED 2019"

  # Genesis
  GENESIS_G70 = "GENESIS G70 2018"
@@ -140,6 +141,9 @@ FINGERPRINTS = {
  CAR.KIA_NIRO_EV: [{
    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
  }],
+  CAR.KIA_CEED: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1427: 6, 1456: 4, 2015: 8
+  }],
  CAR.KIA_FORTE: [{
    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
  }],
@@ -158,7 +162,7 @@ FINGERPRINTS = {
 }

 # Don't use these fingerprints for fingerprinting, they are still used for ECU detection
-IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA]
+IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA, CAR.KIA_CEED]

 FW_VERSIONS = {
  CAR.IONIQ_EV_2020: {
@@ -347,6 +351,14 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ],
    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ],
  },
+  CAR.KIA_CEED:  {
+    (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP      1.00 1.02 99110-J7000         ', ],
+    (Ecu.esp, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
+    (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ],
+    (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ],
+    (Ecu.transmission, 0x7E1, None): [b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000', ],
+    (Ecu.esp, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ],
+  },
  CAR.KONA_EV: {
    (Ecu.esp, 0x7D1, None): [
      b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000\xf1\xa01.05',
@@ -428,6 +440,7 @@ DBC = {
  CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None),
  CAR.PALISADE: dbc_dict('hyundai_kia_generic', None),
  CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
 }

 STEER_THRESHOLD = 150
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -197,6 +197,10 @@ routes = {
    'carFingerprint': HYUNDAI.SANTA_FE,
    'enableCamera': True,
  },
+  "e0e98335f3ebc58f|2021-03-07--16-38-29": {
+    'carFingerprint': HYUNDAI.KIA_CEED,
+    'enableCamera': True,
+  },
  "7653b2bce7bcfdaa|2020-03-04--15-34-32": {
    'carFingerprint': HYUNDAI.KIA_OPTIMA,
    'enableCamera': True,
@@ -497,7 +501,7 @@ routes = {
    'carFingerprint': MAZDA.Mazda3,
    'enableCamera': True,
  },
-    "b72d3ec617c0a90f|2020-12-11--15-38-17": {
+  "b72d3ec617c0a90f|2020-12-11--15-38-17": {
    'carFingerprint': NISSAN.ALTIMA,
    'enableCamera': True,
  },