Kia Niro HEV 2021 port (#21779)
* Initial Niro HEV 2021 port. * Add test route and update readme. * Tweak configuration.pull/21918/head
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@ -172,6 +172,7 @@ Community Maintained Cars and Features
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| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Niro EV 2020 | 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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| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
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| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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@ -77,8 +77,8 @@ class CarController():
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self.last_resume_frame = frame
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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.KONA_EV,
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS,
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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]:
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can_sends.append(create_lfahda_mfc(self.packer, enabled))
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@ -17,9 +17,9 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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values["CF_Lkas_ActToi"] = steer_req
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values["CF_Lkas_MsgCount"] = frame % 0x10
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020,
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CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
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CAR.SONATA_HYBRID, CAR.KONA_HEV]:
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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_HEV]:
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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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@ -135,11 +135,11 @@ class CarInterface(CarInterfaceBase):
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ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
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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_NIRO_EV, CAR.KIA_NIRO_HEV]:
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elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1737. + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 13.73 # Spec
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ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
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tire_stiffness_factor = 0.385
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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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@ -45,6 +45,7 @@ class CAR:
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KIA_FORTE = "KIA FORTE E 2018 & GT 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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KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
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KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
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KIA_SELTOS = "KIA SELTOS 2021"
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@ -585,6 +586,24 @@ FW_VERSIONS = {
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b'\xf1\000DEhe SCC H-CUP 1.01 1.02 96400-G5100 ',
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],
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},
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CAR.KIA_NIRO_HEV_2021: {
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(Ecu.engine, 0x7e0, None): [
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b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00',
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b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
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],
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221',
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],
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ',
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],
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},
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CAR.KIA_SELTOS: {
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(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 \xf1\xa01.05',],
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(Ecu.esp, 0x7d1, None): [
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@ -696,13 +715,13 @@ FEATURES = {
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# which message has the gear
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"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
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"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, 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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"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]),
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}
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HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.SONATA_HYBRID, CAR.KONA_HEV]) # these cars use a different gas signal
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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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EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
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DBC = {
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@ -721,6 +740,7 @@ DBC = {
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CAR.KIA_FORTE: 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', None),
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CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
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@ -85,6 +85,7 @@ routes = [
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TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
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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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TestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
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TestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
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TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
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