Hyundai Ioniq EV LTD (#1694)

* add ioniq * bump panda * test route * bump pnada
2020-06-15 11:45:37 -07:00 · 2020-06-15 11:45:37 -07:00 · 224672705c
parent 1d9920a177
commit 224672705c
6 changed files with 53 additions and 16 deletions
--- a/README.md
+++ b/README.md
@ -141,6 +141,7 @@ Community Maintained Cars and Features
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq 2019 Electric           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
 | Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Palisade 2020<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d0442fd1e45589880c12b27c8a744cd1f540f540
+Subproject commit abb229c9e7a25418db7e2eee8308de15ffb496af
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
@ -54,9 +54,12 @@ class CarState(CarStateBase):
    # TODO: Check this
    ret.brakeLights = bool(cp.vl["TCS13"]['BrakeLight'] or ret.brakePressed)

-    #TODO: find pedal signal for EV/HYBRID Cars
-    ret.gas = cp.vl["EMS12"]['PV_AV_CAN'] / 100
-    ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
+    if self.CP.carFingerprint in EV_HYBRID:
+      ret.gas = cp.vl["E_EMS11"]['Accel_Pedal_Pos'] / 256.
+      ret.gasPressed = ret.gas > 0
+    else:
+      ret.gas = cp.vl["EMS12"]['PV_AV_CAN'] / 100
+      ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])

    # TODO: refactor gear parsing in function
    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
@ -180,9 +183,6 @@ class CarState(CarStateBase):
      ("SCCInfoDisplay", "SCC11", 0),
      ("ACC_ObjDist", "SCC11", 0),
      ("ACCMode", "SCC12", 1),
-
-      ("PV_AV_CAN", "EMS12", 0),
-      ("CF_Ems_AclAct", "EMS16", 0),
    ]

    checks = [
@ -198,9 +198,25 @@ class CarState(CarStateBase):
      ("SAS11", 100),
      ("SCC11", 50),
      ("SCC12", 50),
-      ("EMS12", 100),
-      ("EMS16", 100),
    ]
+
+    if CP.carFingerprint in EV_HYBRID:
+      signals += [
+        ("Accel_Pedal_Pos", "E_EMS11", 0),
+      ]
+      checks += [
+        ("E_EMS11", 50),
+      ]
+    else:
+      signals += [
+        ("PV_AV_CAN", "EMS12", 0),
+        ("CF_Ems_AclAct", "EMS16", 0),
+      ]
+      checks += [
+        ("EMS12", 100),
+        ("EMS16", 100),
+      ]
+
    if CP.carFingerprint in FEATURES["use_cluster_gears"]:
      signals += [
        ("CF_Clu_InhibitD", "CLU15", 0),
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -126,6 +126,15 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.385
      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.IONIQ_EV_LTD:
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.mass = 1490. + STD_CARGO_KG   #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73   #Spec
+      tire_stiffness_factor = 0.385
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.KIA_FORTE:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3558. * CV.LB_TO_KG
@ -136,7 +145,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]

    # these cars require a special panda safety mode due to missing counters and checksums in the messages
-    if candidate in [CAR.HYUNDAI_GENESIS]:
+    if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD]:
      ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy

    ret.centerToFront = ret.wheelbase * 0.4
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -20,6 +20,7 @@ class CAR:
  GENESIS_G80 = "GENESIS G80 2017"
  GENESIS_G90 = "GENESIS G90 2017"
  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
+  IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
  KIA_FORTE = "KIA FORTE E 2018"
  KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
@ -109,6 +110,9 @@ FINGERPRINTS = {
  CAR.GENESIS_G90: [{
    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
  }],
+  CAR.IONIQ_EV_LTD: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1425: 2, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1507: 8, 1535: 8
+  }],
  CAR.KONA: [{
    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 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, 909: 8, 916: 8, 1040: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 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, 2004: 8, 2009: 8, 2012: 8
  }],
@ -197,15 +201,18 @@ CHECKSUM = {
 FEATURES = {
  "use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30],     # Use Cluster for Gear Selection, rather than Transmission
  "use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019],                                    # Use TCU Message for Gear Selection
-  "use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.KONA_EV],  # Use TCU Message for Gear Selection
+  "use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV], # Use TCU Message for Gear Selection
 }

+EV_HYBRID = [CAR.IONIQ_EV_LTD]
+
 DBC = {
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
  CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
+  CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@ -192,6 +192,10 @@ routes = {
    'carFingerprint': HYUNDAI.PALISADE,
    'enableCamera': True,
  },
+  "610ebb9faaad6b43|2020-06-13--15-28-36": {
+    'carFingerprint': HYUNDAI.IONIQ_EV_LTD,
+    'enableCamera': True,
+  },
  "f7b6be73e3dfd36c|2019-05-12--18-07-16": {
    'carFingerprint': TOYOTA.AVALON,
    'enableCamera': False,
@ -364,14 +368,14 @@ routes = {
    'carFingerprint': NISSAN.LEAF,
    'enableCamera': True,
  },
-  "32a319f057902bb3|2020-04-27--15-18-58": {
-    'carFingerprint': MAZDA.CX5,
-    'enableCamera': True,
-  },
  "059ab9162e23198e|2020-05-30--09-41-01": {
    'carFingerprint': NISSAN.ROGUE,
    'enableCamera': True,
  },
+  "32a319f057902bb3|2020-04-27--15-18-58": {
+    'carFingerprint': MAZDA.CX5,
+    'enableCamera': True,
+  },
 }

 passive_routes: List[str] = [