Car Port: 2020 Hyundai Kona (#2010)

* update KONA car port * update Kona Car Port * ignore kona EV * add Kona route * update readme for Hyundia Kona * remove electric for regular Kona
2020-08-11 16:42:19 -04:00 · 2020-08-11 16:42:19 -04:00 · a3d754a8d8
parent 1c802e2001
commit a3d754a8d8
4 changed files with 30 additions and 4 deletions
--- a/README.md
+++ b/README.md
@ -145,6 +145,7 @@ Community Maintained Cars and Features
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric Premium SE 2020| SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric Limited 2019   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -117,6 +117,14 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
      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.KONA:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1275. + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73 * 1.15  # 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]]
    elif candidate == CAR.KONA_EV:
      ret.lateralTuning.pid.kf = 0.00006
      ret.mass = 1685. + STD_CARGO_KG
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -28,6 +28,7 @@ class CAR:
  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
  KIA_STINGER = "KIA STINGER GT2 2018"
+  KONA = "HYUNDAI KONA 2020"
  KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
  SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
  SONATA = "HYUNDAI SONATA 2020"
@ -123,6 +124,9 @@ FINGERPRINTS = {
  {
    68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 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: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 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, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 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, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1193: 8, 1265: 4,1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8
+  }],
  CAR.KONA_EV: [{
    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 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, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
  }],
@ -148,7 +152,7 @@ ECU_FINGERPRINT = {
 }

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

 FW_VERSIONS = {
  CAR.SONATA: {
@ -235,6 +239,14 @@ FW_VERSIONS = {
    (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
+  },
+  CAR.KONA: {
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         \xf1\xa01.00', ],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00\xf1\xa01.05', ],
+    (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ],
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ],
+    (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', ],
  }
 }

@ -245,14 +257,14 @@ CHECKSUM = {

 FEATURES = {
  # which message has the gear
-  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30]),
+  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019, CAR.VELOSTER]),
  "use_elect_gears": set([CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),

  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE, CAR.GENESIS_G70]),
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),

-  "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90]),
+  "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
 }

 EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV])
@ -271,6 +283,7 @@ DBC = {
  CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
+  CAR.KONA: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
  CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
  CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@ -212,6 +212,10 @@ routes = {
    'carFingerprint': HYUNDAI.IONIQ,
    'enableCamera': True,
  },
+  "22d955b2cd499c22|2020-08-10--19-58-21": {
+    'carFingerprint': HYUNDAI.KONA,
+    'enableCamera': True,
+  },
  "5dddcbca6eb66c62|2020-07-26--13-24-19": {
    'carFingerprint': HYUNDAI.KIA_STINGER,
    'enableCamera': True,