2020 Ioniq PHEV Support (#21147)

* use DriverOverride * keep using EMS16 msg which is available on manuals, TCS13 is not * Need to differentiate between hybrid ev and ev * bump opendbc * add to release files * try this * try this * fixup * shouldn't need multiple dbc's * update comments * combine phev into ev_hybrid * clean up * accel_pedal_pos is a percent * bump * bump * update list name * do this in another PR * not 2020+ * explicitly set safety param * full hyundai gas press test coverage * bump * bump * bump * bump * like this convention better * bump * revert some null gas_signal changes for now * revert style change * Add Ioniq PHEV 2020 * Use appropriate signals * can't verify this to be true * defaults * order should really be opposite... * original style * bump panda * bump * update releases * bump panda * Update test route Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2021-06-10 23:25:02 -07:00 · 2021-06-10 23:25:02 -07:00 · e7df9adfe3
parent 594877e4a8
commit e7df9adfe3
9 changed files with 55 additions and 18 deletions
--- a/README.md
+++ b/README.md
@ -155,6 +155,7 @@ Community Maintained Cars and Features
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq PHEV 2020               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,5 +1,6 @@
 Version 0.8.6 (2021-XX-XX)
 ========================
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!

 Version 0.8.5 (2021-06-11)
 ========================
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit e99d41e6cf43ecb6bdc69f190532493d270f19aa
+Subproject commit ad12330d506ca31fe16f99a5b5aca76aab8a1ec9
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -82,7 +82,7 @@ class CarController():

    # 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.KONA_EV,
-                                                   CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
+                                                   CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
      can_sends.append(create_lfahda_mfc(self.packer, enabled))

    return can_sends
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -1,6 +1,6 @@
 import copy
 from cereal import car
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
@ -56,11 +56,14 @@ class CarState(CarStateBase):
    ret.brake = 0
    ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0

-    if self.CP.carFingerprint in EV_HYBRID:
-      ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 256.
+    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      if self.CP.carFingerprint in HYBRID_CAR:
+        ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
+      else:
+        ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
      ret.gasPressed = ret.gas > 0
    else:
-      ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100
+      ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
      ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])

    # TODO: refactor gear parsing in function
@ -228,10 +231,15 @@ class CarState(CarStateBase):
      ]
      checks += [("LCA11", 50)]

-    if CP.carFingerprint in EV_HYBRID:
-      signals += [
-        ("Accel_Pedal_Pos", "E_EMS11", 0),
-      ]
+    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      if CP.carFingerprint in HYBRID_CAR:
+        signals += [
+          ("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0)
+        ]
+      else:
+        signals += [
+          ("Accel_Pedal_Pos", "E_EMS11", 0)
+        ]
      checks += [
        ("E_EMS11", 50),
      ]
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
  values["CF_Lkas_ActToi"] = steer_req
  values["CF_Lkas_MsgCount"] = frame % 0x10

-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
+  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.hyundai.values import CAR
+from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase

@ -108,7 +108,7 @@ 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 in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020]:
+    elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
      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
@ -116,7 +116,7 @@ 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]]
-      if candidate != CAR.IONIQ_EV_2020:
+      if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.VELOSTER:
      ret.lateralTuning.pid.kf = 0.00005
@ -220,11 +220,17 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]

    # 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,
+    if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
                     CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.KIA_SELTOS,
                     CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA]:
      ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy

+    # set appropriate safety param for gas signal
+    if candidate in HYBRID_CAR:
+      ret.safetyParam = 2
+    elif candidate in EV_CAR:
+      ret.safetyParam = 1
+
    ret.centerToFront = ret.wheelbase * 0.4

    # TODO: get actual value, for now starting with reasonable value for
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -27,6 +27,7 @@ class CAR:
  IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
  IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
  IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
+  IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
  KONA = "HYUNDAI KONA 2020"
  KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
  SANTA_FE = "HYUNDAI SANTA FE 2019"
@ -153,6 +154,23 @@ FINGERPRINTS = {


 FW_VERSIONS = {
+  CAR.IONIQ_PHEV: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\000AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\000AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\000AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\000\000\000\000\000\000\000\000',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
+    ],
+  },
  CAR.IONIQ_EV_2020: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
@ -616,13 +634,14 @@ FEATURES = {
  # which message has the gear
  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
+  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]),

  # 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_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_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]),
 }

-EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
+HYBRID_CAR = set([CAR.IONIQ_PHEV])  # these cars use a different gas signal
+EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])

 DBC = {
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
@ -632,6 +651,7 @@ DBC = {
  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_PHEV: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@ -73,6 +73,7 @@ routes = [
  TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
  TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
  TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
+  TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
  TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
  TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
  TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),