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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>
pull/21227/head
ShaneSmiskol 2021-06-10 23:25:02 -07:00 committed by GitHub
parent 594877e4a8
commit e7df9adfe3
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9 changed files with 55 additions and 18 deletions
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1
README.md
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@ -155,6 +155,7 @@ Community Maintained Cars and Features
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph | | Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph | | Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph | | 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 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph | | Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |

1
RELEASES.md
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@ -1,5 +1,6 @@
Version 0.8.6 (2021-XX-XX) Version 0.8.6 (2021-XX-XX)
======================== ========================
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
Version 0.8.5 (2021-06-11) Version 0.8.5 (2021-06-11)
======================== ========================

2
panda

@ -1 +1 @@
Subproject commit e99d41e6cf43ecb6bdc69f190532493d270f19aa Subproject commit ad12330d506ca31fe16f99a5b5aca76aab8a1ec9

2
selfdrive/car/hyundai/carcontroller.py
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@ -82,7 +82,7 @@ class CarController():
# 20 Hz LFA MFA message # 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, 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)) can_sends.append(create_lfahda_mfc(self.packer, enabled))
return can_sends return can_sends

24
selfdrive/car/hyundai/carstate.py
View File

@ -1,6 +1,6 @@
import copy import copy
from cereal import car 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 selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
@ -56,11 +56,14 @@ class CarState(CarStateBase):
ret.brake = 0 ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0 ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
if self.CP.carFingerprint in EV_HYBRID: if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 256. 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 ret.gasPressed = ret.gas > 0
else: 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"]) ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# TODO: refactor gear parsing in function # TODO: refactor gear parsing in function
@ -228,10 +231,15 @@ class CarState(CarStateBase):
] ]
checks += [("LCA11", 50)] checks += [("LCA11", 50)]
if CP.carFingerprint in EV_HYBRID: if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
signals += [ if CP.carFingerprint in HYBRID_CAR:
("Accel_Pedal_Pos", "E_EMS11", 0), signals += [
] ("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0)
]
else:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0)
]
checks += [ checks += [
("E_EMS11", 50), ("E_EMS11", 50),
] ]

2
selfdrive/car/hyundai/hyundaican.py
View File

@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ActToi"] = steer_req values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_MsgCount"] = frame % 0x10 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_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2 values["CF_Lkas_LdwsOpt_USM"] = 2

14
selfdrive/car/hyundai/interface.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from cereal import car from cereal import car
from selfdrive.config import Conversions as CV 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 import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -108,7 +108,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385 tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] 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.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7 ret.wheelbase = 2.7
@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385 tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] 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 ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER: elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005 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]] 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 # 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.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]: CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy 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 ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for # TODO: get actual value, for now starting with reasonable value for

26
selfdrive/car/hyundai/values.py
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@ -27,6 +27,7 @@ class CAR:
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019" IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020" IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
KONA = "HYUNDAI KONA 2020" KONA = "HYUNDAI KONA 2020"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019" KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
SANTA_FE = "HYUNDAI SANTA FE 2019" SANTA_FE = "HYUNDAI SANTA FE 2019"
@ -153,6 +154,23 @@ FINGERPRINTS = {
FW_VERSIONS = { 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: { CAR.IONIQ_EV_2020: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ',
@ -616,13 +634,14 @@ FEATURES = {
# which message has the gear # which message has the gear
"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]), "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_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 # 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 = { DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
@ -632,6 +651,7 @@ DBC = {
CAR.GENESIS_G80: 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.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: 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_2020: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),

1
selfdrive/test/test_routes.py
View File

@ -73,6 +73,7 @@ routes = [
TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), 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("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),