Hyundai Ioniq SE 2020 (commaai#1786)

* Update values.py * Update carcontroller.py * Update values.py * Update interface.py * Update carcontroller.py * add test route * readme Co-authored-by: baldwalker <[email protected]>
spood · Jun 26, 2020 · 57deb3a · 57deb3a
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commit 57deb3a
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Showing 5 changed files with 15 additions and 5 deletions.
diff --git 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 | SCC + LKAS | Stock | 19mph | 34mph |
 | 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 2017-19 | SCC + LKAS | Stock | 22mph | 0mph |
 | Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
@@ -95,7 +95,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
  self.last_lead_distance = 0
 
  # 20 Hz LFA MFA message
- if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
+ if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ]:
  can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
 
  return can_sends
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -126,7 +126,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
  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:
+ elif candidate in [CAR.IONIQ, 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
@@ -145,7 +145,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
  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, CAR.IONIQ_EV_LTD]:
+ if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ]:
  ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
 
  ret.centerToFront = ret.wheelbase * 0.4

diff --git 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 = "HYUNDAI IONIQ ELECTRIC PREMIUM SE 2020"
  IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
  KIA_FORTE = "KIA FORTE E 2018"
  KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
@@ -113,6 +114,9 @@ class Buttons:
  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.IONIQ: [{
+ 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 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, 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, 1456: 4, 1470: 8, 1473: 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, 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
  }],
@@ -204,10 +208,10 @@ class Buttons:
 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.IONIQ_EV_LTD, CAR.KONA_EV], # Use TCU Message for Gear Selection
+ "use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ], # Use TCU Message for Gear Selection
 }
 
-EV_HYBRID = [CAR.IONIQ_EV_LTD]
+EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ]
 
 DBC = {
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
@@ -216,6 +220,7 @@ class Buttons:
  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.IONIQ: 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),

diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
@@ -196,6 +196,10 @@ def get_route_log(route_name):
  'carFingerprint': HYUNDAI.IONIQ_EV_LTD,
  'enableCamera': True,
  },
+ "2c5cf2dd6102e5da|2020-06-26--16-00-08": {
+ 'carFingerprint': HYUNDAI.IONIQ,
+ 'enableCamera': True,
+ },
  "f7b6be73e3dfd36c|2019-05-12--18-07-16": {
  'carFingerprint': TOYOTA.AVALON,
  'enableCamera': False,