Add car port: Hyundai Ioniq Plug-in Hybrid 2022

budney · Feb 24, 2022 · f408498
1 parent 71cf938
commit f408498
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Showing 6 changed files with 30 additions and 8 deletions.
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,6 +1,7 @@
 Version 0.8.14 (2022-0X-XX)
 ========================
  * bigmodel!
+ * Hyundai Ioniq Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 
 Version 0.8.13 (2022-02-18)
 ========================

diff --git a/docs/CARS.md b/docs/CARS.md
@@ -106,7 +106,7 @@
 | Hyundai   | Ioniq Electric 2020             | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Ioniq Hybrid 2017-19            | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Hybrid 2020-22            | SCC + LFA         | Stock            | 0mph               | 0mph         |
-| Hyundai   | Ioniq PHEV 2020-21              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq Plug-in Hybrid 2020-22    | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona Hybrid 2020                | SCC + LKAS        | Stock            | 0mph               | 0mph         |

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
@@ -107,7 +107,8 @@ def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
     if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
                                                    CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
                                                    CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
+                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020,
+                                                   CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2022):
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
     # 5 Hz ACC options

diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
@@ -19,7 +19,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
+                         CAR.IONIQ_PHEV_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -129,7 +129,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       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, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
+    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022, CAR.IONIQ_PHEV_2022):
       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

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
@@ -34,6 +34,7 @@ class CAR:
   IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
   IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
   IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
+  IONIQ_PHEV_2022 = "HYUNDAI IONIQ PlUG-IN HYBRID 2022"
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
   KONA_HEV = "HYUNDAI KONA HYBRID 2020"
@@ -201,6 +202,23 @@ class Buttons:
       b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
     ],
   },
+  CAR.IONIQ_PHEV_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],