Hyundai: support Kona Electric 2022 (camera SCC) (#23517)

* Rebase and merge upstream * Bump panda * bump panda * todo comments, minor clean up * Add test route * send CLU11 on bus 2 * Update docs * Use Chrysler cp ternary naming convention * Add FW version * Update with latest test route * Use segment with engaging/disengaging and moving * sort FW * push ci route * add comment * bump panda * bump panda * clean up * Limit torque * bump panda * bump panda * bump panda * Add missing FW * Add CAN fingerprint (need to fix spotty queries) * missing fingerprints * bump panda * use O * It's 2022, how is SCC still not standard! * space * bump panda to master Co-authored-by: Shane Smiskol <shane@smiskol.com>
commaai · Aug 3, 2022 · 1ab63cc · 1ab63cc
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diff --git a/RELEASES.md b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support
 
 Version 0.8.15 (2022-07-20)

diff --git a/docs/CARS.md b/docs/CARS.md
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 197 Supported Cars
+# 198 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -77,6 +77,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|

diff --git a/panda b/panda
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
@@ -54,7 +54,7 @@ def update(self, CC, CS):
 
     # These cars have significantly more torque than most HKG.  Limit to 70% of max.
     steer = actuators.steer
-    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
       steer = clip(steer, -0.7, 0.7)
     new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
@@ -101,12 +101,12 @@ def update(self, CC, CS):
 
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
         elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
-            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
             self.last_button_frame = self.frame
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
@@ -128,7 +128,7 @@ def update(self, CC, CS):
 
       # 20 Hz LFA MFA message
       if self.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.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
                                                           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):
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -40,6 +40,8 @@ def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
+    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
+
     ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
                         cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
 
@@ -73,11 +75,11 @@ def update(self, cp, cp_cam):
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
     else:
-      ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
-      ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
+      ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
+      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
       speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
-      ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
+      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -110,11 +112,11 @@ def update(self, cp, cp_cam):
 
     if not self.CP.openpilotLongitudinalControl:
       if self.CP.carFingerprint in FEATURES["use_fca"]:
-        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
-        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2
       else:
-        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
-        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2
 
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@@ -251,7 +253,7 @@ def get_can_parser(CP):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl:
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
       signals += [
         ("MainMode_ACC", "SCC11"),
         ("VSetDis", "SCC11"),
@@ -343,6 +345,31 @@ def get_cam_can_parser(CP):
       ("LKAS11", 100)
     ]
 
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
+      signals += [
+        ("MainMode_ACC", "SCC11"),
+        ("VSetDis", "SCC11"),
+        ("SCCInfoDisplay", "SCC11"),
+        ("ACC_ObjDist", "SCC11"),
+        ("ACCMode", "SCC12"),
+      ]
+      checks += [
+        ("SCC11", 50),
+        ("SCC12", 50),
+      ]
+
+      if CP.carFingerprint in FEATURES["use_fca"]:
+        signals += [
+          ("FCA_CmdAct", "FCA11"),
+          ("CF_VSM_Warn", "FCA11"),
+        ]
+        checks.append(("FCA11", 50))
+      else:
+        signals += [
+          ("AEB_CmdAct", "SCC12"),
+          ("CF_VSM_Warn", "SCC12"),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
 
   @staticmethod

diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM
+from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
@@ -18,8 +18,8 @@ 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.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
+                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -62,11 +62,13 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
-def create_clu11(packer, frame, clu11, button):
+def create_clu11(packer, frame, clu11, button, car_fingerprint):
   values = clu11
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
-  return packer.make_can_msg("CLU11", 0, values)
+  # send buttons to camera on camera-scc based cars
+  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
+  return packer.make_can_msg("CLU11", bus, values)
 
 
 def create_lfahda_mfc(packer, enabled, hda_set_speed=0):

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -29,7 +29,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)
+    ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -115,9 +115,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
       ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
       ret.wheelbase = 2.6
       ret.steerRatio = 13.42  # Spec
       tire_stiffness_factor = 0.385
@@ -305,6 +305,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
 
+    if candidate in CAMERA_SCC_CAR:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+
     return ret
 
   @staticmethod