Hyundai: Car Port for Kona 2022 (commaai#1137)

* Hyundai: Car Port for Kona 2022

* alt steering 2 with 170

* add test route

* remove abs and engine fw

* no date platform

* point to feature branch to pass unit test for now

* another user's FW

* new test route

* add back flag

* migrate safety and safety tests to opendbc

* dashcam it

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Author: sunnyhaibin

opendbc/car/hyundai/fingerprints.py

@@ -1216,4 +1216,19 @@
       b'\xf1\x00FE__ SCC FHCUP      1.00 1.05 99110-M5000         ',
     ],
   },
+  CAR.HYUNDAI_KONA_2022: {
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00OSP MDPS C 1.00 1.04 56310/J9291 4OPCC104',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-J9000      \x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00T01G00BL  T01I00A1  DOS2T16X4XI00NS0\x99L\xeeq',
+      b'\xf1\x00T01G00BL  T01I00A1  DOS2T16X2XI00NS0\x8c`\xff\xe7',
+    ],
+  },
 }

opendbc/car/hyundai/hyundaican.py

@@ -38,7 +38,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
                            CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                            CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
                            CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

opendbc/car/hyundai/interface.py

@@ -104,6 +104,12 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     if ret.flags & HyundaiFlags.ALT_LIMITS:
       ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.ALT_LIMITS.value
 
+    if ret.flags & HyundaiFlags.ALT_LIMITS_2:
+      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.ALT_LIMITS_2.value
+
+      # see https://github.com/commaai/opendbc/pull/1137/
+      ret.dashcamOnly = True
+
     # Common longitudinal control setup
 
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]

opendbc/car/hyundai/tests/test_hyundai.py

@@ -37,6 +37,7 @@
   CAR.HYUNDAI_KONA_HEV,
   CAR.HYUNDAI_SONATA_LF,
   CAR.HYUNDAI_VELOSTER,
+  CAR.HYUNDAI_KONA_2022,
 }
 
 CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}

opendbc/car/hyundai/values.py

@@ -45,6 +45,11 @@ def __init__(self, CP):
       self.STEER_DELTA_UP = 2
       self.STEER_DELTA_DOWN = 3
 
+    elif CP.flags & HyundaiFlags.ALT_LIMITS_2:
+      self.STEER_MAX = 170
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3
+
     # Default for most HKG
     else:
       self.STEER_MAX = 384
@@ -60,6 +65,7 @@ class HyundaiSafetyFlags(IntFlag):
   ALT_LIMITS = 64
   CANFD_LKA_STEERING_ALT = 128
   FCEV_GAS = 256
+  ALT_LIMITS_2 = 512
 
 
 class HyundaiFlags(IntFlag):
@@ -118,6 +124,8 @@ class HyundaiFlags(IntFlag):
 
   FCEV = 2 ** 25
 
+  ALT_LIMITS_2 = 2 ** 26
+
 
 class Footnote(Enum):
   CANFD = CarFootnote(
@@ -242,6 +250,11 @@ class CAR(Platforms):
     CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.ALT_LIMITS,
   )
+  HYUNDAI_KONA_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona 2022", car_parts=CarParts.common([CarHarness.hyundai_o]))],
+    CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CAMERA_SCC,
+  )
   HYUNDAI_KONA_EV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),

opendbc/car/tests/routes.py

@@ -155,6 +155,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ),  # openpilot longitudinal enabled
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
+  CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
   CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),

opendbc/car/torque_data/substitute.toml

@@ -29,6 +29,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_NIRO_HEV_2021" = "KIA_NIRO_EV"
 "HYUNDAI_VELOSTER" = "HYUNDAI_SONATA_LF"
 "HYUNDAI_KONA" = "HYUNDAI_KONA_EV"
+"HYUNDAI_KONA_2022" = "HYUNDAI_KONA_EV"
 "HYUNDAI_KONA_HEV" = "HYUNDAI_KONA_EV"
 "HYUNDAI_KONA_EV_2022" = "HYUNDAI_KONA_EV"
 "HYUNDAI_IONIQ" = "HYUNDAI_IONIQ_PHEV_2019"

opendbc/safety/safety/safety_hyundai.h

@@ -178,6 +178,7 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
   const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
+  const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
 
   bool tx = true;
   int addr = GET_ADDR(to_send);
@@ -218,7 +219,9 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
     int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
     bool steer_req = GET_BIT(to_send, 27U);
 
-    const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
+    const SteeringLimits limits = hyundai_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 :
+                                  hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
+
     if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
       tx = false;
     }

opendbc/safety/safety/safety_hyundai_common.h

@@ -39,6 +39,9 @@ bool hyundai_alt_limits = false;
 extern bool hyundai_fcev_gas_signal;
 bool hyundai_fcev_gas_signal = false;
 
+extern bool hyundai_alt_limits_2;
+bool hyundai_alt_limits_2 = false;
+
 static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 
 void hyundai_common_init(uint16_t param) {
@@ -48,13 +51,15 @@ void hyundai_common_init(uint16_t param) {
   const int HYUNDAI_PARAM_CANFD_LKA_STEERING = 16;
   const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
   const int HYUNDAI_PARAM_FCEV_GAS = 256;
+  const int HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
 
   hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
   hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
   hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
   hyundai_canfd_lka_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING);
   hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
   hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
+  hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
 
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
 

opendbc/safety/tests/test_hyundai.py

@@ -127,6 +127,18 @@ def setUp(self):
     self.safety.init_tests()
 
 
+class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
+  MAX_RATE_UP = 2
+  MAX_RATE_DOWN = 3
+  MAX_TORQUE = 170
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2)
+    self.safety.init_tests()
+
+
 class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
   BUTTONS_TX_BUS = 2  # tx on 2, rx on 0
   SCC_BUS = 2  # rx on 2