* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)

CHANGELOGS-DEV.md

@@ -3,7 +3,9 @@ dragonpilot 0.7.10.1
 * HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
 * HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
-* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) 
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217) 
 
 dragonpilot 0.7.10.0
 ========================

CHANGELOGS-REL.md

@@ -21,6 +21,8 @@ dragonpilot 0.7.10.0
 * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
 * HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
 * HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) 
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
 
 dragonpilot 0.7.8
 ========================

CHANGELOGS.md

@@ -1,3 +1,8 @@
+2020-11-12 (0.7.10.0)
+========================
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
+
 2020-11-05 (0.7.10.0)
 ========================
 * HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)

common/dp_conf.py

@@ -106,6 +106,8 @@ confs = [
   {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
+  # hyundai
+  {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   #misc
   {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
   {'name': 'dp_full_speed_fan', 'default': False, 'type': 'Bool', 'conf_type': ['param']},

selfdrive/car/hyundai/carstate.py

@@ -42,7 +42,7 @@ class CarState(CarStateBase):
     ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0
 
     # cruise state
-    ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] != 0 if self.CP.carFingerprint in [CAR.HYUNDAI_GENESIS] else True
+    ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] != 0 if self.CP.carFingerprint in [CAR.HYUNDAI_GENESIS, CAR.IONIQ] else True
     ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
     ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
 
@@ -136,7 +136,9 @@ class CarState(CarStateBase):
     self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive']  # 0 NOT ACTIVE, 1 ACTIVE
     self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
 
-    self.lkMode = bool(cp_cam.vl["LKAS11"]["CF_Lkas_LdwsSysState"])
+    lkas_state = cp_cam.vl["LKAS11"]["CF_Lkas_LdwsSysState"]
+    if lkas_state != 7 and self.car_fingerprint not in [CAR.SONATA,CAR.PALISADE, CAR.SANTA_FE, CAR.KONA_EV, CAR.KONA]:
+      self.lkMode = bool(lkas_state)
     return ret
 
   @staticmethod

selfdrive/car/hyundai/interface.py

@@ -5,6 +5,7 @@ from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr
+from common.params import Params
 
 class CarInterface(CarInterfaceBase):
 
@@ -168,6 +169,8 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]  
 
+    if Params().get('dp_hkg_smart_mdps') == b'1':
+      ret.minSteerSpeed = 0.
     # dp
     ret = common_interface_get_params_lqr(ret)
 

selfdrive/car/hyundai/values.py

@@ -3,11 +3,14 @@
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
+from common.params import Params
 
 # Steer torque limits
 class SteerLimitParams:
   def __init__(self, CP):
-    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE]:
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ]:
+      self.STEER_MAX = 384
+    elif Params().get('dp_hkg_smart_mdps') == b'1':
       self.STEER_MAX = 384
     else:
       self.STEER_MAX = 255
@@ -275,7 +278,7 @@ FEATURES = {
   "use_elect_gears": set([CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
 
   # 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_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
 
   "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
 }