From 44b0b11ff191766eb9005e100c7ec6b224109096 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 29 Sep 2023 08:56:50 -0400 Subject: [PATCH] HKG: add Kia Seltos 2023-24 Non-SCC platform (#215) * HKG: add Kia Seltos 2024 Non-SCC platform * 2023 MY also works * Update CHANGELOGS.md * add fw * fix * fix list --- CHANGELOGS.md | 1 + selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/hyundai/values.py | 30 +++++++++++++++++++++++++-- selfdrive/car/sunnypilot_carname.json | 1 + 4 files changed, 31 insertions(+), 3 deletions(-) diff --git a/CHANGELOGS.md b/CHANGELOGS.md index b8a3035779..ed5d9e5f84 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -1,5 +1,6 @@ sunnypilot - 0.9.5.1 (202x-xx-xx) ======================== +* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_! sunnypilot - 0.9.4.1 (2023-08-11) ======================== diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 1109c52277..561216aec4 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.385 if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate == CAR.KIA_SELTOS: + elif candidate in (CAR.KIA_SELTOS, CAR.KIA_SELTOS_2023_NON_SCC): ret.mass = 1337. ret.wheelbase = 2.63 ret.steerRatio = 14.56 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index e02e4561cd..9c9cc4e0b5 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -124,6 +124,7 @@ class CAR: KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SELTOS = "KIA SELTOS 2021" + KIA_SELTOS_2023_NON_SCC = "KIA SELTOS 2023 NON-SCC" KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN" KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN" @@ -297,6 +298,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA_2022_NON_SCC: HyundaiCarInfo("Hyundai Elantra Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.KIA_FORTE_2019_NON_SCC: HyundaiCarInfo("Kia Forte Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KIA_FORTE_2021_NON_SCC: HyundaiCarInfo("Kia Forte Non-SCC 2021", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g])), + CAR.KIA_SELTOS_2023_NON_SCC: HyundaiCarInfo("Kia Seltos Non-SCC 2023-24", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.GENESIS_G70_2021_NON_SCC: HyundaiCarInfo("Genesis G70 Non-SCC 2021", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_f])), } @@ -1639,6 +1641,28 @@ FW_VERSIONS = { b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', ], }, + CAR.KIA_SELTOS_2023_NON_SCC: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00SP ESC \t 101"\t\x01 58910-Q5510', + b'\xf1\x00SP ESC \r 100"\x04\x01 58910-Q5510', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81616K0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81616G2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5240 4SPSC104', + b'\xf1\x00SP2 MDPS C 1.00 1.01 56300Q5920 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.03 99210-Q5500 230208', + b'\xf1\x00SP2 MFC AT AUS RHD 1.00 1.02 99210-Q5500 220624', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2D5051\x00\x00CSP2N20NL0\x00\x00\x00\x00', + b'\xf1\x006V2B0_C2\x00\x006V2D4051\x00\x00CSP2N20KL1\x00\x00\x00\x00', + ], + }, CAR.KIA_OPTIMA_G4: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', @@ -2055,7 +2079,7 @@ FW_VERSIONS = { CHECKSUM = { "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020, - CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC], + CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC], "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } @@ -2098,7 +2122,8 @@ LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_ # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL} -NON_SCC_CAR = {CAR.KIA_FORTE_2021_NON_SCC, CAR.ELANTRA_2022_NON_SCC, CAR.KIA_FORTE_2019_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC} +NON_SCC_CAR = {CAR.KIA_FORTE_2021_NON_SCC, CAR.ELANTRA_2022_NON_SCC, CAR.KIA_FORTE_2019_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC, + CAR.KIA_SELTOS_2023_NON_SCC} NON_SCC_NO_FCA_CAR = {CAR.KIA_FORTE_2019_NON_SCC, } NON_SCC_RADAR_FCA_CAR = {CAR.GENESIS_G70_2021_NON_SCC, } @@ -2134,6 +2159,7 @@ DBC = { CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_SELTOS_2023_NON_SCC: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/sunnypilot_carname.json b/selfdrive/car/sunnypilot_carname.json index 7ef5e3c8af..de48bc420d 100644 --- a/selfdrive/car/sunnypilot_carname.json +++ b/selfdrive/car/sunnypilot_carname.json @@ -130,6 +130,7 @@ "Kia Optima 2017": "KIA OPTIMA 4TH GEN", "Kia Optima 2019-20": "KIA OPTIMA 4TH GEN FACELIFT", "Kia Seltos 2021": "KIA SELTOS 2021", + "Kia Seltos Non-SCC 2023-24": "KIA SELTOS 2023 NON-SCC", "Kia Sorento 2018": "KIA SORENTO GT LINE 2018", "Kia Sorento 2019": "KIA SORENTO GT LINE 2018", "Kia Sorento 2021-23": "KIA SORENTO 4TH GEN",