diff --git a/docs/CARS.md b/docs/CARS.md index f0004c5aa0..8cb0e04d41 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 269 Supported Cars +# 270 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -135,6 +135,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 26b3491358..a78b47590d 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -156,7 +156,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1985. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022): ret.mass = 3543. * CV.LB_TO_KG # average of all the cars ret.wheelbase = 2.7 ret.steerRatio = 13.6 # average of all the cars diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7c6fa7cb4f..31e34eb8ce 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -112,6 +112,7 @@ class CAR(StrEnum): KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" + KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" @@ -248,6 +249,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], + CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), CAR.KIA_NIRO_HEV_2021: [ HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify ], @@ -1619,6 +1621,23 @@ FW_VERSIONS = { b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', ], }, + CAR.KIA_NIRO_PHEV_2022: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + ], + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + ], + }, CAR.KIA_NIRO_HEV_2021: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -2140,7 +2159,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN, - CAR.AZERA_HEV_6TH_GEN} + CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} @@ -2223,4 +2242,5 @@ DBC = { CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), } diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index c7a1566b32..242a38b3d0 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -20,6 +20,7 @@ KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 KIA SELTOS 2021: HYUNDAI SONATA 2020 KIA NIRO HYBRID 2019: KIA NIRO EV 2020 +KIA NIRO PLUG-IN HYBRID 2022: KIA NIRO EV 2020 KIA NIRO HYBRID 2021: KIA NIRO EV 2020 HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019