Merge pull request commaai#152 from xx979xx/HKG_gear

Hkg gear

opendbc/hyundai_kia_generic.dbc

@@ -1444,3 +1444,6 @@ BO_ 905 SCC14: 8 SCC
  SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
  SG_ SCCMode : 32|3@1+ (1,0) [0|7] ""  ESC
 
+BO_ 882 NEW11: 8 XXX
+ SG_ Gear_Signal : 16|3@1+ (1,0) [0|255] ""  CLU
+

selfdrive/car/hyundai/carstate.py

@@ -87,6 +87,8 @@ def get_can_parser(CP):
 
     ("SAS_Angle", "SAS11", 0),
     ("SAS_Speed", "SAS11", 0),
+
+    ("Gear_Signal", "NEW11", 0),
   ]
 
   checks = [
@@ -221,6 +223,7 @@ def update(self, cp, cp_cam):
       self.pedal_gas = cp.vl["EMS12"]['TPS']
     self.car_gas = cp.vl["EMS12"]['TPS']
 
+
     # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
     gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
     if gear == 5:
@@ -233,7 +236,6 @@ def update(self, cp, cp_cam):
       self.gear_shifter = "reverse"
     else:
       self.gear_shifter = "unknown"
-
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
     if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
       self.gear_shifter_cluster = "drive"
@@ -257,6 +259,19 @@ def update(self, cp, cp_cam):
     else:
       self.gear_tcu = "unknown"
 
+    # Gear Selecton - This is only compatible with optima hybrid 2017
+    gear3 = cp.vl["NEW11"]["Gear_Signal"]
+    if gear3 == 5:
+      self.gear_shifter_new = "drive"
+    elif gear3 == 6:
+      self.gear_shifter_new = "neutral"
+    elif gear3 == 0:
+      self.gear_shifter_new = "park"
+    elif gear3 == 7:
+      self.gear_shifter_new = "reverse"
+    else:
+      self.gear_shifter_new = "unknown"
+
     # save the entire LKAS11 and CLU11
     self.lkas11 = cp_cam.vl["LKAS11"]
     self.clu11 = cp.vl["CLU11"]

selfdrive/car/hyundai/interface.py

@@ -19,6 +19,7 @@ def __init__(self, CP, CarController):
     self.gas_pressed_prev = False
     self.brake_pressed_prev = False
     self.cruise_enabled_prev = False
+    self.low_speed_alert = False
 
     # *** init the major players ***
     self.CS = CarState(CP)
@@ -94,7 +95,7 @@ def get_params(candidate, fingerprint, vin="", is_panda_black=False):
       ret.steerRatio = 12.069
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
-    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_1]:
+    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -205,6 +206,8 @@ def update(self, c, can_strings):
       ret.gearShifter = self.CS.gear_shifter_cluster
     elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
       ret.gearShifter = self.CS.gear_tcu
+    elif self.CP.carFingerprint in FEATURES["use_new_gears"]:
+      ret.gearShifter = self.CS.gear_shifter_new 
     else:
       ret.gearShifter = self.CS.gear_shifter
 

selfdrive/car/hyundai/values.py

@@ -12,8 +12,8 @@ def get_hud_alerts(visual_alert):
 class CAR:
   ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017 & GT 2018 DCT"
   GENESIS = "HYUNDAI GENESIS 2018"
-  KIA_OPTIMA = "KIA OPTIMA SX 2019 & HYBRID 2017"
-  KIA_OPTIMA_1 = "KIA OPTIMA has gear issue"
+  KIA_OPTIMA = "KIA OPTIMA SX 2019"
+  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & one has gear issue"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
   KIA_STINGER = "KIA STINGER GT2 2018"
   SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
@@ -45,9 +45,6 @@ class Buttons:
   }],
   CAR.KIA_OPTIMA: [{
     64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  },
-  {
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
   }],
   CAR.KIA_SORENTO: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
@@ -82,7 +79,10 @@ class Buttons:
   CAR.KIA_FORTE: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1427: 6, 1456: 4, 1470: 8
   }],
-  CAR.KIA_OPTIMA_1: [{
+  CAR.KIA_OPTIMA_H: [{
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
+  },
+  {
     68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
   }],
 }
@@ -96,15 +96,16 @@ class Buttons:
 
 FEATURES = {
   "use_cluster_gears": [CAR.ELANTRA, CAR.KONA],         # Use Cluster for Gear Selection, rather than Transmission
-  "use_tcu_gears": [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_1],                    # Use TCU Message for Gear Selection
+  "use_tcu_gears": [CAR.KIA_OPTIMA],                    # Use TCU Message for Gear Selection
+  "use_new_gears": [CAR.KIA_OPTIMA_H],                    # Use TCU Message for Gear Selection
   "non_scc": [CAR.IONIQ, CAR.KONA, CAR.KIA_FORTE, CAR.SANTA_FE_1],                          # Car without SCC
 }
 
 DBC = {
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_OPTIMA_1: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
   CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),