Kia Sorento and future Multi-Car Support

panda/board/drivers/can.h

@@ -84,7 +84,7 @@ int can_err_cnt = 0;
   CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
   uint8_t bus_lookup[] = {0,1,2};
   uint8_t can_num_lookup[] = {0,1,2,-1};
-  int8_t can_forwarding[] = {-1,-1,-1,-1};
+  int8_t can_forwarding[] = {1,-1,-1,-1};
   uint32_t can_speed[] = {5000, 5000, 5000, 333};
   bool can_autobaud_enabled[] = {false, false, false, false};
   #define CAN_MAX 3

panda/board/safety/safety_hyundai.h

@@ -132,7 +132,6 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-
   // forward cam to ccan and viceversa, except lkas cmd
   if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
     int addr = to_fwd->RIR>>21;

selfdrive/car/hyundai/carcontroller.py

@@ -3,7 +3,7 @@
 from selfdrive.car.hyundai.hyundaican import create_lkas11, create_lkas12, \
                                              create_1191, create_1156, \
                                              create_clu11
-from selfdrive.car.hyundai.values import Buttons
+from selfdrive.car.hyundai.values import Buttons, CHECKSUM
 from selfdrive.can.packer import CANPacker
 
 
@@ -61,8 +61,9 @@ def update(self, sendcan, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
       if (self.cnt % 7) == 0:
         can_sends.append(create_1156())
 
+    can_sends.append(create_lkas12())
     can_sends.append(create_lkas11(self.packer, apply_steer, steer_req, self.lkas11_cnt,
-                                   enabled, CS.lkas11, hud_alert, keep_stock=(not self.camera_disconnected)))
+                                   enabled, CS.lkas11, hud_alert, CHECKSUM[self.car_fingerprint], keep_stock=(not self.camera_disconnected)))
 
     if pcm_cancel_cmd:
       can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))

selfdrive/car/hyundai/carstate.py

@@ -22,6 +22,7 @@ def get_can_parser(CP):
     ("CF_Gway_TurnSigLh", "CGW1", 0),
     ("CF_Gway_TSigRHSw", "CGW1", 0),
     ("CF_Gway_TurnSigRh", "CGW1", 0),
+    ("CF_Gway_ParkBrakeSw", "CGW1", 0),
 
     ("BRAKE_ACT", "EMS12", 0),
     ("PV_AV_CAN", "EMS12", 0),
@@ -111,7 +112,7 @@ def get_camera_parser(CP):
 
   checks = []
 
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
 
 class CarState(object):
   def __init__(self, CP):
@@ -149,7 +150,7 @@ def update(self, cp, cp_cam):
     self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
     self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
 
-    self.park_brake = False
+    self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
     self.main_on = True
     self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
     self.pcm_acc_status = int(self.acc_active)

selfdrive/car/hyundai/hyundaican.py

@@ -2,21 +2,23 @@
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
+<<<<<<< HEAD
+
 def make_can_msg(addr, dat, alt):
   return [addr, 0, dat, alt]
 
-def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
+def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, checksum_type, keep_stock=False):
   values = {
     "CF_Lkas_Icon": 3 if enabled else 0,
-    "CF_Lkas_LdwsSysState": lkas11["CF_Lkas_LdwsSysState"] if keep_stock else 1,
+    "CF_Lkas_LdwsSysState": 3 if steer_req else 1,
     "CF_Lkas_SysWarning": hud_alert,
     "CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
     "CF_Lkas_LdwsRHWarning": lkas11["CF_Lkas_LdwsRHWarning"] if keep_stock else 0,
     "CF_Lkas_HbaLamp": lkas11["CF_Lkas_HbaLamp"] if keep_stock else 0,
     "CF_Lkas_FcwBasReq": lkas11["CF_Lkas_FcwBasReq"] if keep_stock else 0,
     "CR_Lkas_StrToqReq": apply_steer,
     "CF_Lkas_ActToi": steer_req,
-    "CF_Lkas_ToiFlt": lkas11["CF_Lkas_ToiFlt"] if keep_stock else 0,
+    "CF_Lkas_ToiFlt": 0,
     "CF_Lkas_HbaSysState": lkas11["CF_Lkas_HbaSysState"] if keep_stock else 1,
     "CF_Lkas_FcwOpt": lkas11["CF_Lkas_FcwOpt"] if keep_stock else 0,
     "CF_Lkas_HbaOpt": lkas11["CF_Lkas_HbaOpt"] if keep_stock else 3,
@@ -30,9 +32,20 @@ def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_aler
   }
 
   dat = packer.make_can_msg("LKAS11", 0, values)[2]
-  dat = dat[:6] + dat[7]
-  checksum = hyundai_checksum(dat)
 
+  # CRC Checksum as seen on 2019 Hyundai Santa Fe
+  if checksum_type == 0:
+    dat = dat[:6] + dat[7]
+    checksum = hyundai_checksum(dat)
+  # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
+  if checksum_type == 6:
+    dat = [ord(i) for i in dat]
+    checksum = sum(dat[:6]) % 256
+  # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
+  if checksum_type == 7: 
+    dat = [ord(i) for i in dat]
+    checksum = (sum(dat[:6]) + dat[7]) % 256
+
   values["CF_Lkas_Chksum"] = checksum
 
   return packer.make_can_msg("LKAS11", 0, values)

selfdrive/car/hyundai/interface.py

@@ -5,7 +5,7 @@
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
-from selfdrive.car.hyundai.values import CAMERA_MSGS, get_hud_alerts
+from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts
 
 try:
   from selfdrive.car.hyundai.carcontroller import CarController
@@ -48,6 +48,7 @@ def calc_accel_override(a_ego, a_target, v_ego, v_target):
   def get_params(candidate, fingerprint):
 
     # kg of standard extra cargo to count for drive, gas, etc...
+    # This should be tweaked, unless the car is empty, this will be too low
     std_cargo = 136
 
     ret = car.CarParams.new_message()
@@ -73,13 +74,25 @@ def get_params(candidate, fingerprint):
     ret.steerActuatorDelay = 0.1  # Default delay, Prius has larger delay
 
     #borrowing a lot from corolla, given similar car size
-    ret.steerKf = 0.00005   # full torque for 20 deg at 80mph means 0.00007818594
-    ret.steerRateCost = 0.5
-    ret.mass = 3982 * CV.LB_TO_KG + std_cargo
-    ret.wheelbase = 2.766
-    ret.steerRatio = 13.8 * 1.15   # 15% higher at the center seems reasonable
-    ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
-    ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
+
+    if candidate == CAR.SANTA_FE:
+      ret.steerKf = 0.00005   # full torque for 20 deg at 80mph means 0.00007818594
+      ret.steerRateCost = 0.5
+      ret.mass = 3982 * CV.LB_TO_KG + std_cargo
+      ret.wheelbase = 2.766
+      ret.steerRatio = 13.8 * 1.15   # 15% higher at the center seems reasonable
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
+    elif candidate == CAR.SORENTO:
+      ret.steerKf = 0.00005   # full torque for 20 deg at 80mph means 0.00007818594
+      ret.steerRateCost = 0.5
+      ret.mass = 1985 + std_cargo
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
+      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
+      ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
+
+
     ret.longitudinalKpBP = [0.]
     ret.longitudinalKpV = [0.]
     ret.longitudinalKiBP = [0.]

selfdrive/car/hyundai/values.py

@@ -8,6 +8,7 @@ def get_hud_alerts(visual_alert, audble_alert):
 
 class CAR:
   SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
+  SORENTO = "KIA SORENTO GT LINE 2018"         # Top Trim Kia Sorento for Australian Market, AWD Diesel 8sp Auto
 
 class Buttons:
   NONE = 0
@@ -16,14 +17,22 @@ class Buttons:
   CANCEL = 4
 
 FINGERPRINTS = {
+  CAR.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
+  }],
   CAR.SANTA_FE: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
   }],
 }
 
 CAMERA_MSGS = [832, 1156, 1191, 1342]   # msgs sent by the camera
 
+CHECKSUM = {
+  CAR.SANTA_FE: 0,
+  CAR.SORENTO: 6,
+}
+
 DBC = {
   CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None),
+  CAR.SORENTO: dbc_dict('hyundai_santa_fe_2019_ccan', None),
 }
-