Hyundai: split 2020 Kia Niro PHEV EX Premium

opendbc/car/hyundai/fingerprints.py

@@ -778,6 +778,18 @@
       b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.02 99110-G5100         ',
+      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+    ],
+  },
+  CAR.KIA_NIRO_PHEV_2020: {
+    (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 1.05 99211-G5000 190826',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [

opendbc/car/hyundai/tests/test_hyundai.py

@@ -6,7 +6,7 @@
 from opendbc.car.hyundai.interface import CarInterface
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
-from opendbc.car.hyundai.values import CAR, DATE_FW_ECUS, FW_QUERY_CONFIG, CANFD_FUZZY_WHITELIST, \
+from opendbc.car.hyundai.values import CAR, CarControllerParams, DATE_FW_ECUS, FW_QUERY_CONFIG, CANFD_FUZZY_WHITELIST, \
                                          PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          HyundaiFlags, get_platform_codes, HyundaiSafetyFlags
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -76,6 +76,25 @@ def test_alternate_limits(self):
       CP = CarInterface.get_params(car_model, fingerprint, [], False, False, False)
       assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.ALT_LIMITS)
 
+  def test_niro_phev_2020_features(self):
+    fingerprint = gen_empty_fingerprint()
+    older = CarInterface.get_params(CAR.KIA_NIRO_PHEV, fingerprint, [], True, False, False)
+    premium_2020 = CarInterface.get_params(CAR.KIA_NIRO_PHEV_2020, fingerprint, [], True, False, False)
+
+    assert older.flags & HyundaiFlags.UNSUPPORTED_LONGITUDINAL
+    assert older.flags & HyundaiFlags.MIN_STEER_32_MPH
+    assert older.minSteerSpeed > 10.
+    assert not older.alphaLongitudinalAvailable
+
+    assert not premium_2020.flags & HyundaiFlags.UNSUPPORTED_LONGITUDINAL
+    assert not premium_2020.flags & HyundaiFlags.MIN_STEER_32_MPH
+    assert premium_2020.minSteerSpeed == 0.
+    assert premium_2020.alphaLongitudinalAvailable
+    assert premium_2020.openpilotLongitudinalControl
+
+    assert CarControllerParams(older).STEER_MAX == 255
+    assert CarControllerParams(premium_2020).STEER_MAX == 255
+
   def test_can_features(self):
     for car_model in CAR:
       flags = car_model.config.flags

opendbc/car/hyundai/values.py

@@ -36,7 +36,7 @@ def __init__(self, CP):
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
                                CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
+                               CAR.KIA_NIRO_PHEV_2020, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
     # these cars have significantly more torque than most HKG; limit to 70% of max
@@ -440,11 +440,15 @@ class CAR(Platforms):
     [
       HyundaiCarDocs("Kia Niro Hybrid 2018", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
       HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
     ],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
   )
+  KIA_NIRO_PHEV_2020 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", "EX Premium", car_parts=CarParts.common([CarHarness.hyundai_d]))],
+    KIA_NIRO_EV.specs,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID,
+  )
   KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
     [
       HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),

opendbc/car/tests/routes.py

@@ -25,6 +25,7 @@
   GM.HOLDEN_ASTRA,
   GM.CHEVROLET_MALIBU,
   HYUNDAI.GENESIS_G90,
+  HYUNDAI.KIA_NIRO_PHEV_2020,
   VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
   SUBARU.SUBARU_FORESTER_HYBRID,
   VOLKSWAGEN.PORSCHE_MACAN_MK1,

opendbc/car/torque_data/substitute.toml

@@ -25,6 +25,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_CEED" = "HYUNDAI_SONATA"
 "KIA_SELTOS" = "HYUNDAI_SONATA"
 "KIA_NIRO_PHEV" = "KIA_NIRO_EV"
+"KIA_NIRO_PHEV_2020" = "KIA_NIRO_EV"
 "KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV"
 "KIA_NIRO_HEV_2021" = "KIA_NIRO_EV"
 "HYUNDAI_VELOSTER" = "HYUNDAI_SONATA_LF"