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HKG: move to platform config (#31649)

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* fuck me!

* that kinda makes things pretty nice

* move it down

* and move this comment

* Wip

* more flags :/

* add the debug shit

* add

* lets not break this yet

* MORE flags git add .git add .git add .git add .!

* B

* add mando

* update ref

* possibly better?

* we can use flags here

* formatting

* formatting

* move up

* canfd subclass

* this is more clear

* spacing

* static!

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: e341707b0f
vw-mqb-aeb
Justin Newberry 2 years ago committed by GitHub
parent 3fadc8cd21
commit 0ffb29accd
5 changed files with 478 additions and 340 deletions
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  1. 2
      selfdrive/car/__init__.py
  2. 6
      selfdrive/car/hyundai/carcontroller.py
  3. 28
      selfdrive/car/hyundai/hyundaican.py
  4. 780
      selfdrive/car/hyundai/values.py
  5. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/car/__init__.py
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@ -312,4 +312,4 @@ class Platforms(str, ReprEnum):
platforms_with_flag[flag.name].append(platform)
for flag, platforms in platforms_with_flag.items():
print(f"{flag:20s}: {', '.join(p.name for p in platforms)}")
print(f"{flag:32s}: {', '.join(p.name for p in platforms)}")

6
selfdrive/car/hyundai/carcontroller.py
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@ -135,7 +135,7 @@ class CarController(CarControllerBase):
# button presses
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning))
@ -175,12 +175,12 @@ class CarController(CarControllerBase):
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
else:

28
selfdrive/car/hyundai/hyundaican.py
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@ -1,9 +1,9 @@
import crcmod
from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
def create_lkas11(packer, frame, CP, apply_steer, steer_req,
torque_fault, lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane,
left_lane_depart, right_lane_depart):
@ -33,12 +33,12 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
@ -57,7 +57,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
# Likely cars lacking the ability to show individual lane lines in the dash
elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
# SysWarning 4 = keep hands on wheel + beep
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
@ -72,18 +72,18 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_LdwsActivemode"] = 0
values["CF_Lkas_FcwOpt_USM"] = 0
elif car_fingerprint == CAR.HYUNDAI_GENESIS:
elif CP.carFingerprint == CAR.HYUNDAI_GENESIS:
# This field is actually LdwsActivemode
# Genesis and Optima fault when forwarding while engaged
values["CF_Lkas_LdwsActivemode"] = 2
dat = packer.make_can_msg("LKAS11", 0, values)[2]
if car_fingerprint in CHECKSUM["crc8"]:
if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
# CRC Checksum as seen on 2019 Hyundai Santa Fe
dat = dat[:6] + dat[7:8]
checksum = hyundai_checksum(dat)
elif car_fingerprint in CHECKSUM["6B"]:
elif CP.flags & HyundaiFlags.CHECKSUM_6B:
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
checksum = sum(dat[:6]) % 256
else:
@ -95,7 +95,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
return packer.make_can_msg("LKAS11", 0, values)
def create_clu11(packer, frame, clu11, button, car_fingerprint):
def create_clu11(packer, frame, clu11, button, CP):
values = {s: clu11[s] for s in [
"CF_Clu_CruiseSwState",
"CF_Clu_CruiseSwMain",
@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, car_fingerprint):
values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars
bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
return packer.make_can_msg("CLU11", bus, values)

780
selfdrive/car/hyundai/values.py
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@ -1,11 +1,11 @@
import re
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from panda.python import uds
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
@ -52,92 +52,46 @@ class CarControllerParams:
class HyundaiFlags(IntFlag):
# Dynamic Flags
CANFD_HDA2 = 1
CANFD_ALT_BUTTONS = 2
CANFD_ALT_GEARS = 4
CANFD_CAMERA_SCC = 8
CANFD_ALT_GEARS = 2 ** 2
CANFD_CAMERA_SCC = 2 ** 3
ALT_LIMITS = 16
ENABLE_BLINKERS = 32
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
CANFD_HDA2_ALT_STEERING = 512
HYBRID = 1024
EV = 2048
ALT_LIMITS = 2 ** 4
ENABLE_BLINKERS = 2 ** 5
CANFD_ALT_GEARS_2 = 2 ** 6
SEND_LFA = 2 ** 7
USE_FCA = 2 ** 8
CANFD_HDA2_ALT_STEERING = 2 ** 9
# these cars use a different gas signal
HYBRID = 2 ** 10
EV = 2 ** 11
class CAR(StrEnum):
# Hyundai
AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
KONA = "HYUNDAI KONA 2020"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
KONA_HEV = "HYUNDAI KONA HYBRID 2020"
SANTA_FE = "HYUNDAI SANTA FE 2019"
SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
SONATA = "HYUNDAI SONATA 2020"
SONATA_LF = "HYUNDAI SONATA 2019"
STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN"
TUCSON = "HYUNDAI TUCSON 2019"
PALISADE = "HYUNDAI PALISADE 2020"
VELOSTER = "HYUNDAI VELOSTER 2019"
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
IONIQ_6 = "HYUNDAI IONIQ 6 2023"
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
# Static Flags
# Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
KIA_K5_2021 = "KIA K5 2021"
KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
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"
KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
KIA_SELTOS = "KIA SELTOS 2021"
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
KIA_EV6 = "KIA EV6 2022"
KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
MANDO_RADAR = 2 ** 12
CANFD = 2 ** 13
# Genesis
GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
GENESIS_G70 = "GENESIS G70 2018"
GENESIS_G70_2020 = "GENESIS G70 2020"
GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
GENESIS_G80 = "GENESIS G80 2017"
GENESIS_G90 = "GENESIS G90 2017"
GENESIS_GV80 = "GENESIS GV80 2023"
# The radar does SCC on these cars when HDA I, rather than the camera
RADAR_SCC = 2 ** 14
CAMERA_SCC = 2 ** 15
CHECKSUM_CRC8 = 2 ** 16
CHECKSUM_6B = 2 ** 17
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY = 2 ** 18
# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
UNSUPPORTED_LONGITUDINAL = 2 ** 19
CANFD_NO_RADAR_DISABLE = 2 ** 20
CLUSTER_GEARS = 2 ** 21
TCU_GEARS = 2 ** 22
class Footnote(Enum):
@ -152,160 +106,425 @@ class HyundaiCarInfo(CarInfo):
package: str = "Smart Cruise Control (SCC)"
def init_make(self, CP: car.CarParams):
if CP.carFingerprint in CANFD_CAR:
if CP.flags & HyundaiFlags.CANFD:
self.footnotes.insert(0, Footnote.CANFD)
CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = {
CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.AZERA_HEV_6TH_GEN: [
HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
CAR.ELANTRA: [
# TODO: 2017-18 could be Hyundai G
HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
],
CAR.ELANTRA_GT_I30: [
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
@dataclass
class HyundaiPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None))
def init(self):
if self.flags & HyundaiFlags.MANDO_RADAR:
self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated')
@dataclass
class HyundaiCanFDPlatformConfig(HyundaiPlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None))
def init(self):
super().init()
self.flags |= HyundaiFlags.CANFD
class CAR(Platforms):
# Hyundai
AZERA_6TH_GEN = HyundaiPlatformConfig(
"HYUNDAI AZERA 6TH GEN",
HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
)
AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
"HYUNDAI AZERA HYBRID 6TH GEN",
[
HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
flags=HyundaiFlags.HYBRID
)
ELANTRA = HyundaiPlatformConfig(
"HYUNDAI ELANTRA 2017",
[
# TODO: 2017-18 could be Hyundai G
HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
],
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS
)
ELANTRA_GT_I30 = HyundaiPlatformConfig(
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT",
[
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS
)
ELANTRA_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA 2021",
HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
ELANTRA_HEV_2021 = HyundaiPlatformConfig(
"HYUNDAI ELANTRA HYBRID 2021",
HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.HYUNDAI_GENESIS: [
# TODO: check 2015 packages
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
],
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
# TODO: this is the 2024 US MY, not yet released
CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
HYUNDAI_GENESIS = HyundaiPlatformConfig(
"HYUNDAI GENESIS 2015-2016",
[
# TODO: check 2015 packages
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
],
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY
)
IONIQ = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2017-2019",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.HYBRID
)
IONIQ_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI IONIQ HYBRID 2020-2022",
HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness,
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
)
IONIQ_EV_LTD = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC LIMITED 2019",
HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY
)
IONIQ_EV_2020 = HyundaiPlatformConfig(
"HYUNDAI IONIQ ELECTRIC 2020",
HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.EV
)
IONIQ_PHEV_2019 = HyundaiPlatformConfig(
"HYUNDAI IONIQ PLUG-IN HYBRID 2019",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.HYBRID
)
IONIQ_PHEV = HyundaiPlatformConfig(
"HYUNDAI IONIQ PHEV 2020",
HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.HYBRID
)
KONA = HyundaiPlatformConfig(
"HYUNDAI KONA 2020",
HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
flags=HyundaiFlags.CLUSTER_GEARS
)
KONA_EV = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2019",
HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
flags=HyundaiFlags.EV
)
KONA_EV_2022 = HyundaiPlatformConfig(
"HYUNDAI KONA ELECTRIC 2022",
HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV
)
KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI KONA ELECTRIC 2ND GEN",
HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r])),
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
)
KONA_HEV = HyundaiPlatformConfig(
"HYUNDAI KONA HYBRID 2020",
HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages,
flags=HyundaiFlags.HYBRID
)
SANTA_FE = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2019",
HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
car_parts=CarParts.common([CarHarness.hyundai_d])),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
SANTA_FE_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE 2022",
HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
flags=HyundaiFlags.CHECKSUM_CRC8
)
SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
SONATA = HyundaiPlatformConfig(
"HYUNDAI SONATA 2020",
HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.TUCSON: [
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
CAR.PALISADE: [
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.IONIQ_5: [
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CAR.IONIQ_6: [
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
SONATA_LF = HyundaiPlatformConfig(
"HYUNDAI SONATA 2019",
HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
)
STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI STARIA 4TH GEN",
HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
)
TUCSON = HyundaiPlatformConfig(
"HYUNDAI TUCSON 2019",
[
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
flags=HyundaiFlags.TCU_GEARS
)
PALISADE = HyundaiPlatformConfig(
"HYUNDAI PALISADE 2020",
[
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8
)
VELOSTER = HyundaiPlatformConfig(
"HYUNDAI VELOSTER 2019",
HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS
)
SONATA_HYBRID = HyundaiPlatformConfig(
"HYUNDAI SONATA HYBRID 2021",
HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
IONIQ_5 = HyundaiCanFDPlatformConfig(
"HYUNDAI IONIQ 5 2022",
[
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
flags=HyundaiFlags.EV
)
IONIQ_6 = HyundaiCanFDPlatformConfig(
"HYUNDAI IONIQ 6 2023",
HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
],
CAR.TUCSON_4TH_GEN: [
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE
)
TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI TUCSON 4TH GEN",
[
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
)
SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
"HYUNDAI SANTA CRUZ 1ST GEN",
HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
)
CUSTIN_1ST_GEN = HyundaiPlatformConfig(
"HYUNDAI CUSTIN 1ST GEN",
HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
# Kia
CAR.KIA_FORTE: [
KIA_FORTE = HyundaiPlatformConfig(
"KIA FORTE E 2018 & GT 2021",
[
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
CAR.KIA_NIRO_EV: [
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_NIRO_PHEV: [
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 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
CAR.KIA_NIRO_HEV_2021: [
HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
]
)
KIA_K5_2021 = HyundaiPlatformConfig(
"KIA K5 2021",
HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
"KIA K5 HYBRID 2020",
HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID
)
KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
"KIA K8 HYBRID 1ST GEN",
HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
)
KIA_NIRO_EV = HyundaiPlatformConfig(
"KIA NIRO EV 2020",
[
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV
)
KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO EV 2ND GEN",
HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.EV
)
KIA_NIRO_PHEV = HyundaiPlatformConfig(
"KIA NIRO HYBRID 2019",
[
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])),
],
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
"KIA NIRO PLUG-IN HYBRID 2022",
[
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR
)
KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
"KIA NIRO HYBRID 2021",
[
HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
flags=HyundaiFlags.HYBRID
)
KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
"KIA NIRO HYBRID 2ND GEN",
HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
)
KIA_OPTIMA_G4 = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN",
HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS
)
KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS
)
# TODO: may support adjacent years. may have a non-zero minimum steering speed
CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_5TH_GEN: [
HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CAR.KIA_SORENTO: [
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
KIA_OPTIMA_H = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 2017 & SPORTS 2019",
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY
)
KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
"KIA OPTIMA HYBRID 4TH GEN FACELIFT",
HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_SELTOS = HyundaiPlatformConfig(
"KIA SELTOS 2021",
HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
flags=HyundaiFlags.CHECKSUM_CRC8
)
KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SPORTAGE 5TH GEN",
[
HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
)
KIA_SORENTO = HyundaiPlatformConfig(
"KIA SORENTO GT LINE 2018",
[
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.KIA_SORENTO_HEV_4TH_GEN: [
HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.KIA_EV6: [
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CAR.KIA_CARNIVAL_4TH_GEN: [
HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL
)
KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SORENTO 4TH GEN",
HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
flags=HyundaiFlags.RADAR_SCC
)
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA SORENTO HYBRID 4TH GEN",
[
HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
flags=HyundaiFlags.RADAR_SCC
)
KIA_STINGER = HyundaiPlatformConfig(
"KIA STINGER GT2 2018",
HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c]))
)
KIA_STINGER_2022 = HyundaiPlatformConfig(
"KIA STINGER 2022",
HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
)
KIA_CEED = HyundaiPlatformConfig(
"KIA CEED INTRO ED 2019",
HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
flags=HyundaiFlags.LEGACY
)
KIA_EV6 = HyundaiCanFDPlatformConfig(
"KIA EV6 2022",
[
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
flags=HyundaiFlags.EV
)
KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
"KIA CARNIVAL 4TH GEN",
[
HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
flags=HyundaiFlags.RADAR_SCC
)
# Genesis
CAR.GENESIS_GV60_EV_1ST_GEN: [
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
CAR.GENESIS_GV70_1ST_GEN: [
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
}
GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
"GENESIS GV60 ELECTRIC 1ST GEN",
[
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
flags=HyundaiFlags.EV
)
GENESIS_G70 = HyundaiPlatformConfig(
"GENESIS G70 2018",
HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
flags=HyundaiFlags.LEGACY
)
GENESIS_G70_2020 = HyundaiPlatformConfig(
"GENESIS G70 2020",
HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
flags=HyundaiFlags.MANDO_RADAR
)
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
"GENESIS GV70 1ST GEN",
[
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
flags=HyundaiFlags.RADAR_SCC
)
GENESIS_G80 = HyundaiPlatformConfig(
"GENESIS G80 2017",
HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
flags=HyundaiFlags.LEGACY
)
GENESIS_G90 = HyundaiPlatformConfig(
"GENESIS G90 2017",
HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
)
GENESIS_GV80 = HyundaiCanFDPlatformConfig(
"GENESIS GV80 2023",
HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
flags=HyundaiFlags.RADAR_SCC
)
class Buttons:
NONE = 0
@ -518,118 +737,37 @@ FW_QUERY_CONFIG = FwQueryConfig(
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)
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.CUSTIN_1ST_GEN],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
"crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8),
"6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B),
}
CAN_GEARS = {
# which message has the gear. hybrid and EV use ELECT_GEAR
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS),
"use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
CAR.STARIA_4TH_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)
# These CAN FD cars do not accept communication control to disable the ADAS ECU,
# responds with 0x7F2822 - 'conditions not correct'
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
# these cars use a different gas signal
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020,
CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, 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}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
# 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,
CAR.KIA_OPTIMA_H_G4_FL}
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
DBC = {
CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SELTOS: 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),
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
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'),
CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None),
}
CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)
EV_CAR = CAR.with_flags(HyundaiFlags.EV)
LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
if __name__ == "__main__":
CAR.print_debug(HyundaiFlags)

2
selfdrive/test/process_replay/ref_commit
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5aa0f4c0ab2cebccc3596aa8ef529fdb94a43643
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