@ -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 CarSpecs , 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 +52,48 @@ 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
MIN_STEER_32_MPH = 2 * * 23
class Footnote ( Enum ) :
@ -152,160 +108,498 @@ 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 " ,
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 " ,
car_parts = CarParts . common ( [ CarHarness . hyundai_r ] ) ) ,
CAR . SANTA_FE : 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 " ,
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 " ,
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 : [
@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 ' )
if self . flags & HyundaiFlags . MIN_STEER_32_MPH :
self . specs = self . specs . override ( minSteerSpeed = 32 * CV . MPH_TO_MS )
@dataclass
class HyundaiCanFDPlatformConfig ( PlatformConfig ) :
dbc_dict : DbcDict = field ( default_factory = lambda : dbc_dict ( " hyundai_canfd " , None ) )
def init ( self ) :
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 ] ) ) ,
CarSpecs ( mass = 1600 , wheelbase = 2.885 , steerRatio = 14.5 ) ,
)
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 ] ) ) ,
] ,
CarSpecs ( mass = 1675 , wheelbase = 2.885 , steerRatio = 14.5 ) ,
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 ] ) ) ,
] ,
# steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
CarSpecs ( mass = 1275 , wheelbase = 2.7 , steerRatio = 15.4 , tireStiffnessFactor = 0.385 ) ,
flags = HyundaiFlags . LEGACY | HyundaiFlags . CLUSTER_GEARS | HyundaiFlags . MIN_STEER_32_MPH ,
)
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 ] ) ) ,
] ,
ELANTRA . specs ,
flags = HyundaiFlags . LEGACY | HyundaiFlags . CLUSTER_GEARS | HyundaiFlags . MIN_STEER_32_MPH ,
)
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 ] ) ) ,
CarSpecs ( mass = 2800 * CV . LB_TO_KG , wheelbase = 2.72 , steerRatio = 12.9 , tireStiffnessFactor = 0.65 ) ,
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 ] ) ) ,
CarSpecs ( mass = 3017 * CV . LB_TO_KG , wheelbase = 2.72 , steerRatio = 12.9 , tireStiffnessFactor = 0.65 ) ,
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 ] ) ) ,
] ,
CarSpecs ( mass = 2060 , wheelbase = 3.01 , steerRatio = 16.5 , minSteerSpeed = 60 * CV . KPH_TO_MS ) ,
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 ] ) ) ,
CarSpecs ( mass = 1490 , wheelbase = 2.7 , steerRatio = 13.73 , tireStiffnessFactor = 0.385 ) ,
flags = HyundaiFlags . HYBRID | HyundaiFlags . MIN_STEER_32_MPH ,
)
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,
CarSpecs ( mass = 1490 , wheelbase = 2.7 , steerRatio = 13.73 , tireStiffnessFactor = 0.385 ) ,
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 ] ) ) ,
CarSpecs ( mass = 1490 , wheelbase = 2.7 , steerRatio = 13.73 , tireStiffnessFactor = 0.385 ) ,
flags = HyundaiFlags . MANDO_RADAR | HyundaiFlags . EV | HyundaiFlags . LEGACY | HyundaiFlags . MIN_STEER_32_MPH ,
)
IONIQ_EV_2020 = HyundaiPlatformConfig (
" HYUNDAI IONIQ ELECTRIC 2020 " ,
HyundaiCarInfo ( " Hyundai Ioniq Electric 2020 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_h ] ) ) ,
CarSpecs ( mass = 1490 , wheelbase = 2.7 , steerRatio = 13.73 , tireStiffnessFactor = 0.385 ) ,
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 ] ) ) ,
CarSpecs ( mass = 1490 , wheelbase = 2.7 , steerRatio = 13.73 , tireStiffnessFactor = 0.385 ) ,
flags = HyundaiFlags . HYBRID | HyundaiFlags . MIN_STEER_32_MPH ,
)
IONIQ_PHEV = HyundaiPlatformConfig (
" HYUNDAI IONIQ PHEV 2020 " ,
HyundaiCarInfo ( " Hyundai Ioniq Plug-in Hybrid 2020-22 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_h ] ) ) ,
CarSpecs ( mass = 1490 , wheelbase = 2.7 , steerRatio = 13.73 , tireStiffnessFactor = 0.385 ) ,
flags = HyundaiFlags . HYBRID ,
)
KONA = HyundaiPlatformConfig (
" HYUNDAI KONA 2020 " ,
HyundaiCarInfo ( " Hyundai Kona 2020 " , car_parts = CarParts . common ( [ CarHarness . hyundai_b ] ) ) ,
CarSpecs ( mass = 1275 , wheelbase = 2.6 , steerRatio = 13.42 , tireStiffnessFactor = 0.385 ) ,
flags = HyundaiFlags . CLUSTER_GEARS ,
)
KONA_EV = HyundaiPlatformConfig (
" HYUNDAI KONA ELECTRIC 2019 " ,
HyundaiCarInfo ( " Hyundai Kona Electric 2018-21 " , car_parts = CarParts . common ( [ CarHarness . hyundai_g ] ) ) ,
CarSpecs ( mass = 1685 , wheelbase = 2.6 , steerRatio = 13.42 , tireStiffnessFactor = 0.385 ) ,
flags = HyundaiFlags . EV ,
)
KONA_EV_2022 = HyundaiPlatformConfig (
" HYUNDAI KONA ELECTRIC 2022 " ,
HyundaiCarInfo ( " Hyundai Kona Electric 2022-23 " , car_parts = CarParts . common ( [ CarHarness . hyundai_o ] ) ) ,
CarSpecs ( mass = 1743 , wheelbase = 2.6 , steerRatio = 13.42 , tireStiffnessFactor = 0.385 ) ,
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 ] ) ) ,
CarSpecs ( mass = 1740 , wheelbase = 2.66 , steerRatio = 13.6 , tireStiffnessFactor = 0.385 ) ,
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,
CarSpecs ( mass = 1425 , wheelbase = 2.6 , steerRatio = 13.42 , tireStiffnessFactor = 0.385 ) ,
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 ] ) ) ,
CarSpecs ( mass = 3982 * CV . LB_TO_KG , wheelbase = 2.766 , steerRatio = 16.55 , tireStiffnessFactor = 0.82 ) ,
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 ] ) ) ,
SANTA_FE . specs ,
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 ] ) ) ,
SANTA_FE . specs ,
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 ] ) ) ,
SANTA_FE . specs ,
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 ] ) ) ,
CarSpecs ( mass = 1513 , wheelbase = 2.84 , steerRatio = 13.27 * 1.15 , tireStiffnessFactor = 0.65 ) , # 15% higher at the center seems reasonable
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 ] ) ) ,
CarSpecs ( mass = 1536 , wheelbase = 2.804 , steerRatio = 13.27 * 1.15 ) , # 15% higher at the center seems reasonable
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 ] ) ) ,
CarSpecs ( mass = 2205 , wheelbase = 3.273 , steerRatio = 11.94 ) , # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
)
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 ] ) ) ,
] ,
CarSpecs ( mass = 3520 * CV . LB_TO_KG , wheelbase = 2.67 , steerRatio = 16.1 , tireStiffnessFactor = 0.385 ) ,
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 ] ) ) ,
] ,
CarSpecs ( mass = 1999 , wheelbase = 2.9 , steerRatio = 15.6 * 1.15 , tireStiffnessFactor = 0.63 ) ,
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 ] ) ) ,
CarSpecs ( mass = 2917 * CV . LB_TO_KG , wheelbase = 2.8 , steerRatio = 13.75 * 1.15 , tireStiffnessFactor = 0.5 ) ,
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 ] ) ) ,
SONATA . specs ,
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 ] ) ) ,
] ,
CarSpecs ( mass = 1948 , wheelbase = 2.97 , steerRatio = 14.26 , tireStiffnessFactor = 0.65 ) ,
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 ] ) ) ,
IONIQ_5 . specs ,
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 ] ) ) ,
] ,
CarSpecs ( mass = 1630 , wheelbase = 2.756 , steerRatio = 16 , tireStiffnessFactor = 0.385 ) ,
)
SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig (
" HYUNDAI SANTA CRUZ 1ST GEN " ,
HyundaiCarInfo ( " Hyundai Santa Cruz 2022-23 " , car_parts = CarParts . common ( [ CarHarness . hyundai_n ] ) ) ,
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
CarSpecs ( mass = 1870 , wheelbase = 3 , steerRatio = 14.2 ) ,
)
CUSTIN_1ST_GEN = HyundaiPlatformConfig (
" HYUNDAI CUSTIN 1ST GEN " ,
HyundaiCarInfo ( " Hyundai Custin 2023 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_k ] ) ) ,
CarSpecs ( mass = 1690 , wheelbase = 3.055 , steerRatio = 17 ) , # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
flags = HyundaiFlags . CHECKSUM_CRC8 ,
)
# Kia
CAR . KIA_FORTE : [
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 " ,
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 ] ) ) ,
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 ] ) ) ,
] ,
CarSpecs ( mass = 2878 * CV . LB_TO_KG , wheelbase = 2.8 , steerRatio = 13.75 , tireStiffnessFactor = 0.5 )
)
KIA_K5_2021 = HyundaiPlatformConfig (
" KIA K5 2021 " ,
HyundaiCarInfo ( " Kia K5 2021-24 " , car_parts = CarParts . common ( [ CarHarness . hyundai_a ] ) ) ,
CarSpecs ( mass = 3381 * CV . LB_TO_KG , wheelbase = 2.85 , steerRatio = 13.27 , tireStiffnessFactor = 0.5 ) , # 2021 Kia K5 Steering Ratio (all trims)
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 ] ) ) ,
KIA_K5_2021 . specs ,
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 ] ) ) ,
# mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
CarSpecs ( mass = 1630 , wheelbase = 2.895 , steerRatio = 13.27 )
)
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 ] ) ) ,
] ,
CarSpecs ( mass = 3543 * CV . LB_TO_KG , wheelbase = 2.7 , steerRatio = 13.6 , tireStiffnessFactor = 0.385 ) , # average of all the cars
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 ] ) ) ,
KIA_NIRO_EV . specs ,
flags = HyundaiFlags . EV ,
)
KIA_NIRO_PHEV = HyundaiPlatformConfig (
" KIA NIRO HYBRID 2019 " ,
[
HyundaiCarInfo ( " Kia Niro Hybrid 2018 " , " All " , min_enable_speed = 10. * CV . MPH_TO_MS , car_parts = CarParts . common ( [ CarHarness . hyundai_c ] ) ) ,
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 ] ) ) ,
] ,
KIA_NIRO_EV . specs ,
flags = HyundaiFlags . MANDO_RADAR | HyundaiFlags . HYBRID | HyundaiFlags . UNSUPPORTED_LONGITUDINAL | HyundaiFlags . MIN_STEER_32_MPH ,
)
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 ] ) ) ,
] ,
KIA_NIRO_EV . specs ,
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 ] ) ) ,
] ,
KIA_NIRO_EV . specs ,
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_NIRO_EV . specs ,
)
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
CarSpecs ( mass = 3558 * CV . LB_TO_KG , wheelbase = 2.8 , steerRatio = 13.75 , tireStiffnessFactor = 0.5 ) ,
flags = HyundaiFlags . LEGACY | HyundaiFlags . TCU_GEARS | HyundaiFlags . MIN_STEER_32_MPH ,
)
KIA_OPTIMA_G4_FL = HyundaiPlatformConfig (
" KIA OPTIMA 4TH GEN FACELIFT " ,
HyundaiCarInfo ( " Kia Optima 2019-20 " , car_parts = CarParts . common ( [ CarHarness . hyundai_g ] ) ) ,
CarSpecs ( mass = 3558 * CV . LB_TO_KG , wheelbase = 2.8 , steerRatio = 13.75 , tireStiffnessFactor = 0.5 ) ,
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 " ,
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 ] ) )
] ,
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 ] ) ) ,
CarSpecs ( mass = 3558 * CV . LB_TO_KG , wheelbase = 2.8 , steerRatio = 13.75 , tireStiffnessFactor = 0.5 ) ,
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 ] ) ) ,
CarSpecs ( mass = 3558 * CV . LB_TO_KG , wheelbase = 2.8 , steerRatio = 13.75 , tireStiffnessFactor = 0.5 ) ,
flags = HyundaiFlags . HYBRID | HyundaiFlags . UNSUPPORTED_LONGITUDINAL ,
)
KIA_SELTOS = HyundaiPlatformConfig (
" KIA SELTOS 2021 " ,
HyundaiCarInfo ( " Kia Seltos 2021 " , car_parts = CarParts . common ( [ CarHarness . hyundai_a ] ) ) ,
CarSpecs ( mass = 1337 , wheelbase = 2.63 , steerRatio = 14.56 ) ,
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 ] ) ) ,
] ,
# weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
CarSpecs ( mass = 1725 , wheelbase = 2.756 , steerRatio = 13.6 ) ,
)
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 ] ) ) ,
] ,
CarSpecs ( mass = 1985 , wheelbase = 2.78 , steerRatio = 14.4 * 1.1 ) , # 10% higher at the center seems reasonable
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 ] ) ) ,
CarSpecs ( mass = 3957 * CV . LB_TO_KG , wheelbase = 2.81 , steerRatio = 13.5 ) , # average of the platforms
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 ] ) ) ,
] ,
CarSpecs ( mass = 4395 * CV . LB_TO_KG , wheelbase = 2.81 , steerRatio = 13.5 ) , # average of the platforms
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 ] ) ) ,
CarSpecs ( mass = 1825 , wheelbase = 2.78 , steerRatio = 14.4 * 1.15 ) # 15% higher at the center seems reasonable
)
KIA_STINGER_2022 = HyundaiPlatformConfig (
" KIA STINGER 2022 " ,
HyundaiCarInfo ( " Kia Stinger 2022-23 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_k ] ) ) ,
KIA_STINGER . specs ,
)
KIA_CEED = HyundaiPlatformConfig (
" KIA CEED INTRO ED 2019 " ,
HyundaiCarInfo ( " Kia Ceed 2019 " , car_parts = CarParts . common ( [ CarHarness . hyundai_e ] ) ) ,
CarSpecs ( mass = 1450 , wheelbase = 2.65 , steerRatio = 13.75 , tireStiffnessFactor = 0.5 ) ,
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 ] ) )
] ,
CarSpecs ( mass = 2055 , wheelbase = 2.9 , steerRatio = 16 , tireStiffnessFactor = 0.65 ) ,
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 ] ) )
] ,
CarSpecs ( mass = 2087 , wheelbase = 3.09 , steerRatio = 14.23 ) ,
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 ] ) ) ,
] ,
CarSpecs ( mass = 2205 , wheelbase = 2.9 , steerRatio = 12.6 ) , # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
flags = HyundaiFlags . EV ,
)
GENESIS_G70 = HyundaiPlatformConfig (
" GENESIS G70 2018 " ,
HyundaiCarInfo ( " Genesis G70 2018-19 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_f ] ) ) ,
CarSpecs ( mass = 1640 , wheelbase = 2.84 , steerRatio = 13.56 ) ,
flags = HyundaiFlags . LEGACY ,
)
GENESIS_G70_2020 = HyundaiPlatformConfig (
" GENESIS G70 2020 " ,
HyundaiCarInfo ( " Genesis G70 2020 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_f ] ) ) ,
CarSpecs ( mass = 3673 * CV . LB_TO_KG , wheelbase = 2.83 , steerRatio = 12.9 ) ,
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 ] ) ) ,
] ,
CarSpecs ( mass = 1950 , wheelbase = 2.87 , steerRatio = 14.6 ) ,
flags = HyundaiFlags . RADAR_SCC ,
)
GENESIS_G80 = HyundaiPlatformConfig (
" GENESIS G80 2017 " ,
HyundaiCarInfo ( " Genesis G80 2018-19 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_h ] ) ) ,
CarSpecs ( mass = 2060 , wheelbase = 3.01 , steerRatio = 16.5 ) ,
flags = HyundaiFlags . LEGACY ,
)
GENESIS_G90 = HyundaiPlatformConfig (
" GENESIS G90 2017 " ,
HyundaiCarInfo ( " Genesis G90 2017-18 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_c ] ) ) ,
CarSpecs ( mass = 2200 , wheelbase = 3.15 , steerRatio = 12.069 ) ,
)
GENESIS_GV80 = HyundaiCanFDPlatformConfig (
" GENESIS GV80 2023 " ,
HyundaiCarInfo ( " Genesis GV80 2023 " , " All " , car_parts = CarParts . common ( [ CarHarness . hyundai_m ] ) ) ,
CarSpecs ( mass = 2258 , wheelbase = 2.95 , steerRatio = 14.14 ) ,
flags = HyundaiFlags . RADAR_SCC ,
)
class Buttons :
NONE = 0
@ -438,7 +732,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
Request (
[ HYUNDAI_VERSION_REQUEST_LONG ] ,
[ HYUNDAI_VERSION_RESPONSE ] ,
whitelist_ecus = [ Ecu . fwdCamera , Ecu . fwdRadar , Ecu . cornerRadar , Ecu . hvac ] ,
whitelist_ecus = [ Ecu . fwdCamera , Ecu . fwdRadar , Ecu . cornerRadar , Ecu . hvac , Ecu . eps ] ,
bus = 0 ,
auxiliary = True ,
) ,
@ -508,6 +802,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
obd_multiplexing = False ,
) ,
] ,
# We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present
non_essential_ecus = {
Ecu . transmission : [ CAR . AZERA_6TH_GEN , CAR . AZERA_HEV_6TH_GEN , CAR . PALISADE , CAR . SONATA ] ,
Ecu . engine : [ CAR . AZERA_6TH_GEN , CAR . AZERA_HEV_6TH_GEN , CAR . PALISADE , CAR . SONATA ] ,
Ecu . abs : [ CAR . PALISADE , CAR . SONATA ] ,
} ,
extra_ecus = [
( Ecu . adas , 0x730 , None ) , # ADAS Driving ECU on HDA2 platforms
( Ecu . parkingAdas , 0x7b1 , None ) , # ADAS Parking ECU (may exist on all platforms)
@ -518,118 +819,36 @@ 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 )
DBC = CAR . create_dbc_map ( )
if __name__ == " __main__ " :
CAR . print_debug ( HyundaiFlags )
Cameron Clough
1 year ago