diff --git a/cereal b/cereal
index d0ca2639d0..3c5ff1c6d0 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit d0ca2639d057acda9ce56766f60658417ab6834a
+Subproject commit 3c5ff1c6d069be21b32e2ac202115f4ea5d21bc7
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 5c677951b7..57d306496b 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -335,10 +335,15 @@ FINGERPRINTS = {
 
 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf100)  # Long description
+
+HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf110)  # Alt long description
+
 HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
   p16(0xf100)
+
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -374,9 +379,28 @@ FW_QUERY_CONFIG = FwQueryConfig(
       auxiliary=True,
       obd_multiplexing=False,
     ),
+
+    # CAN-FD debugging queries
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parking],
+      bus=0,
+      auxiliary=True,
+      obd_multiplexing=False,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parking],
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
+    ),
   ],
   extra_ecus=[
     (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
+    (Ecu.parking, 0x7b1, None),      # ADAS Parking ECU (may exist on all platforms)
     (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
   ],