HKG: move to platform config (#31649)

* 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>
1 year ago · e341707b0f
parent 7014b52596
commit e341707b0f
5 changed files with 478 additions and 340 deletions
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@ -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)}")
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -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:
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -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):
@ -33,7 +33,7 @@ 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,
+  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,
@ -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)


--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -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: [
+@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])),
    ],
-  CAR.ELANTRA: [
+    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])),
    ],
-  CAR.ELANTRA_GT_I30: [
+    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])),
    ],
-  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",
+    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: [
+    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])),
    ],
-  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_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: [
+    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])),
    ],
-  CAR.PALISADE: [
+    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])),
    ],
-  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: [
+    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])),
    ],
-  CAR.IONIQ_6: [
+    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: [
+    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])),
    ],
-  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])),
+  )
+  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: [
+  ]
+  )
+  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])),
    ],
-  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_NIRO_PHEV: [
+    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])),
    ],
-  CAR.KIA_NIRO_PHEV_2022: [
+    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])),
    ],
-  CAR.KIA_NIRO_HEV_2021: [
+    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])),
    ],
-  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",
+    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: [
+  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])),
    ],
-  CAR.KIA_SORENTO: [
+  )
+  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: [
+    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])),
    ],
-  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: [
+    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]))
    ],
-  CAR.KIA_CARNIVAL_4TH_GEN: [
+    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: [
+  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])),
    ],
-  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: [
+    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])),
    ],
-  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])),
-}
+    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, }
+CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)

-# 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}
+HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)

-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}
+EV_CAR = CAR.with_flags(HyundaiFlags.EV)

-# 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}
+LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)

-# 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}
+UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)

-# 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),
-}
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  CAR.print_debug(HyundaiFlags)
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-5aa0f4c0ab2cebccc3596aa8ef529fdb94a43643
+de322b3898f8fedb57036b6cf4a0605968138929