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Hyundai: split Elantra and Elantra GT (i30) platforms (#29969)
* Hyundai: Add FW Versions for 2019 Elantra * wrong platform * Update selfdrive/car/hyundai/values.py * split platforms again * add engine and other trans * legacy: don't trust long * fix * elantra has no eps and i30 has no dates as well * 19 still has no sng * new harness * todo comment * Update CARS.md * re-did * add back * rev * Add Elantra 2017 FW from f6f9e1708bae2ef6 * Add Elantra 2017 FW from 5af39b105269f0f3 * Add Elantra 2017 FW from 2e158bb0e7396dd9 * should be all i30 and elantra drivers --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 820cccf8d991450f72b3b80f91749b43fb3a90cc
This commit is contained in:
Jason Wen
+3
-2
@@ -4,7 +4,7 @@
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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 266 Supported Cars
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# 267 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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@@ -75,7 +75,8 @@ A supported vehicle is one that just works when you install a comma device. All
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|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
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|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
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|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
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|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
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|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
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|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
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|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
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|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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@@ -88,7 +88,7 @@ class CarInterface(CarInterfaceBase):
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ret.wheelbase = 2.90
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ret.steerRatio = 15.6 * 1.15
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ret.tireStiffnessFactor = 0.63
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elif candidate == CAR.ELANTRA:
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elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
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ret.mass = 1275.
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ret.wheelbase = 2.7
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ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
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@@ -23,6 +23,7 @@ NO_DATES_PLATFORMS = {
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CAR.TUCSON_HYBRID_4TH_GEN,
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# CAN
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CAR.ELANTRA,
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CAR.ELANTRA_GT_I30,
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CAR.KIA_CEED,
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CAR.KIA_FORTE,
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CAR.KIA_OPTIMA_G4,
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@@ -99,7 +100,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
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def test_platform_code_ecus_available(self):
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# TODO: add queries for these non-CAN FD cars to get EPS
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no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
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CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
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CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA}
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# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
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for car_model, ecus in FW_VERSIONS.items():
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@@ -37,7 +37,7 @@ class CarControllerParams:
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# To determine the limit for your car, find the maximum value that the stock LKAS will request.
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# If the max stock LKAS request is <384, add your car to this list.
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elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
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elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
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CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
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CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
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self.STEER_MAX = 255
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@@ -72,6 +72,7 @@ class CAR(StrEnum):
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AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
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AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
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ELANTRA = "HYUNDAI ELANTRA 2017"
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ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
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ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
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ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
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HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
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@@ -160,7 +161,11 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
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CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
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CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
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CAR.ELANTRA: [
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HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
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# TODO: 2017-18 could be Hyundai G
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HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
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HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
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],
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CAR.ELANTRA_GT_I30: [
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HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
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HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
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],
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@@ -298,9 +303,6 @@ class Buttons:
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CANCEL = 4 # on newer models, this is a pause/resume button
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FINGERPRINTS = {
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CAR.ELANTRA: [{
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66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
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}],
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CAR.HYUNDAI_GENESIS: [{
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67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
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},
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@@ -1702,6 +1704,33 @@ FW_VERSIONS = {
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],
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},
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CAR.ELANTRA: {
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
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b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d',
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b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00',
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b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00',
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b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a',
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b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7d1, None): [
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b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
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b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
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],
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ',
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b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ',
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],
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},
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CAR.ELANTRA_GT_I30: {
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
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b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
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@@ -2065,7 +2094,7 @@ CHECKSUM = {
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CAN_GEARS = {
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# which message has the gear. hybrid and EV use ELECT_GEAR
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"use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
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"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
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"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
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}
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@@ -2094,7 +2123,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
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CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
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CAR.KIA_OPTIMA_H}
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CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
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# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
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UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
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@@ -2106,6 +2135,7 @@ DBC = {
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CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
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CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
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CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
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CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
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CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
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CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
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CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
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@@ -160,7 +160,7 @@ routes = [
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CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
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CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
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CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
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CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT
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CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
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CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
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CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
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CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
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@@ -34,6 +34,7 @@ HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
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HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
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HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
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HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
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HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
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HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
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HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
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HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
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