Kia Forte non-acc Port

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -130,12 +130,24 @@ class CarState(CarStateBase):
     ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
 
     # cruise state
+    no_scc = bool(self.CP.flags & HyundaiFlags.NON_SCC)
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
       ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
+    elif no_scc:
+      cruise_enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
+      cruise_set_speed = cp.vl["LVR12"]["CF_Lvr_CruiseSet"]
+
+      # Regular-cruise Forte trims don't publish SCC11/SCC12; use the stock cruise request and set speed.
+      ret.cruiseState.available = cruise_enabled or cp.vl["TCS13"]["ACCEnable"] == 0
+      ret.cruiseState.enabled = cruise_enabled
+      ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
+      if 0 < cruise_set_speed < 255:
+        ret.cruiseState.speed = cruise_set_speed * speed_conv
     else:
       ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
@@ -150,7 +162,7 @@ class CarState(CarStateBase):
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
     ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
-    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    ret.accFaulted = False if no_scc else cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
       if self.CP.flags & HyundaiFlags.FCEV:

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -111,6 +111,12 @@ class CarInterface(CarInterfaceBase):
       if 0x391 in fingerprint[0]:
         ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
 
+      if candidate == CAR.KIA_FORTE:
+        has_scc_fw = any(fw.ecu == Ecu.fwdRadar for fw in car_fw)
+        has_scc_can = any(addr in fingerprint[bus] for bus in (0, 2) for addr in (0x420, 0x421))
+        if not (has_scc_fw or has_scc_can):
+          ret.flags |= HyundaiFlags.NON_SCC.value
+
     # Common lateral control setup
 
     ret.centerToFront = ret.wheelbase * 0.4
@@ -130,6 +136,8 @@ class CarInterface(CarInterfaceBase):
     # Common longitudinal control setup
 
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
+    if ret.flags & HyundaiFlags.NON_SCC:
+      ret.alphaLongitudinalAvailable = False
     ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
     ret.startingState = True

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -62,6 +62,18 @@ class TestHyundaiFingerprint:
       CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
       assert CP.radarUnavailable != radar
 
+    forte_no_scc = CarInterface.get_params(CAR.KIA_FORTE, gen_empty_fingerprint(), [], True, False, False)
+    assert bool(forte_no_scc.flags & HyundaiFlags.NON_SCC)
+    assert not forte_no_scc.alphaLongitudinalAvailable
+    assert forte_no_scc.pcmCruise
+
+    forte_with_scc = gen_empty_fingerprint()
+    forte_with_scc[0][0x420] = 8
+    forte_with_scc[0][0x421] = 8
+    CP = CarInterface.get_params(CAR.KIA_FORTE, forte_with_scc, [], True, False, False)
+    assert not bool(CP.flags & HyundaiFlags.NON_SCC)
+    assert CP.alphaLongitudinalAvailable
+
   def test_alternate_limits(self):
     # Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
     fingerprint = gen_empty_fingerprint()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -135,6 +135,9 @@ class HyundaiFlags(IntFlag):
 
   ALT_LIMITS_2 = 2 ** 26
 
+  # No SCC radar/camera cruise module. Stock longitudinal is regular cruise control only.
+  NON_SCC = 2 ** 27
+
 
 @dataclass
 class HyundaiCarDocs(CarDocs):
@@ -758,6 +761,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
   # 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={
+    # Some Forte trims are lateral-only and omit the SCC radar entirely.
+    Ecu.fwdRadar: [CAR.KIA_FORTE],
     Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
               CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
               CAR.KIA_CEED, CAR.KIA_SELTOS],