From c80d9ffb997676ca848385dcefcf0098675f8fad Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 19 May 2026 16:40:41 -0500
Subject: [PATCH] non hda ioniq

---
 .../opendbc/car/hyundai/fingerprints.py       |  1 +
 .../opendbc/car/hyundai/tests/test_hyundai.py | 24 +++++++++++++------
 opendbc_repo/opendbc/car/hyundai/values.py    |  2 +-
 3 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/fingerprints.py b/opendbc_repo/opendbc/car/hyundai/fingerprints.py
index 6808e0d18..428bd6131 100644
--- a/opendbc_repo/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc_repo/opendbc/car/hyundai/fingerprints.py
@@ -1095,6 +1095,7 @@ FW_VERSIONS = {
       b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.06 99211-KL000 230915',
+      b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.06 99211-KL000 230915',
     ],
   },
   CAR.HYUNDAI_TUCSON_4TH_GEN: {
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 3d65dd6db..c585dcf0b 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -72,13 +72,14 @@ def get_test_toggles() -> SimpleNamespace:
 class TestHyundaiFingerprint:
   def test_feature_detection(self):
     # LKA steering
-    for lka_steering in (True, False):
-      fingerprint = gen_empty_fingerprint()
-      if lka_steering:
-        cam_can = CanBus(None, fingerprint).CAM
-        fingerprint[cam_can] = [0x50, 0x110]  # LKA steering messages
-      CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, False, None)
-      assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
+    for candidate in (CAR.KIA_EV6, CAR.HYUNDAI_IONIQ_6):
+      for lka_steering in (True, False):
+        fingerprint = gen_empty_fingerprint()
+        if lka_steering:
+          cam_can = CanBus(None, fingerprint).CAM
+          fingerprint[cam_can] = [0x50, 0x110]  # LKA steering messages
+        CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+        assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
 
     # radar available
     for radar in (True, False):
@@ -104,6 +105,15 @@ class TestHyundaiFingerprint:
     CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
     assert CP.flags & HyundaiFlags.SEND_LFA
 
+  def test_ioniq_6_hda1_layout_stays_non_lka(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1] = {0x100: 8, 0x110: 8}
+
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
+
+    assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
+    assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
+
     palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
     assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
     assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index 87ca27d91..03f6c3f81 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -453,7 +453,7 @@ class CAR(Platforms):
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
     HYUNDAI_IONIQ_5.specs,
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
   )
   HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
     [