Cinquev3

cereal/log.capnp

@@ -132,7 +132,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     audioFeedback @97;
     bigModelLoading @100;
     bigModelFailed @102;
-    bigModelPending @103;
 
     soundsUnavailableDEPRECATED @47;
     stockLkasDEPRECATED @98;

common/params_keys.h

@@ -177,7 +177,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"UsbGpuPending", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
@@ -432,7 +431,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"HideSteeringWheel", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"HighwayCorrectionGain", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
     {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"IconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
@@ -578,7 +576,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PauseAOLOnBrake", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"PauseLateralOnSignal", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
-    {"LateralResumeDelay",{PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
+    {"LateralResumeDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
     {"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"PIPPreviewEnabled", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -441,6 +441,12 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
   )
 
 
+def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
+  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
+    return 0
+  return apply_torque
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -636,6 +642,8 @@ class CarController(CarControllerBase):
       if not CC.latActive:
         apply_torque = 0
 
+      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
+
       # Hold torque with induced temporary fault when cutting the actuation bit
       # FIXME: we don't use this with CAN FD?
       torque_fault = CC.latActive and not apply_steer_req
@@ -938,8 +946,7 @@ class CarController(CarControllerBase):
                                                              CS.stock_lfa_msg if preserve_stock_lfa_status else None,
                                                              CS.stock_lkas_msg if preserve_stock_lkas else None,
                                                              lka_icon=lka_icon,
-                                                             longitudinal_active=lfa_longitudinal_active,
-                                                             v_ego=getattr(getattr(CS, "out", None), "vEgo", None)))
+                                                             longitudinal_active=lfa_longitudinal_active))
     direct_steering_active = ccnc_angle_long and drive_gear and CC.latActive and self.direct_angle_request_allowed and not CS.angle_steering_fault
     inactive_steering_angle = float(np.clip(CS.angle_steering_angle,
                                             -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
@@ -1026,7 +1033,9 @@ class CarController(CarControllerBase):
             left_sound_active=left_warning.sound_active, right_sound_active=right_warning.sound_active,
           )
         else:
-          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)
+          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame,
+                                                             car_fingerprint=self.CP.carFingerprint,
+                                                             drive_gear=drive_gear)
         can_sends.extend(adrv_messages)
         # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
         # and stops publishing object tracks when it disappears.

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -7,27 +7,33 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR
 
-# Ioniq 6 EPS damping, matched to the car's own LFA. With the stock ADAS driving, the Ioniq 6 steers
-# through LFA (0x12A) and sends ONLY a damping value in LKAS_ALT (0x110 byte 8, Hyundai name
-# Damping_Gain); both are scheduled purely on speed (drive 00000b41: no dependence on angle, torque or
-# hands). openpilot sent a fixed 100 in LFA and never set LKAS_ALT's, so the EPS got 0 there. The
-# breakpoints are the stock medians per 5 mph band (centers) while the stock system is steering,
-# rising steadily to 163 (LFA) / 154 (LKAS_ALT) at 85-90 mph. openpilot's highway weave matched the
-# stock system at 45-60 mph and grew past it above 60 mph, exactly where the stock damping pulls away.
-# Below ~35 mph the previous values are kept (LFA floor 100, LKAS_ALT 0) so low-speed turn tuning
-# is untouched. The panda only checks torque/steer_req on these messages, not the damping byte.
-_DAMP_MPH = [37.5, 42.5, 47.5, 52.5, 57.5, 62.5, 67.5, 72.5, 77.5, 82.5, 87.5]
-IONIQ_6_LFA_DAMP_BP = [mph * CV.MPH_TO_MS for mph in _DAMP_MPH]
-IONIQ_6_LFA_DAMP_V = [100., 105., 107., 112., 116., 119., 133., 145., 151., 157., 163.]
-IONIQ_6_LKAS_ALT_DAMP_BP = [mph * CV.MPH_TO_MS for mph in [35.0] + _DAMP_MPH[1:]]
-IONIQ_6_LKAS_ALT_DAMP_V = [0., 125., 127., 132., 136., 139., 142., 144., 146., 150., 154.]
+
+_adrv_0x51_templates: dict[CAR, bytes] = {}
 
 
-def get_ioniq_6_damp_factors(v_ego: float) -> tuple[int, int]:
-  """(LFA DAMP_FACTOR, LKAS_ALT DAMP_FACTOR) for the Ioniq 6 at this speed."""
-  lfa = float(np.interp(v_ego, IONIQ_6_LFA_DAMP_BP, IONIQ_6_LFA_DAMP_V))
-  lkas_alt = float(np.interp(v_ego, IONIQ_6_LKAS_ALT_DAMP_BP, IONIQ_6_LKAS_ALT_DAMP_V))
-  return int(round(lfa)), int(round(lkas_alt))
+def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
+  if car_fingerprint != CAR.KIA_EV6:
+    return
+
+  if dat is None:
+    _adrv_0x51_templates.pop(car_fingerprint, None)
+  elif len(dat) == 32 and any(dat[3:]):
+    _adrv_0x51_templates[car_fingerprint] = bytes(dat)
+
+
+def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None, drive_gear: bool = False):
+  template = _adrv_0x51_templates.get(car_fingerprint)
+  if template is None:
+    return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
+
+  # EV6 MRR30 tracks stop when the ADAS takeover replaces this platform payload with zeros.
+  dat = bytearray(template)
+  dat[2] = (template[2] + frame + 1) & 0xFF
+  dat[3] = (dat[3] & ~0x1) | int(drive_gear)
+  crc = hkg_can_fd_checksum(0x51, None, dat)
+  dat[0] = crc & 0xFF
+  dat[1] = (crc >> 8) & 0xFF
+  return CanData(0x51, bytes(dat), CAN.ACAN)
 
 
 def _set_value(msg: bytearray, sig, ival: int) -> None:
@@ -122,7 +128,7 @@ def create_angle_adas_cmd(packer, CAN, apply_angle: float, lat_active: bool, tor
 
 def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle,
                              lfa_base_values=None, lkas_base_values=None, lka_icon=None,
-                             longitudinal_active=None, v_ego=None):
+                             longitudinal_active=None):
   if lka_icon is None:
     lka_icon = 2 if enabled else 1
   if longitudinal_active is None:
@@ -164,10 +170,6 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     lfa_values["NEW_SIGNAL_2"] = 0
     lfa_values["DAMP_FACTOR"] = 100  # can potentially tuned for better perf [3, 200]
 
-  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and v_ego is not None and \
-     not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-    lfa_values["DAMP_FACTOR"], lkas_values["DAMP_FACTOR"] = get_ioniq_6_damp_factors(v_ego)
-
   if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
     lkas_values["ADAS_StrAnglReqVal"] = apply_angle
     lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
@@ -814,15 +816,13 @@ def create_fca_warning_light(packer, CAN, frame):
   return ret
 
 
-def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None, drive_gear=False):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
 
   ret = []
 
-  values = {
-  }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
+  ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint, drive_gear))
 
   if blended_hda2:
     return ret

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -2,6 +2,7 @@ import time
 # Provenance: portions of HKG angle integration are adapted from sunnypilot/opendbc's
 # hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 from opendbc.car import get_safety_config, structs, uds
+from opendbc.car.hyundai import hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
@@ -391,11 +392,25 @@ class CarInterface(CarInterfaceBase):
         skip_disable_ecu = True
 
       if not skip_disable_ecu:
+        disable_can_recv = can_recv
+        if CP.carFingerprint == CAR.KIA_EV6 and can_recv is not None:
+          hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, None)
+          base_can_recv = can_recv
+          adrv_bus = CanBus(CP).ACAN
+
+          def disable_can_recv(*args, **kwargs):
+            packets = base_can_recv(*args, **kwargs)
+            for packet in packets or []:
+              for msg in packet:
+                if msg.src == adrv_bus and msg.address == 0x51:
+                  hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, msg.dat)
+            return packets
+
         # Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
         # If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
         # so panda forwards stock SCC messages normally (lateral-only mode).
         ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
-        ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
+        ecu_disabled = disable_ecu(disable_can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
                                    reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))
 
         if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):

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

@@ -20,7 +20,8 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              should_track_stop_accel_directly_for_car, \
                                              preserve_stock_canfd_lfa_status, \
                                              preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel
+                                             suppress_redundant_gv70_brake_cancel, \
+                                             clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
 from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
@@ -148,6 +149,60 @@ class TestHyundaiFingerprint:
 
     assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
 
+  def test_ev6_adrv_0x51_replays_factory_payload(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.EV)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    factory = bytes.fromhex("88ed2e091700ffff5e0d0000012006ff021c2200000000000800000010000000")
+
+    hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, factory)
+    try:
+      address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6, drive_gear=True)
+      _, parked_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 8, CAR.KIA_EV6, drive_gear=False)
+      _, other_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.HYUNDAI_IONIQ_6)
+    finally:
+      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
+
+    assert address == 0x51
+    assert bus == can_bus.ACAN
+    assert dat[2] == (factory[2] + 8) & 0xFF
+    assert dat[3:] == factory[3:]
+    assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
+    assert parked_dat[3] == factory[3] & ~0x1
+    assert parked_dat[4:] == factory[4:]
+    assert int.from_bytes(parked_dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(parked_dat))
+    assert other_dat[3:] == bytes(29)
+
+  def test_ev6_init_captures_factory_adrv_0x51(self, monkeypatch):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[CanBus(None, fingerprint).CAM][0x50] = 16
+    radar_config = get_radar_track_config(CAR.KIA_EV6)
+    fingerprint[radar_config.bus][radar_config.start_addr] = radar_config.expected_length
+    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
+    CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, car_fw, True, False, False, get_test_toggles())
+    factory = bytes.fromhex("6b657d090900e1ff000000000020ffff00000000000000000800000010000000")
+
+    def can_recv(*, wait_for_one=True):
+      msg = SimpleNamespace(address=0x51, src=CanBus(CP).ACAN, dat=factory)
+      return [[msg]]
+
+    def fake_disable_ecu(capturing_can_recv, *_args, **_kwargs):
+      capturing_can_recv(wait_for_one=True)
+      return True
+
+    monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
+    CarInterface.init(CP, can_recv, None)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    try:
+      _, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6, drive_gear=True)
+    finally:
+      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
+
+    assert dat[3:] == factory[3:]
+
   def test_carnival_hev_low_speed_torque_rate_limits(self):
     CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
                                  False, False, False, None)
@@ -625,7 +680,14 @@ class TestHyundaiFingerprint:
     assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
 
-  def test_palisade_2023_uses_can_canfd_blended_layout(self):
+  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
+    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
+    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
+
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
+    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
+
     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"

opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_damping.py

@@ -1,62 +0,0 @@
-import pytest
-
-from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus
-from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.structs import CarParams
-from opendbc.car.hyundai import hyundaicanfd
-from opendbc.car.hyundai.hyundaicanfd import CanBus, get_ioniq_6_damp_factors
-from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags
-
-
-def _cp(fingerprint):
-  CP = CarParams.new_message()
-  CP.carFingerprint = fingerprint
-  CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING |
-                 HyundaiFlags.CANFD_LKA_STEERING_ALT)
-  CP.openpilotLongitudinalControl = True
-  return CP
-
-
-def _damping(fingerprint, v_ego, torque=100):
-  CP = _cp(fingerprint)
-  packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
-  can_bus = CanBus(CP)
-  msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, torque, 0.0, v_ego=v_ego)
-  names = [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs]
-  assert names == [("LFA", can_bus.ECAN), ("LKAS_ALT", can_bus.ACAN)]
-
-  lfa = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
-  lfa.update([(1, [msgs[0]])])
-  lkas = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
-  lkas.update([(1, [msgs[1]])])
-  assert lfa.can_valid and lkas.can_valid
-  assert lfa.vl["LFA"]["TORQUE_REQUEST"] == torque
-  assert lkas.vl["LKAS_ALT"]["TORQUE_REQUEST"] == torque
-  return lfa.vl["LFA"]["DAMP_FACTOR"], lkas.vl["LKAS_ALT"]["DAMP_FACTOR"], lkas.vl["LKAS_ALT"]["Damping_Gain"]
-
-
-@pytest.mark.parametrize(("mph", "expected"), [
-  (10, (100, 0)),     # low speed unchanged: previous LFA 100 floor, LKAS_ALT 0
-  (30, (100, 0)),
-  (42.5, (105, 125)), # stock medians, 40-45 mph band
-  (50, (110, 130)),   # halfway between the 45-50 (107/127) and 50-55 (112/132) bands
-  (72.5, (145, 144)), # stock medians, 70-75 mph band
-  (95, (163, 154)),   # held beyond the last breakpoint (85-90 mph band)
-])
-def test_ioniq_6_damping_schedule(mph, expected):
-  assert get_ioniq_6_damp_factors(mph * CV.MPH_TO_MS) == expected
-
-
-def test_ioniq_6_damping_is_encoded_on_both_steering_messages():
-  lfa, lkas_alt, damping_gain = _damping(CAR.HYUNDAI_IONIQ_6, 72.5 * CV.MPH_TO_MS)
-  assert (lfa, lkas_alt) == (145, 144)
-  assert damping_gain == lkas_alt  # same bits: Hyundai's name for the LKAS_ALT damping byte
-
-
-def test_ioniq_6_without_speed_keeps_previous_values():
-  assert _damping(CAR.HYUNDAI_IONIQ_6, None)[:2] == (100, 0)
-
-
-def test_other_cars_unchanged():
-  assert _damping(CAR.HYUNDAI_IONIQ_5, 70 * CV.MPH_TO_MS)[:2] == (100, 0)

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc

@@ -727,14 +727,10 @@ BO_ 1259 LOCAL_TIME2: 8 XXX
  SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 8|8@1+ (1,0) [0|23] "" XXX
- SG_ MINUTES : 16|8@1+ (1,0) [0|59] "" XXX
- SG_ SECONDS : 24|8@1+ (1,0) [0|59] "" XXX
- SG_ MONTH : 34|4@1+ (1,0) [1|12] "" XXX
- SG_ YEAR : 40|8@1+ (1,2000) [2000|2255] "" XXX
- SG_ DAY : 48|8@1+ (1,0) [1|31] "" XXX
+ SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
 
-CM_ BO_ 1264 "Cluster wall clock, 1Hz. Local time, not UTC. All 0xFF until the cluster initializes.";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";

opendbc_repo/opendbc/dbc/hyundai_canfd_generated.dbc

@@ -964,14 +964,10 @@ BO_ 1259 LOCAL_TIME2: 8 XXX
  SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 8|8@1+ (1,0) [0|23] "" XXX
- SG_ MINUTES : 16|8@1+ (1,0) [0|59] "" XXX
- SG_ SECONDS : 24|8@1+ (1,0) [0|59] "" XXX
- SG_ MONTH : 34|4@1+ (1,0) [1|12] "" XXX
- SG_ YEAR : 40|8@1+ (1,2000) [2000|2255] "" XXX
- SG_ DAY : 48|8@1+ (1,0) [1|31] "" XXX
+ SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
 
-CM_ BO_ 1264 "Cluster wall clock, 1Hz. Local time, not UTC. All 0xFF until the cluster initializes.";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-25df1b90-DEBUG";
+const uint8_t gitversion[19] = "DEV-14370fe9-DEBUG";