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Separate Hyundai Ioniq Hybrid and EV 2020 Premium SE (#19500)
* Update carcontroller.py * Update hyundaican.py * Update interface.py * Update values.py * Update values.py * Update values.py * Update values.py * Update values.py * Update README.md * Update test_car_models.py * cleanup interface
This commit is contained in:
baldwalker
@@ -144,6 +144,7 @@ Community Maintained Cars and Features
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| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
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| Hyundai | Ioniq Electric 2019-20 | SCC + LKAS | Stock | 0mph | 32mph |
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| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
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@@ -80,7 +80,7 @@ class CarController():
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self.last_resume_frame = frame
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV]:
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020]:
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can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
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return can_sends
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@@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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values["CF_Lkas_ActToi"] = steer_req
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values["CF_Lkas_MsgCount"] = frame % 0x10
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE]:
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020]:
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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@@ -94,7 +94,7 @@ class CarInterface(CarInterfaceBase):
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
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elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020]:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
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ret.wheelbase = 2.7
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@@ -102,7 +102,8 @@ class CarInterface(CarInterfaceBase):
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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if candidate != CAR.IONIQ_EV_2020:
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate == CAR.VELOSTER:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3558. * CV.LB_TO_KG
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@@ -179,7 +180,7 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
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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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if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
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if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
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CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80]:
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ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
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@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
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# Steer torque limits
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class SteerLimitParams:
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def __init__(self, CP):
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if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70]:
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if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020]:
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self.STEER_MAX = 384
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else:
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self.STEER_MAX = 255
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@@ -23,8 +23,9 @@ class CAR:
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ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
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ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
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HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
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IONIQ = "HYUNDAI IONIQ ELECTRIC PREMIUM SE 2020"
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IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
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IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
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IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
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KONA = "HYUNDAI KONA 2020"
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KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
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SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
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@@ -120,13 +121,13 @@ FINGERPRINTS = {
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CAR.GENESIS_G90: [{
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67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
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}],
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CAR.IONIQ_EV_2020: [{
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127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
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}],
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CAR.IONIQ_EV_LTD: [{
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127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1425: 2, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1507: 8, 1535: 8
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}],
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CAR.IONIQ: [{
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127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
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},
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{
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68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
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}],
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CAR.KONA: [{
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@@ -314,15 +315,15 @@ FEATURES = {
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# which message has the gear
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"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
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"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019, CAR.VELOSTER]),
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
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# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
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"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
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"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
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"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA, CAR.IONIQ_EV_2020]),
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}
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EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
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EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
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DBC = {
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CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
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@@ -331,6 +332,7 @@ DBC = {
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CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
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CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
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CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
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CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
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CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
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CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
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@@ -217,6 +217,10 @@ routes = {
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'carFingerprint': HYUNDAI.PALISADE,
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'enableCamera': True,
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},
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"2c5cf2dd6102e5da|2020-12-17--16-06-44": {
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'carFingerprint': HYUNDAI.IONIQ_EV_2020,
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'enableCamera': True,
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},
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"610ebb9faaad6b43|2020-06-13--15-28-36": {
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'carFingerprint': HYUNDAI.IONIQ_EV_LTD,
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'enableCamera': True,
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