sunnypilot v2026.11.13-5031

version: sunnypilot v2026.003.000 (feature-branch) date: 2026-11-13T17:56:57 master commit: 44077845e4
2026-11-16 06:23:42 +08:00 · 2026-11-13 17:56:57 +00:00
48 changed files with 586 additions and 302 deletions
@@ -4,7 +4,7 @@

 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.

-# 357 Supported Cars
+# 351 Supported Cars

 |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>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -139,7 +139,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona (without HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -153,23 +152,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Sonata (without HDA II) 2024-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata (without HDA II) 2024-26">Buy Here</a></sub></details>|||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Hyundai|Sonata Hybrid (without HDA II) 2024-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-26">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
-|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
 |Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
@@ -195,7 +190,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Plus EV 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plus EV 2024">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
@@ -131,6 +131,7 @@ class CarHarness(EnumBase):
  hyundai_p = BaseCarHarness("Hyundai P connector")
  hyundai_q = BaseCarHarness("Hyundai Q connector")
  hyundai_r = BaseCarHarness("Hyundai R connector")
+  hyundai_s = BaseCarHarness("Hyundai S connector")
  custom = BaseCarHarness("Developer connector")
  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
@@ -336,7 +336,6 @@ MIGRATION = {
  "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
  "RIVIAN_R1_GEN1": RIVIAN.RIVIAN_R1,
  "RIVIAN_R1_GEN2": RIVIAN.RIVIAN_R1,
-  "HYUNDAI_SONATA_HEV_2024": HYUNDAI.HYUNDAI_SONATA_2024,

  "mock": MOCK.MOCK,
 }
@@ -235,10 +235,10 @@ class CarController(CarControllerBase, CcncCarController, EsccCarController, Lea
        # cruise cancel
        if CC.cruiseControl.cancel:
          # Here we send ACC message to cancel, not buttons. Don't delay
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and not lka_steering:
+          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
            can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
            self.last_button_frame = self.frame
-          elif not self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
+          elif self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
            for _ in range(20):
              can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.CANCEL))
            self.last_button_frame = self.frame
@@ -209,17 +209,6 @@ class CarInterface(CarInterfaceBase):
    if ret.flags & HyundaiFlagsSP.CCNC and not lka_steering:
      ret.safetyParam |= HyundaiSafetyFlagsSP.CCNC

-    if ret.flags & HyundaiFlagsSP.CCNC and lka_steering:
-      # this needs to be figured out for ccNC cars with an ADAS Driving ECU
-      stock_cp.alphaLongitudinalAvailable = False
-      stock_cp.openpilotLongitudinalControl = False
-      stock_cp.pcmCruise = True
-      stock_cp.safetyConfigs[-1].safetyParam &= ~HyundaiSafetyFlags.LONG.value
-
-      if 0x1cf not in fingerprint[CAN.ECAN]:
-        stock_cp.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
-        stock_cp.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
-
    if ret.flags & HyundaiFlagsSP.NON_SCC:
      stock_cp.alphaLongitudinalAvailable = False
      stock_cp.openpilotLongitudinalControl = False
@@ -22,7 +22,11 @@ NO_DATES_PLATFORMS = {
  # CAN FD
  CAR.KIA_SPORTAGE_5TH_GEN,
  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_2025,
  CAR.HYUNDAI_TUCSON_4TH_GEN,
+  CAR.HYUNDAI_TUCSON_2025,
+  CAR.HYUNDAI_TUCSON_HEV_2025,
+  CAR.HYUNDAI_TUCSON_PHEV_2025,
  # CAN
  CAR.HYUNDAI_ELANTRA,
  CAR.HYUNDAI_ELANTRA_GT_I30,
@@ -298,8 +298,11 @@ class CAR(Platforms):
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
+    [
+      HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                     car_parts=CarParts.common([CarHarness.hyundai_r])),
+      HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    ],
    CarSpecs(wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
@@ -398,7 +401,6 @@ class CAR(Platforms):
      HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
@@ -447,7 +449,6 @@ class CAR(Platforms):
      HyundaiCarDocs("Kia Niro EV 2020", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
      HyundaiCarDocs("Kia Niro EV 2021", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarDocs("Kia Niro EV 2022", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarDocs("Kia Niro Plus EV 2024", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
    CarSpecs(wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
@@ -578,8 +579,7 @@ class CAR(Platforms):
  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Kia Carnival Hybrid (with HDA II) 2025-26", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
    ],
    CarSpecs(wheelbase=3.09, steerRatio=14.23),
    flags=HyundaiFlags.CANFD_RADAR_SCC,
@@ -656,10 +656,6 @@ class CAR(Platforms):
    HYUNDAI_ELANTRA_2021.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
-  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    HYUNDAI_KONA_EV_2ND_GEN.specs,
-  )
  HYUNDAI_KONA_NON_SCC = HyundaiNonSccPlatformConfig(
    [HyundaiNonSccCarDocs("Hyundai Kona Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_b]))],
    HYUNDAI_KONA.specs,
@@ -700,13 +696,58 @@ class CAR(Platforms):
    flags=HyundaiFlags.CHECKSUM_CRC8,
    sp_flags=HyundaiFlagsSP.NON_SCC_RADAR_FCA,
  )
-  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-26", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-26", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    ],
+  HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(wheelbase=2.84, steerRatio=13.27),
  )
+  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+  )
+  HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+  )
+  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(wheelbase=2.84, steerRatio=12.81),
+  )
+  HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
+    CarSpecs(wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
+    flags=HyundaiFlags.EV,
+  )
+  HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+  )
+  HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+  )
+  HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+  )
+  HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(wheelbase=3, steerRatio=14.2),
+  )
+  KIA_K4_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia K4 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
+    ],
+    CarSpecs(wheelbase=2.72, steerRatio=13.4),
+  )
+  KIA_K5_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia K5 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_m]))],
+    CarSpecs(wheelbase=2.85, steerRatio=13.27),
+  )
+  KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(wheelbase=2.81, steerRatio=13.5),
+  )


 class Buttons:
@@ -48,6 +48,9 @@ non_tested_cars = [
  HYUNDAI.KIA_FORTE_2021_NON_SCC,
  HYUNDAI.KIA_SELTOS_2023_NON_SCC,
  HYUNDAI.GENESIS_G70_2021_NON_SCC,
+  HYUNDAI.KIA_SORENTO_2024,
+  HYUNDAI.HYUNDAI_IONIQ_5_N,
+  HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
  HONDA.HONDA_CLARITY,
  GM.CHEVROLET_BOLT_NON_ACC,
  GM.CHEVROLET_BOLT_NON_ACC_1ST_GEN,
@@ -390,14 +393,15 @@ routes = [
  # port extensions
  CarTestRoute("be7ad2b087973544/0000002b--ec261cc821", HYUNDAI.HYUNDAI_VENUE_2021_NON_SCC),
  CarTestRoute("dc7bf18c8af12e37/00000006--ea06255cd0", HYUNDAI.KIA_CEED_PHEV_2022_NON_SCC),
-  CarTestRoute("d59ca223dca8da93/0000017a--5e6e4107f1", HYUNDAI.HYUNDAI_SONATA_2024),  # 2024 hybrid, ccNC, LFA steering
-  CarTestRoute("d59ca223dca8da93/00000186--dd8cf07e6c", HYUNDAI.HYUNDAI_SONATA_2024, segment=0),  # 2024 hybrid, ccNC, LFA steering, openpilot longitudinal
-  CarTestRoute("832a633bd4e730a0/00000114--ced749ff8b", HYUNDAI.HYUNDAI_SONATA_2024, segment=16),  # 2025, ccNC, LFA steering
-  CarTestRoute("832a633bd4e730a0/00000117--b6875236d6", HYUNDAI.HYUNDAI_SONATA_2024, segment=10),  # 2025, ccNC, LFA steering, openpilot longitudinal
-  CarTestRoute("20f0af20ed379890/00000005--d3298862a0", HYUNDAI.KIA_CARNIVAL_4TH_GEN, segment=3),  # 2026 hybrid, ccNC, LKA steering, stock SCC 0x1AA resume
-  CarTestRoute("bb89d880ca0a4249/000000f8--ac95d3364a", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2025 hybrid, ccNC, LFA steering
-  CarTestRoute("bb89d880ca0a4249/000000fb--275ef6d0d5", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN, segment=5),  # 2025 hybrid, ccNC, LFA steering, openpilot longitudinal
-  CarTestRoute("c36828a00b81bdab/000000e1--0186c21051", HYUNDAI.HYUNDAI_KONA_2ND_GEN, segment=8),  # 2025, ccNC, LFA steering
-  CarTestRoute("c36828a00b81bdab/000000e2--04a43142f7", HYUNDAI.HYUNDAI_KONA_2ND_GEN, segment=8),  # 2025, ccNC, LFA steering, openpilot longitudinal
+  CarTestRoute("d59ca223dca8da93/0000017a--5e6e4107f1", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
+  CarTestRoute("d59ca223dca8da93/00000186--dd8cf07e6c", HYUNDAI.HYUNDAI_SONATA_HEV_2024, segment=0),  # openpilot longitudinal
+  CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
+  CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
+  CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
+  CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
+  CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
+  CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
+  CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
+  CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
  CarTestRoute("8bae07514ce06ad4/00000008--9f43d90441", CHRYSLER.RAM_HD_5TH_GEN),  # 2024 Ram HD with alt cruise buttons
 ]
@@ -44,7 +44,6 @@ RELAY_TRANSITION_TIMEOUT_US = 10_000_000
 DOWNLOAD_CACHE_ROOT = Path(os.environ.get("COMMA_CACHE", "/tmp/comma_download_cache"))
 OPENPILOT_CI_URL = "https://commadataci.blob.core.windows.net/openpilotci"
 COMMA_API_URL = "https://api.commadotai.com"
-SUNNYPILOT_CAR_SEGMENTS_URL = "https://huggingface.co/datasets/sunnypilot/sunnypilotCarSegments/resolve/main/segments"


 def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
@@ -68,19 +67,17 @@ def get_cached_segment(route: str, segment: int) -> Path:
      pass

  canonical_route = route.replace("/", "|")
-  try:
-    with urlopen(f"{COMMA_API_URL}/v1/route/{quote(canonical_route, safe='')}/files") as response:
-      route_files = json.load(response)
-    for url in route_files["logs"]:
-      path = Path(urlparse(url).path)
-      if path.parent.name == str(segment) and path.name.startswith("rlog."):
-        return get_cached_url(url)
-  except (OSError, ValueError):
-    pass
+  with urlopen(f"{COMMA_API_URL}/v1/route/{quote(canonical_route, safe='')}/files") as response:
+    route_files = json.load(response)
+  for url in route_files["logs"]:
+    path = Path(urlparse(url).path)
+    if path.parent.name == str(segment) and path.name.startswith("rlog."):
+      return get_cached_url(url)

  try:
-    return get_cached_url(f"{SUNNYPILOT_CAR_SEGMENTS_URL}/{route.replace('|', '/')}/{segment}/rlog.zst")
-  except OSError:
+    from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import get_url
+    return get_cached_url(get_url(route, segment))
+  except (ImportError, OSError):
    pass

  raise FileNotFoundError(f"no log found for {route}/{segment}")
@@ -119,5 +119,12 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_HRV_3G" = [2.5, 1.2, 0.2]

 # port extensions
+"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
+"KIA_K5_2025" = [2.5, 2.5, 0.1]
+"KIA_K4_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.005]
 "HONDA_CLARITY" = [0.96, 0.4018518740819229, 0.19]
 "CHEVROLET_MALIBU_NON_ACC_9TH_GEN" = [1.85, 1.85, 0.075]
@@ -96,12 +96,15 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_FORTE_2021_NON_SCC" = "HYUNDAI_SONATA"
 "KIA_SELTOS_2023_NON_SCC" = "HYUNDAI_SONATA"
 "HYUNDAI_KONA_NON_SCC" = "HYUNDAI_KONA_EV"
-"HYUNDAI_KONA_2ND_GEN" = "HYUNDAI_KONA_EV_2ND_GEN"
 "HYUNDAI_ELANTRA_2022_NON_SCC" = "HYUNDAI_ELANTRA_2021"
 "GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA"
 "HYUNDAI_BAYON_1ST_GEN_NON_SCC" = "HYUNDAI_SONATA"
 "HYUNDAI_VENUE_2021_NON_SCC" = "HYUNDAI_KONA_EV"
-"HYUNDAI_SONATA_2024" = "HYUNDAI_SONATA_HYBRID"
+"HYUNDAI_SONATA_HEV_2024" = "HYUNDAI_SONATA_HYBRID"
+"HYUNDAI_SONATA_2024" = "HYUNDAI_SONATA"
+"HYUNDAI_TUCSON_2025" = "HYUNDAI_TUCSON_4TH_GEN"
+"HYUNDAI_TUCSON_HEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
+"HYUNDAI_TUCSON_PHEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
 "CHEVROLET_BOLT_NON_ACC_2ND_GEN" = "CHEVROLET_BOLT_EUV"
 "CHEVROLET_BOLT_NON_ACC" = "CHEVROLET_BOLT_EUV"
 "CHEVROLET_BOLT_NON_ACC_1ST_GEN" = "CHEVROLET_BOLT_EUV"
@@ -951,7 +951,7 @@ CM_ SG_ 1041 COUNTER_ALT "only increments on change";
 CM_ BO_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
 CM_ SG_ 1043 COUNTER_ALT "only increments on change";
 CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
-VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
+VAL_ 53 GEAR 0 "P" 4 "S" 5 "D" 6 "N" 7 "R";
 VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
@@ -6,9 +6,6 @@
 #define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
  {0x1CF, bus, 8, .check_relay = false},  /* CRUISE_BUTTON */   \

-#define HYUNDAI_CANFD_CRUISE_BUTTON_ALT_TX_MSGS(bus) \
-  {0x1AA, bus, 16, .check_relay = false},  /* CRUISE_BUTTONS_ALT */ \
-
 #define HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(a_can, e_can) \
  HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can)                        \
  {0x50,  a_can, 16, .check_relay = (a_can) == 0},  /* LKAS */      \
@@ -171,8 +168,8 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
  }

  // cruise buttons check
-  if (((msg->addr == 0x1cfU) || (msg->addr == 0x1aaU)) && !(hyundai_ccnc && hyundai_camera_scc && hyundai_longitudinal)) {
-    int button = (msg->addr == 0x1cfU) ? (msg->data[2] & 0x7U) : ((msg->data[4] >> 4) & 0x7U);
+  if ((msg->addr == 0x1cfU) && !(hyundai_ccnc && hyundai_camera_scc && hyundai_longitudinal)) {
+    int button = msg->data[2] & 0x7U;
    bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
    bool is_resume = (button == HYUNDAI_BTN_RESUME);
    bool is_set = (button == HYUNDAI_BTN_SET);
@@ -235,16 +232,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
    HYUNDAI_CANFD_LKA_STEER_MSG_ALT_COMMON_TX_MSGS(0, 1)
  };

-  static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_ALT_BUTTONS_TX_MSGS[] = {
-    HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
-    HYUNDAI_CANFD_CRUISE_BUTTON_ALT_TX_MSGS(1)
-  };
-
-  static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_ALT_ALT_BUTTONS_TX_MSGS[] = {
-    HYUNDAI_CANFD_LKA_STEER_MSG_ALT_COMMON_TX_MSGS(0, 1)
-    HYUNDAI_CANFD_CRUISE_BUTTON_ALT_TX_MSGS(1)
-  };
-
  static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_LONG_TX_MSGS[] = {
    HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
@@ -317,6 +304,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
        {0xEA,  2, 24, .check_relay = true},  // MDPS
      };

+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_alt_buttons_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
+        HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, true)
+        {0x1AA, 2, 16, .check_relay = true},  // CRUISE_BUTTONS_ALT
+        {0x161, 0, 32, .check_relay = true},  // CCNC_0x161
+        {0x162, 0, 32, .check_relay = true},  // CCNC_0x162
+        {0xEA,  2, 24, .check_relay = true},  // MDPS
+      };
+
      if (hyundai_canfd_alt_buttons) {
        SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
      } else {
@@ -324,7 +320,9 @@ static safety_config hyundai_canfd_init(uint16_t param) {
      }

      if (hyundai_camera_scc) {
-        if (hyundai_ccnc) {
+        if (hyundai_ccnc && hyundai_canfd_alt_buttons) {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_alt_buttons_tx_msgs, ret);
+        } else if (hyundai_ccnc) {
          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
        } else {
          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
@@ -337,30 +335,17 @@ static safety_config hyundai_canfd_init(uint16_t param) {
    if (hyundai_canfd_lka_steer_msg) {
      // *** LKA steering checks ***
      // E-CAN is on bus 1, SCC messages are sent on cars with ADRV ECU.
+      // Does not use the alt buttons message
      static RxCheck hyundai_canfd_lka_steer_msg_rx_checks[] = {
        HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(1)
        HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
      };

-      static RxCheck hyundai_canfd_lka_steer_msg_alt_buttons_rx_checks[] = {
-        HYUNDAI_CANFD_ALT_BUTTONS_RX_CHECKS(1)
-        HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
-      };
-
-      if (hyundai_canfd_alt_buttons) {
-        SET_RX_CHECKS(hyundai_canfd_lka_steer_msg_alt_buttons_rx_checks, ret);
-        if (hyundai_canfd_lka_steer_msg_alt) {
-          SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_ALT_ALT_BUTTONS_TX_MSGS, ret);
-        } else {
-          SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_ALT_BUTTONS_TX_MSGS, ret);
-        }
+      SET_RX_CHECKS(hyundai_canfd_lka_steer_msg_rx_checks, ret);
+      if (hyundai_canfd_lka_steer_msg_alt) {
+        SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_ALT_TX_MSGS, ret);
      } else {
-        SET_RX_CHECKS(hyundai_canfd_lka_steer_msg_rx_checks, ret);
-        if (hyundai_canfd_lka_steer_msg_alt) {
-          SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_ALT_TX_MSGS, ret);
-        } else {
-          SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS, ret);
-        }
+        SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS, ret);
      }
    } else if (!hyundai_camera_scc) {
      // Radar sends SCC messages on these cars instead of camera
@@ -184,30 +184,6 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
  SCC_BUS = 1
  STEER_MSG = "LKAS_ALT"
  GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
-class HyundaiCanfdLKASteeringAltButtonsMixin:
-  def _button_msg(self, buttons, main_button=0, bus=None):
-    values = {
-      "CRUISE_BUTTONS": buttons,
-      "ADAPTIVE_CRUISE_MAIN_BTN": main_button,
-    }
-    return self.packer.make_can_msg_safety("CRUISE_BUTTONS_ALT", self.PT_BUS if bus is None else bus, values)
-
-  def _lkas_button_msg(self, enabled):
-    values = {"LDA_BTN": enabled}
-    return self.packer.make_can_msg_safety("CRUISE_BUTTONS_ALT", self.PT_BUS, values)
-class TestHyundaiCanfdLKASteeringAltButtonsHybrid(HyundaiCanfdLKASteeringAltButtonsMixin, TestHyundaiCanfdLKASteeringEV):
-
-  SAFETY_PARAM = HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CANFD_ALT_BUTTONS
-
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x1AA, 1]]
-  GAS_MSG = ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL")
-class TestHyundaiCanfdLKASteeringAltAltButtonsHybrid(HyundaiCanfdLKASteeringAltButtonsMixin, TestHyundaiCanfdLKASteeringAltEV):
-
-  SAFETY_PARAM = HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG_ALT | \
-                 HyundaiSafetyFlags.CANFD_ALT_BUTTONS
-
-  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0], [0x1AA, 1]]
-  GAS_MSG = ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL")
 class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):

  SAFETY_PARAM = HyundaiSafetyFlags.CANFD_LKA_STEER_MSG | HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS
@@ -334,5 +310,34 @@ class TestHyundaiCanfdLFASteeringCCNCLong(TestHyundaiCanfdLFASteeringLongBase, T
        self.assertTrue(self._tx(self._button_msg(btn, main_button=main_btn, bus=self.BUTTONS_TX_BUS)))


+@parameterized_class(CAMERA_SCC_COMBOS)
+class TestHyundaiCanfdLFASteeringCCNCLongAltButtons(TestHyundaiCanfdLFASteeringCCNCLong, TestHyundaiCanfdLFASteeringAltButtonsBase):
+
+  TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1AA, 2], [0x1A0, 0], [0x161, 0], [0x162, 0], [0xEA, 2]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x1A0, 0x161, 0x162), 2: (0x1AA, 0xEA)}
+  FWD_BLACKLISTED_ADDRS = {0: [0x1AA, 0xEA], 2: [0x12A, 0x1E0, 0x1A0, 0x161, 0x162]}
+
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if cls.__name__ == "TestHyundaiCanfdLFASteeringCCNCLongAltButtons":
+      cls.packer = None
+      raise unittest.SkipTest
+
+  @property
+  def SAFETY_PARAM(self):
+    return HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANFD_ALT_BUTTONS | self.EXTRA_SAFETY_PARAM
+
+  def _button_msg(self, buttons, main_button=0, bus=None):
+    values = {
+      "CRUISE_BUTTONS": buttons,
+      "ADAPTIVE_CRUISE_MAIN_BTN": main_button,
+    }
+    return self.packer.make_can_msg_safety("CRUISE_BUTTONS_ALT", self.PT_BUS if bus is None else bus, values)
+
+  def test_acc_cancel(self):
+    pass
+
+
 if __name__ == "__main__":
  unittest.main()
@@ -1657,6 +1657,16 @@
    ],
    "package": "Highway Driving Assist"
  },
+  "Hyundai Ioniq 5 N (with HDA II) 2024": {
+    "platform": "HYUNDAI_IONIQ_5_N",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Ioniq 5 N (with HDA II)",
+    "year": [
+      "2024"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Ioniq 6 (with HDA II) 2023-24": {
    "platform": "HYUNDAI_IONIQ_6",
    "make": "Hyundai",
@@ -1811,6 +1821,16 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Hyundai Kona Electric (without HDA II) 2024": {
+    "platform": "HYUNDAI_KONA_EV_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona Electric (without HDA II)",
+    "year": [
+      "2024"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Kona Electric Non-SCC 2019": {
    "platform": "HYUNDAI_KONA_EV_NON_SCC",
    "make": "Hyundai",
@@ -1831,6 +1851,18 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Hyundai Kona Hybrid (without HDA II) 2024-26": {
+    "platform": "HYUNDAI_KONA_HEV_2ND_GEN",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Kona Hybrid (without HDA II)",
+    "year": [
+      "2024",
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Kona Non-SCC 2019": {
    "platform": "HYUNDAI_KONA_NON_SCC",
    "make": "Hyundai",
@@ -1875,6 +1907,16 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Hyundai Santa Cruz (without HDA II) 2025": {
+    "platform": "HYUNDAI_SANTA_CRUZ_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Santa Cruz (without HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Santa Fe 2019-20": {
    "platform": "HYUNDAI_SANTA_FE",
    "make": "Hyundai",
@@ -1954,7 +1996,7 @@
      "2025",
      "2026"
    ],
-    "package": "All"
+    "package": "Smart Cruise Control (SCC)"
  },
  "Hyundai Sonata Hybrid 2020-23": {
    "platform": "HYUNDAI_SONATA_HYBRID",
@@ -1970,7 +2012,7 @@
    "package": "All"
  },
  "Hyundai Sonata Hybrid (without HDA II) 2024-26": {
-    "platform": "HYUNDAI_SONATA_2024",
+    "platform": "HYUNDAI_SONATA_HEV_2024",
    "make": "Hyundai",
    "brand": "hyundai",
    "model": "Sonata Hybrid (without HDA II)",
@@ -1979,7 +2021,7 @@
      "2025",
      "2026"
    ],
-    "package": "All"
+    "package": "Smart Cruise Control (SCC)"
  },
  "Hyundai Staria 2023": {
    "platform": "HYUNDAI_STARIA_4TH_GEN",
@@ -2022,6 +2064,17 @@
    ],
    "package": "All"
  },
+  "Hyundai Tucson (without HDA II) 2025-26": {
+    "platform": "HYUNDAI_TUCSON_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Tucson Diesel 2019": {
    "platform": "HYUNDAI_TUCSON",
    "make": "Hyundai",
@@ -2045,7 +2098,7 @@
    "package": "All"
  },
  "Hyundai Tucson Hybrid (without HDA II) 2025-26": {
-    "platform": "HYUNDAI_TUCSON_4TH_GEN",
+    "platform": "HYUNDAI_TUCSON_HEV_2025",
    "make": "Hyundai",
    "brand": "hyundai",
    "model": "Tucson Hybrid (without HDA II)",
@@ -2065,6 +2118,16 @@
    ],
    "package": "All"
  },
+  "Hyundai Tucson Plug-in Hybrid (without HDA II) 2025": {
+    "platform": "HYUNDAI_TUCSON_PHEV_2025",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Tucson Plug-in Hybrid (without HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Hyundai Veloster 2019-20": {
    "platform": "HYUNDAI_VELOSTER",
    "make": "Hyundai",
@@ -2132,17 +2195,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Kia Carnival Hybrid (with HDA II) 2025-26": {
-    "platform": "KIA_CARNIVAL_4TH_GEN",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "Carnival Hybrid (with HDA II)",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Highway Driving Assist II"
-  },
  "Kia Ceed 2019-21": {
    "platform": "KIA_CEED",
    "make": "Kia",
@@ -2244,6 +2296,27 @@
    ],
    "package": "No Smart Cruise Control (Non-SCC)"
  },
+  "Kia K4 (with HDA II) 2025": {
+    "platform": "KIA_K4_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K4 (with HDA II)",
+    "year": [
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
+  "Kia K4 (without HDA II) 2025-26": {
+    "platform": "KIA_K4_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K4 (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Kia K5 2021-24": {
    "platform": "KIA_K5_2021",
    "make": "Kia",
@@ -2257,6 +2330,17 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Kia K5 (without HDA II) 2025-26": {
+    "platform": "KIA_K5_2025",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "K5 (without HDA II)",
+    "year": [
+      "2025",
+      "2026"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Kia K5 Hybrid 2020-22": {
    "platform": "KIA_K5_HEV_2020",
    "make": "Kia",
@@ -2434,16 +2518,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Kia Niro Plus EV 2024": {
-    "platform": "KIA_NIRO_EV",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "Niro Plus EV",
-    "year": [
-      "2024"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Kia Optima 2017": {
    "platform": "KIA_OPTIMA_G4",
    "make": "Kia",
@@ -2517,6 +2591,17 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
+  "Kia Sorento (without HDA II) 2024-25": {
+    "platform": "KIA_SORENTO_2024",
+    "make": "Kia",
+    "brand": "hyundai",
+    "model": "Sorento (without HDA II)",
+    "year": [
+      "2024",
+      "2025"
+    ],
+    "package": "Smart Cruise Control (SCC)"
+  },
  "Kia Sorento Hybrid 2021-23": {
    "platform": "KIA_SORENTO_HEV_4TH_GEN",
    "make": "Kia",
@@ -95,9 +95,6 @@ class CarStateExt:
      self.msg_162 = copy.copy(cp_cam.vl["CCNC_0x162"])
      self.mdps = copy.copy(cp.vl["MDPS"])
      self.cruise_info = copy.copy(cp_cam.vl["SCC_CONTROL"])
-      self.cruise_buttons_msg = copy.copy(cp.vl["CRUISE_BUTTONS"])
-
-    if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
      self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd])

    ret_sp.speedLimit = self.update_speed_limit(cp, cp_cam) * speed_factor
@@ -10,12 +10,11 @@ from opendbc.car import DT_CTRL
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.crc import CRC8J1850, mk_crc8_fun
-from opendbc.car.hyundai.values import HyundaiFlags, Buttons
+from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP

 cruise_buttons_checksum = mk_crc8_fun(CRC8J1850, init_crc=0x97, xor_out=0x97)  # mk_crc8_fun xors init with xor_out: register starts at 0

-CANCEL_BUTTON_DELAY_FRAMES = 10  # 100 ms
 MAIN_PRESS_FRAMES = 12  # 120 ms
 OVERRIDE_BLINK_FRAMES = 100
 OVERRIDE_BLINK_ON_FRAMES = 60
@@ -39,7 +38,7 @@ def create_ccnc_mdps(packer, CAN, mdps):

 def create_ccnc_0x161(packer, CAN, frame, msg_161, enabled, lat_active, paused, long_enabled, main_cruise_enabled, gas_override,
                      hud_control, set_speed, v_ego, lead_visible, show_distance_bars):
-  values = msg_161.copy()
+  values = {k: v for k, v in msg_161.items() if k != "COUNTER"}

  values.update({
    "LKA_ICON": 4 if lat_active else 3,
@@ -91,7 +90,7 @@ def create_ccnc_0x161(packer, CAN, frame, msg_161, enabled, lat_active, paused,


 def create_ccnc_0x162(packer, CAN, msg_162, enabled, long_enabled, main_cruise_enabled, gas_override, lead_visible, lead_distance):
-  values = msg_162.copy()
+  values = {k: v for k, v in msg_162.items() if k != "COUNTER"}

  if long_enabled:
    values.update({
@@ -103,7 +102,7 @@ def create_ccnc_0x162(packer, CAN, msg_162, enabled, long_enabled, main_cruise_e
  return packer.make_can_msg("CCNC_0x162", CAN.ECAN, values)


-def create_ccnc_buttons(packer, CAN, cruise_buttons_msg, main_btn):
+def create_ccnc_buttons(packer, CAN, cruise_buttons_msg, main_btn, alt_buttons, counter):
  values = cruise_buttons_msg.copy()

  values.update({
@@ -111,49 +110,23 @@ def create_ccnc_buttons(packer, CAN, cruise_buttons_msg, main_btn):
    "NORMAL_CRUISE_MAIN_BTN": 0,
  })

+  if alt_buttons:
+    return packer.make_can_msg("CRUISE_BUTTONS_ALT", CAN.CAM, values)
+
+  values["COUNTER"] = counter
  dat = packer.make_can_msg("CRUISE_BUTTONS", CAN.CAM, values)[1]
  values["_CHECKSUM"] = cruise_buttons_checksum(dat[1:])

  return packer.make_can_msg("CRUISE_BUTTONS", CAN.CAM, values)


-def create_ccnc_alt_buttons(packer, CAN, cruise_buttons_msg, cnt, btn):
-  values = cruise_buttons_msg.copy()
-
-  values.update({
-    "COUNTER": cnt,
-    "CRUISE_BUTTONS": btn,
-  })
-
-  return packer.make_can_msg("CRUISE_BUTTONS_ALT", CAN.ECAN, values)
-
-
 class CcncCarController:
  def __init__(self, CP, CP_SP):
    self.ccnc_lfa_steering = bool(CP_SP.flags & HyundaiFlagsSP.CCNC and not (CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG))
-    self.ccnc_lka_alt_buttons = bool(CP_SP.flags & HyundaiFlagsSP.CCNC and CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG and
-                                     CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
    self.lead_distance_filter = FirstOrderFilter(TARGET_DISTANCE_MAX, LEAD_FILTER_RC, 5 * DT_CTRL, initialized=False)
    self.lead_distance_bars_last = None
    self.distance_bar_frame = 0
-
-  def create_alt_button_msgs(self, CS, CC):
-    can_sends = []
-
-    if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-      btn = None
-      if CC.cruiseControl.cancel:
-        if self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
-          btn = Buttons.CANCEL
-      elif CC.cruiseControl.resume:
-        btn = Buttons.RES_ACCEL
-
-      if btn is not None:
-        for _ in range(10):
-          can_sends.append(create_ccnc_alt_buttons(self.packer, self.CAN, CS.cruise_buttons_msg, CS.buttons_counter + 1, btn))
-        self.last_button_frame = self.frame
-
-    return can_sends
+    self.buttons_counter = 0

  @staticmethod
  def _get_set_speed(v_cruise_cluster, is_metric):
@@ -166,9 +139,6 @@ class CcncCarController:
  def update(self, CS, CC):
    can_sends = []

-    if self.ccnc_lka_alt_buttons:
-      return self.create_alt_button_msgs(CS, CC)
-
    if not self.ccnc_lfa_steering:
      return can_sends

@@ -181,7 +151,9 @@ class CcncCarController:

      if self.frame % 2 == 0 and self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
        press_main = CS.cruise_info["MainMode_ACC"] and self.frame % (2 * MAIN_PRESS_FRAMES) < MAIN_PRESS_FRAMES
-        can_sends.append(create_ccnc_buttons(self.packer, self.CAN, CS.cruise_buttons_msg, press_main))
+        can_sends.append(create_ccnc_buttons(self.packer, self.CAN, CS.cruise_buttons_msg, press_main,
+                                             self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS, self.buttons_counter))
+        self.buttons_counter = (self.buttons_counter + 1) % 15  # stock counts 0-14

      if self.frame % 5 == 0:
        if not self.lead_visible:
@@ -131,14 +131,11 @@ FW_VERSIONS_EXT = {
      b'\xf1\x00QX  MFC  AT USA LHD 1.00 1.01 99211-K2000 191014',
    ],
  },
-  CAR.HYUNDAI_SONATA_2024: {
+  CAR.HYUNDAI_SONATA_HEV_2024: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
-      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
@@ -146,7 +143,6 @@ FW_VERSIONS_EXT = {
  },
  CAR.HYUNDAI_KONA_2ND_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SX2 MFC  AT AUS RHD 1.00 1.03 99211-BE000 230517',
      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
    ],
@@ -155,16 +151,51 @@ FW_VERSIONS_EXT = {
      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
    ],
  },
-  CAR.KIA_CARNIVAL_4TH_GEN: {
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00KA4HMFC  AT USA LHD 1.00 1.00 99210-R0700 250324',
-      b'\xf1\x00KA4HMFC  AT USA LHD 1.00 1.05 99210-R0500 240305',
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.00 99211-BE001 241015',
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.01 99211-BE001 250117',
+      b'\xf1\x00SX2HMFC  AT EUR LHD 1.00 1.01 99211-BE001 250117',
+      b'\xf1\x00SX2HMFC  AT EUR RHD 1.00 1.04 99211-BE000 231010',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00KAhe RDR -----      1.00 1.01 99110-ES500         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
    ],
  },
-  CAR.HYUNDAI_TUCSON_4TH_GEN: {
+  CAR.HYUNDAI_SONATA_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
+  CAR.HYUNDAI_IONIQ_5_N: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1N RDR -----      1.00 1.00 99110-NI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.04 99211-NI000 231219',
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.00 99211-NI010 240712',
+      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.04 99211-NI000 231219',
+      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.00 99211-NI110 250404',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7035 C5C',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_HEV_2025: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
@@ -177,31 +208,54 @@ FW_VERSIONS_EXT = {
      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
    ],
  },
-  CAR.KIA_SELTOS: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5840  4SPSC104',
-    ],
+  CAR.HYUNDAI_TUCSON_PHEV_2025: {
    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SP2 MFC  AT AUS RHD 1.00 1.03 99210-Q5500 230208',
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SP2_ SCC F-CUP      1.00 1.01 99110-Q5500         ',
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
    ],
  },
-  CAR.KIA_NIRO_EV: {
+  CAR.HYUNDAI_SANTA_CRUZ_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+    ],
    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DEev SCC FHCUP      1.00 1.00 99110-Q4510         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.06 56310Q4200\x00 4DEEC106',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.00 99211-DB100 211206',
+      b'\xf1\x00NX4__               1.00 1.00 99110K5500          ',
    ],
  },
-  CAR.HYUNDAI_KONA_EV: {
+  CAR.KIA_K4_2025: {
    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OE2 LKAS AT EUR RHD 1.00 1.00 95740-K4200 200',
+      b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.04 99210-GG100 251205',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG100         ',
+    ],
+  },
+  CAR.KIA_K5_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L2500 240117',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DL3_ RDR -----      1.00 1.01 99110-L2500         ',
+    ],
+  },
+  CAR.KIA_SORENTO_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.01 1.04 99210-R5500 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-R5500         ',
+    ],
+  },
+  CAR.HYUNDAI_KONA_EV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
    ],
  },
 }
@@ -162,6 +162,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
+    {"CcncPortEolAck", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -184,6 +185,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_CcncPortEol", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
@@ -1,4 +1,8 @@
 {
+  "Offroad_CcncPortEol": {
+    "text": "This branch will not receive any more functional updates. ccNC support is moving to master. See the ccNC Port topic on community.sunnypilot.ai for what you need to do.",
+    "severity": 1
+  },
  "Offroad_TemperatureTooHigh": {
    "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
    "severity": 0
@@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CcncPortEolGate, CcncPortEolNotice

 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
@@ -54,6 +55,8 @@ class MainLayout(Widget):
    if not self._onboarding_window.completed:
      gui_app.push_widget(self._onboarding_window)

+    self._ccnc_port_eol = CcncPortEolGate(self, CcncPortEolNotice)
+
  def _render(self, _):
    self._handle_onroad_transition()
    self._render_main_content()
@@ -7,6 +7,8 @@ from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoad
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CcncPortEolGate
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.ccnc_port_eol import MiciCcncPortEolNotice
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
@@ -64,6 +66,8 @@ class MiciMainLayout(Scroller):
    if not self._onboarding_window.completed:
      gui_app.push_widget(self._onboarding_window)

+    self._ccnc_port_eol = CcncPortEolGate(self, MiciCcncPortEolNotice)
+
    # initialize correct onroad layout
    self._on_body_changed()

@@ -0,0 +1,146 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import subprocess
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.common.qrcode import make_texture
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight, TextAlignment, TextAlignmentVertical, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import Label
+
+CCNC_PORT_EOL_URL = "https://community.sunnypilot.ai/t/ccnc-port-non-hda2-hda2-supported-vehicles-features/1064/337?u=sunnyhaibin"
+SWITCH_BRANCH = "staging"
+
+# Merged into master and built into staging. Keyed on ccnc-port platform names, which never change; the FW is the
+# camera and radar FW master also lists, so a car whose FW master lacks is not sent to a branch that won't recognize it.
+CCNC_PORT_SUPPORTED: dict[str, tuple[str, set[bytes]]] = {
+  "HYUNDAI_SONATA_HEV_2024": ("Hyundai Sonata Hybrid 2024-26", {
+    b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+    b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+    b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
+    b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+  }),
+  "HYUNDAI_SONATA_2024": ("Hyundai Sonata 2024-26", {
+    b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+    b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+    b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
+    b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+  }),
+  "HYUNDAI_TUCSON_HEV_2025": ("Hyundai Tucson Hybrid 2025-26", {
+    b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
+    b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+    b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7035 C5C',
+    b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7060 C5B',
+    b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+    b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+    b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+  }),
+  "HYUNDAI_KONA_2ND_GEN": ("Hyundai Kona 2024-25", {
+    b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
+    b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
+    b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+    b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+  }),
+}
+
+
+def supported_car_name() -> str | None:
+  CP = ui_state.CP
+  if CP is None or CP.carFingerprint not in CCNC_PORT_SUPPORTED:
+    return None
+  name, fw_versions = CCNC_PORT_SUPPORTED[CP.carFingerprint]
+  seen = {(str(fw.ecu), fw.fwVersion) for fw in CP.carFw if str(fw.ecu) in ("fwdCamera", "fwdRadar") and not fw.logging}
+  if {ecu for ecu, _ in seen} != {"fwdCamera", "fwdRadar"} or any(v not in fw_versions for _, v in seen):
+    return None
+  return name
+
+
+class CcncPortEolGate:
+  # The ack param clears on boot and on every offroad transition, so the notice is shown again after each drive.
+  def __init__(self, main: Widget, notice_cls: Callable[[Callable[[], None], Callable[[], None], str | None], Widget]):
+    self._main = main
+    self._notice_cls = notice_cls
+    self._notice: Widget | None = None
+    self._acked = False
+    gui_app.add_nav_stack_tick(self._tick)
+
+  def _tick(self):
+    if ui_state.started:
+      self._acked = False
+    elif not self._acked and gui_app.get_active_widget() is self._main:
+      # built per drive: CarParamsPersistent first appears after the device's first drive
+      self._notice = self._notice_cls(self._on_ack, self._on_switch, supported_car_name())
+      gui_app.push_widget(self._notice)
+
+  def _on_ack(self):
+    self._acked = True
+    ui_state.params.put_bool("CcncPortEolAck", True, block=True)
+    gui_app.pop_widgets_to(self._main, instant=True)
+
+  def _on_switch(self):
+    ui_state.params.put("UpdaterTargetBranch", SWITCH_BRANCH, block=True)
+    subprocess.run(["pkill", "-SIGUSR1", "-f", "openpilot.system.updated.updated"], check=False)
+    self._on_ack()
+
+
+class CcncPortEolNotice(Widget):
+  def __init__(self, on_ack: Callable[[], None], on_switch: Callable[[], None], car_name: str | None):
+    super().__init__()
+    self._car_name = car_name
+    if car_name:
+      title = tr("Your car is now officially supported")
+      desc = tr("ccnc-port will not receive any more functional updates. Your car is supported on sunnypilot master.\n\n" +
+                "Switch to staging to keep getting updates. Scan the QR code for details.")
+    else:
+      title = tr("This branch is no longer updated")
+      desc = tr("ccnc-port will not receive any more functional updates. ccNC support is moving to master.\n\n" +
+                "Scan the QR code to see what you need to do.")
+    self._title = Label(title, font_size=75, font_weight=FontWeight.BOLD,
+                        text_alignment=TextAlignment.LEFT, text_alignment_vertical=TextAlignmentVertical.TOP)
+    self._car = Label(car_name or "", font_size=55, font_weight=FontWeight.MEDIUM, text_color=rl.Color(150, 150, 150, 255),
+                      text_alignment=TextAlignment.LEFT, text_alignment_vertical=TextAlignmentVertical.TOP)
+    self._desc = Label(desc, font_size=55, font_weight=FontWeight.MEDIUM,
+                       text_alignment=TextAlignment.LEFT, text_alignment_vertical=TextAlignmentVertical.TOP)
+    self._ack_btn = Button(tr("Not now") if car_name else tr("I understand"),
+                           button_style=ButtonStyle.NORMAL if car_name else ButtonStyle.PRIMARY, click_callback=on_ack)
+    self._switch_btn = Button(tr("Switch to staging"), button_style=ButtonStyle.PRIMARY, click_callback=on_switch)
+    self._qr_texture = make_texture(CCNC_PORT_EOL_URL)
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+
+    qr_size = 560
+    qr_x = rect.x + rect.width - qr_size - 90
+    text_x = rect.x + 90
+    text_w = qr_x - text_x - 60
+    if self._car_name:
+      self._title.render(rl.Rectangle(text_x, rect.y + 90, text_w, 100))
+      self._car.render(rl.Rectangle(text_x, rect.y + 190, text_w, 80))
+      self._desc.render(rl.Rectangle(text_x, rect.y + 330, text_w, 450))
+    else:
+      self._title.render(rl.Rectangle(text_x, rect.y + 90, text_w, 200))
+      self._desc.render(rl.Rectangle(text_x, rect.y + 300, text_w, 450))
+
+    if self._qr_texture:
+      src = rl.Rectangle(0, 0, self._qr_texture.width, self._qr_texture.height)
+      rl.draw_texture_pro(self._qr_texture, src, rl.Rectangle(qr_x, rect.y + 90, qr_size, qr_size), rl.Vector2(0, 0), 0, rl.WHITE)
+
+    btn_y = rect.y + rect.height - 160 - 45
+    if self._car_name:
+      btn_w = (rect.width - 90 - 30) / 2
+      self._ack_btn.render(rl.Rectangle(rect.x + 45, btn_y, btn_w, 160))
+      self._switch_btn.render(rl.Rectangle(rect.x + 45 + btn_w + 30, btn_y, btn_w, 160))
+    else:
+      self._ack_btn.render(rl.Rectangle(rect.x + 45, btn_y, rect.width - 90, 160))
+
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)
@@ -0,0 +1,46 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.selfdrive.ui.mici.layouts.onboarding import QRCodeWidget
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CCNC_PORT_EOL_URL
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.mici_setup import GreyBigButton
+from openpilot.system.ui.widgets.scroller import Scroller
+
+
+class MiciCcncPortEolNotice(Scroller):
+  def __init__(self, on_ack: Callable[[], None], on_switch: Callable[[], None], car_name: str | None):
+    super().__init__()
+    check = gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64)
+    if car_name:
+      self._scroller.add_widgets([
+        GreyBigButton("officially\nsupported", "scroll to continue",
+                      gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+        GreyBigButton(car_name.lower(), "is supported on master"),
+        GreyBigButton("", "ccnc-port is no longer updated."),
+        GreyBigButton("switch to staging", "to keep getting updates"),
+        BigConfirmationCircleButton("switch to\nstaging", gui_app.texture("icons_mici/settings/device/update.png", 64, 64), on_switch),
+        GreyBigButton("scan the QR code", "for details"),
+        QRCodeWidget(CCNC_PORT_EOL_URL),
+        BigConfirmationCircleButton("not\nnow", check, on_ack),
+      ])
+    else:
+      self._scroller.add_widgets([
+        GreyBigButton("no longer\nupdated", "scroll to continue",
+                      gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+        GreyBigButton("", "ccnc-port will not receive any more functional updates. ccNC support is moving to master."),
+        GreyBigButton("scan the QR code", "to see what to do"),
+        QRCodeWidget(CCNC_PORT_EOL_URL),
+        BigConfirmationCircleButton("I\nunderstand", check, on_ack),
+      ])
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+    super()._render(_)
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.11.15-5034"
+#define SUNNYPILOT_VERSION "2026.11.13-5031"
@@ -17,25 +17,16 @@ def main():
  parser.add_argument("--frame", required=True, help="width,height,stride,y_height,uv_height,buffer_size")
  parser.add_argument("--warp-to", required=True, help="model input WxH")
  parser.add_argument("--output", required=True)
-  parser.add_argument("--split-frames", action="store_true", help="one input per camera (frame, big_frame), bound to the camera buffers by pointer")
  args = parser.parse_args()

  from examples.openpilot.compile_warp import make_frame_prepare, parse_frame, parse_size
  from tinygrad import Device, Tensor, TinyJit
  frame = parse_frame(args.frame)
  warp = make_frame_prepare(frame, *parse_size(args.warp_to))
+  run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
  rng = np.random.default_rng(42)
-  frames = rng.integers(0, 256, (2, frame.size), dtype=np.uint8)
-  m_inv = Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()
-  if args.split_frames:
-    run = TinyJit(lambda frame, big_frame, M_inv: Tensor.stack(warp(frame, M_inv[0]), warp(big_frame, M_inv[1])), prune=True)
-    inputs = {"frame": Tensor(frames[0], device=Device.DEFAULT).realize(), "big_frame": Tensor(frames[1], device=Device.DEFAULT).realize(), "M_inv": m_inv}
-    specs = {"frame": ((frame.size,), "|u1", Device.DEFAULT), "big_frame": ((frame.size,), "|u1", Device.DEFAULT),
-             "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
-  else:
-    run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
-    inputs = {"input_frame": Tensor(frames, device=Device.DEFAULT).realize(), "M_inv": m_inv}
-    specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
+  inputs = {"input_frame": Tensor(rng.integers(0, 256, (2, frame.size), dtype=np.uint8), device=Device.DEFAULT).realize(),
+            "M_inv": Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()}
  with record_kernel_linear() as recorded:
    run(**inputs)
    run(**inputs)
@@ -43,6 +34,7 @@ def main():
  assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
  part = serialize_jit(run, recorded[0], check)
  PlainJit(*part)
+  specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
  write_bundle(args.output, {"run": part}, {"input_specs": specs, "metadata": {}})
  print(f"Saved warp to {args.output} ({len(part[0]['calls'])} kernels)")

@@ -12,8 +12,6 @@ from functools import partial
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot.modeld_v2.helpers import _dtype, read_parts

-SPLIT_FRAMES = ("big_frame", "frame")
-

 def pack_layout(shapes: dict[str, tuple], frame_size: int) -> tuple[dict[str, int], int]:
  offsets, offset = {}, 0
@@ -41,30 +39,29 @@ def frame_part(warp_path: str, parts: dict, extras: dict) -> dict:
  (model, model_blob), (warp, warp_blob) = parts["run"], read_parts(warp_path)[0]["run"]
  states = sorted(name for name in extras["input_specs"] if f"next_{name}" in extras["metadata"]["output_shapes"])
  host = {name: shape for name, (shape, _, _) in extras["input_specs"].items() if name not in states and name != "new_img"}
-  frame_specs = {s["name"]: s for s in warp["inputs"] if s["name"] in SPLIT_FRAMES}
-  offsets, packed = pack_layout(host, 0 if frame_specs else next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2)
+  frame_size = next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2
+  offsets, packed = pack_layout(host, frame_size)
  shift, upload, u8 = len(model_blob), len(model["buffers"]) + len(warp["buffers"]), repr(_dtype("dtypes.uint8"))

  def view(name: str, nbytes: int, dtype: str) -> dict:
    return {"buffer": upload, "offset": offsets[name], "nbytes": nbytes, "dtype": dtype}
  outputs = sorted(s["slot"] for s in model["inputs"] if s["name"] is None)
-  names = sorted(["host", *states, *frame_specs])
+  names = sorted(["host", *states])
  slots = {s["slot"]: names.index(s["name"]) for s in model["inputs"] if s["name"] in states} | \
          {slot: len(names) + i for i, slot in enumerate(outputs)}
  returned = warp["returns"]["tensors"][0]
  model_inputs = {s["slot"]: {"input": slots[s["slot"]]} if s["slot"] in slots else
                  {k: v for k, v in returned.items() if k != "shape"} | {"buffer": returned["buffer"] + len(model["buffers"])} if s["name"] == "new_img" else
                  view(s["name"], s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in model["inputs"]}
-  warp_inputs = {s["slot"]: {"input": names.index(s["name"])} if s["name"] in frame_specs else
-                 view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in warp["inputs"]}
+  warp_inputs = {s["slot"]: view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"])
+                 for s in warp["inputs"]}

  def remap(calls: list, inputs: dict, buffers: int, lib: int) -> list:
    return [call | ({"lib": [call["lib"][0] + lib, call["lib"][1] + lib]} if "lib" in call else {}) |
            {"args": [dict(inputs[a["input"]]) if "input" in a else a | {"buffer": a["buffer"] + buffers} for a in call["args"]]} for call in calls]
  header = {"input_names": names, "returns": {"kind": "NoneType", "tensors": []}, "check": None,
            "inputs": [{"slot": names.index("host"), "name": "host", "dtype": u8, "numel": packed, "device": "NPY"}] +
-                      [s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots] +
-                      [s | {"slot": names.index(name)} for name, s in frame_specs.items()],
+                      [s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots],
            "buffers": model["buffers"] + [b | ({"init": [b["init"][0] + shift, b["init"][1] + shift]} if "init" in b else {}) for b in warp["buffers"]] +
                       [{"nbytes": packed, "device": model["inputs"][0]["device"], "dtype": u8}],
            "calls": [{"kind": "copy", "args": [{"buffer": upload, "offset": 0, "nbytes": packed, "dtype": u8}, {"input": names.index("host")}]}] +
@@ -270,32 +270,15 @@ def _program_uop(call: dict, lib: bytes):
                               UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)


-def _input_tensors(kwargs: dict) -> list:  # in _prepare_jit_inputs' order
-  from tinygrad import Tensor
-  tensors = [t for _, t in sorted(kwargs.items()) if t.__class__ is Tensor]
-  for value in kwargs.values():
-    tensors += [t for t in (value.values() if isinstance(value, dict) else value if isinstance(value, (tuple, list)) else ())
-                if t.__class__ is Tensor and not any(t is y for y in tensors)]
-  return tensors
-
-
 class _Jit:
  def __init__(self, captured, input_names: list, buffers: list):
    self.captured, self.input_names, self.buffers = captured, input_names, buffers

  def __call__(self, *args, **kwargs):
    import tinygrad.engine.jit as jit
-    from tinygrad.uop.ops import Ops
-    # same names, no variables: the binding is the tensors' own uops, without _prepare_jit_inputs' graph rewrites
-    if not args and self.__dict__.get("_names") == sorted(kwargs):
-      tensors = _input_tensors(kwargs)
-      if all(t.uop.is_realized for t in tensors):
-        return self.captured([t.uop.src[0] if t.uop.op is Ops.UNSHARD else t.uop for t in tensors], {})
    input_uops, var_vals, names, _ = jit._prepare_jit_inputs(args, kwargs)
    if names != self.input_names:
      raise ValueError(f"expected inputs {self.input_names}, got {names}")
-    if not args and not var_vals:
-      self._names = sorted(kwargs)
    return self.captured(input_uops, var_vals)


@@ -328,7 +311,7 @@ class PlainJit(_Jit):
        calls.append(_program_uop(call, bytes(blob[slice(*call["lib"])])).call(*arguments))
      else:
        calls.append(arguments[0].store_call(arguments[1]))
-    # allocate gpu buffers
+    # stand-ins for JIT inputs: copy staging to GPU is decided from the input buffers, the real ones bind per call
    stand_ins = {slot: UOp.from_buffer(Buffer(_device(spec["device"], device_map), spec["numel"] * _dtype(spec["dtype"]).itemsize).ensure_allocated(),
                                       _dtype(spec["dtype"])) for slot, spec in inputs.items()}
    input_uops = tuple(stand_ins.get(slot, next(iter(stand_ins.values()), None)) for slot in range(max(stand_ins, default=-1) + 1))
@@ -11,7 +11,7 @@ import pickle
 import numpy as np

 from openpilot.common.basedir import BASEDIR
-from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout, SPLIT_FRAMES
+from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout
 from openpilot.sunnypilot.modeld_v2.helpers import load_model
 from openpilot.sunnypilot.modeld_v2.compile_modeld import (POLICY_INPUTS, derive_frame_skip,
                                                           make_split_input_queues, make_supercombo_input_queues)
@@ -169,18 +169,16 @@ class NativeTinygradAdapter(BaseModelAdapter):
    self.warp_frame_size = self.frame_copy_size
    self._init_common()
    self.run_model = self.jits['run']
-    self.split = [name for name in SPLIT_FRAMES if name in self.run_model.input_names]
-    self.frame_inputs: dict[str, Tensor] = {}

    self.input_queues = {name: Tensor(np.zeros(shape, dtype=dtype), device=self.model_device).realize()
                         for name, (shape, dtype) in self.input_shapes.items() if name in self.state_pairs}
    shapes = {name: shape for name, (shape, _) in self.input_shapes.items() if name not in self.state_pairs and name != 'new_img'}
-    offsets, packed = pack_layout(shapes, 0 if self.split else self.warp_frame_size)
+    offsets, packed = pack_layout(shapes, self.warp_frame_size)
    self.packed_input = np.zeros(packed, dtype=np.uint8)
    self.host = Tensor(self.packed_input, device='NPY')
    self.numpy_inputs = {name: np.ndarray(shape, dtype=np.float32, buffer=self.packed_input, offset=offsets[name])
                         for name, shape in ({'tfm': (2, 3, 3)} | shapes).items()}
-    self.frames = self.packed_input[offsets['frames']:].reshape(2, -1)
+    self.frames = self.packed_input[offsets['frames']:].reshape(2, self.warp_frame_size)

    self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in self.jits['output_specs'].items()}
    for name, next_name in self.state_pairs.items():
@@ -189,29 +187,17 @@ class NativeTinygradAdapter(BaseModelAdapter):

  def copy_frames(self, bufs):
    for i, key in enumerate(self._vision_input_names):
-      if key not in bufs:
-        continue
-      if not self.split:
+      if key in bufs:
        data = bufs[key].data if hasattr(bufs[key], 'data') else bufs[key]
        np.copyto(self.frames[i], np.frombuffer(data, dtype=np.uint8, count=self.warp_frame_size))
-      elif (name := ('frame', 'big_frame')[i]) in self.split:
-        if isinstance(bufs[key], np.ndarray):  # cached memory: the GPU would read stale lines in place
-          self.frame_inputs[name] = Tensor(np.ascontiguousarray(bufs[key][:self.warp_frame_size]), device=self.model_device).realize()
-          continue
-        ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data  # visionipc buffers are coherent
-        if (key, ptr) not in self._blob_cache:
-          self._blob_cache[(key, ptr)] = Tensor.from_blob(ptr, (self.warp_frame_size,), dtype='uint8', device=self.model_device)
-        self.frame_inputs[name] = self._blob_cache[(key, ptr)]

  def reset_warmup_buffers(self) -> None:
    self.packed_input[:] = 0
-    self.frame_inputs.clear()
-    self._blob_cache.clear()
    for key in self.state_pairs:
      self.input_queues[key].assign(0).realize()

  def run(self):
-    self.run_model(host=self.host, **self.input_queues, **self.frame_inputs, output_buffers=self.outputs)
+    self.run_model(host=self.host, **self.input_queues, output_buffers=self.outputs)
    return self.outputs['outputs']


@@ -144,21 +144,6 @@ class TestPlainArtifact(OpenpilotTestCase):
    for name in ("outputs", "next_state_feat_q"):
      assert np.array_equal(inputs["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name

-    split_path = os.path.join(self.tmp.name, "warp_split_tinygrad.pkl")
-    with mock.patch.object(sys, "argv", ["compile_warp", "--frame", FRAME, "--warp-to", f"{MODEL_W}x{MODEL_H}", "--output", split_path, "--split-frames"]):
-      compile_warp.main()
-    split = load_model(path, cache=False, extend=functools.partial(frame_part, split_path))
-    assert split["run"].input_names == ["big_frame", "frame", "host", "state_feat_q"]
-    offsets, packed = pack_layout(HOST, 0)
-    host = np.zeros(packed, np.uint8)
-    for name, shape in ({"tfm": (2, 3, 3)} | HOST).items():
-      np.ndarray(shape, np.float32, host, offsets[name])[...] = tfm.numpy() if name == "tfm" else inputs[name].numpy()
-    out = {"outputs": Tensor.zeros(OUT).contiguous().realize(), "next_state_feat_q": Tensor.zeros(STATE).contiguous().realize()}
-    split["run"](host=Tensor(host, device="NPY"), frame=Tensor(frames.numpy()[0]).realize(), big_frame=Tensor(frames.numpy()[1]).realize(),
-                 state_feat_q=expected["state_feat_q"], output_buffers=out)
-    for name in ("outputs", "next_state_feat_q"):
-      assert np.array_equal(out[name].numpy(), expected["output_buffers"][name].numpy()), name
-
  def test_tinygrad_api_the_loader_reads(self):
    import tinygrad.engine.jit as jit
    from tinygrad.device import Buffer, TinyELF
@@ -19,9 +19,10 @@ from openpilot.tools.lib.route import Route
 REPO_ID = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_REPO_ID", "sunnypilot/sunnypilotCarSegments")


-def upload_route(route_name: str, dry_run: bool = False, local_dir: str | None = None) -> None:
-  log_paths = Route(route_name, data_dir=local_dir).log_paths()
-  valid_segments = [(i, path) for i, path in enumerate(log_paths) if path is not None]
+def upload_route(route_name: str, dry_run: bool = False) -> None:
+  route = Route(route_name)
+  log_paths = route.log_paths()
+  valid_segments = [(i, url) for i, url in enumerate(log_paths) if url is not None]

  print(f"Route: {route_name}")
  print(f"Segments: {len(valid_segments)}/{len(log_paths)}")
@@ -33,17 +34,14 @@ def upload_route(route_name: str, dry_run: bool = False, local_dir: str | None =
  api = HfApi()

  with tempfile.TemporaryDirectory() as tmpdir:
-    for seg_idx, src in tqdm(valid_segments, desc="Uploading"):
-      filename = src.split("?")[0].rsplit("/", 1)[-1]
-      if local_dir is not None:
-        local_path = src
-      else:
-        local_path = os.path.join(tmpdir, f"{seg_idx}_{filename}")
-        resp = requests.get(src, stream=True)
-        resp.raise_for_status()
-        with open(local_path, "wb") as f:
-          for chunk in resp.iter_content(chunk_size=8192):
-            f.write(chunk)
+    for seg_idx, url in tqdm(valid_segments, desc="Uploading"):
+      filename = url.split("?")[0].rsplit("/", 1)[-1]
+      local_path = os.path.join(tmpdir, f"{seg_idx}_{filename}")
+      resp = requests.get(url, stream=True)
+      resp.raise_for_status()
+      with open(local_path, "wb") as f:
+        for chunk in resp.iter_content(chunk_size=8192):
+          f.write(chunk)

      repo_path = f"segments/{route_name.replace('|', '/')}/{seg_idx}/{filename}"

@@ -65,7 +63,6 @@ if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="Upload route rlogs to sunnypilot HuggingFace dataset")
  parser.add_argument("route", help="Route ID (e.g. 5beb9b58bd12b691/0000010a--a51155e496)")
  parser.add_argument("--dry-run", action="store_true", help="Download and show sizes without uploading")
-  parser.add_argument("--local", metavar="DIR", help="Upload rlogs from DIR (<dongle id>|<log id>--<segment>/) instead of the comma API")
  args = parser.parse_args()

-  upload_route(args.route, dry_run=args.dry_run, local_dir=args.local)
+  upload_route(args.route, dry_run=args.dry_run)
@@ -252,6 +252,7 @@ def hardware_thread(end_event, hw_queue) -> None:
  chestnut = Chestnut()
  chestnut_status = ChestnutStatus()
  branch = get_short_branch()
+  set_offroad_alert("Offroad_CcncPortEol", True)

  while not end_event.is_set():
    sm.update(PANDA_STATES_TIMEOUT)
@@ -353,6 +354,7 @@ def hardware_thread(end_event, hw_queue) -> None:

    startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
    startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
+    startup_conditions["ccnc_port_eol_ack"] = params.get_bool("CcncPortEolAck")
    startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
    startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
    startup_conditions["accepted_terms_sp"] = params.get("HasAcceptedTermsSP") == terms_version_sp