Car Port: Kia Carnival HEV 2025 (HDA2)

opendbc/car/fingerprints.py

@@ -242,6 +242,7 @@ def all_legacy_fingerprint_cars():
   "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
   "KIA EV6 2022": HYUNDAI.KIA_EV6,
   "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
+  "KIA CARNIVAL HYBRID 4TH GEN": HYUNDAI.KIA_CARNIVAL_HEV_4TH_GEN,
   "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
   "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
   "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,

opendbc/car/hyundai/carcontroller.py

@@ -186,6 +186,7 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
         # cruise cancel
         if CC.cruiseControl.cancel:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+            # TODO: Any reason to not just send the button?
             can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
             self.last_button_frame = self.frame
           else:
@@ -195,12 +196,8 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            # TODO: resume for alt button cars
-            pass
-          else:
-            for _ in range(20):
-              can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
-            self.last_button_frame = self.frame
+          for _ in range(20):
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          self.last_button_frame = self.frame
 
     return can_sends

opendbc/car/hyundai/carstate.py

@@ -224,10 +224,11 @@ def update_canfd(self, can_parsers) -> structs.CarState:
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
 
-    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
-    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
-      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
+    left_blinker_sig, right_blinker_sig = (
+      ("LEFT_LAMP_ALT", "RIGHT_LAMP_ALT")
+      if cp.vl['BLINKERS']['USE_ALT_LAMP']
+      else ("LEFT_LAMP", "RIGHT_LAMP")
+    )
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])
     if self.CP.enableBsm:

opendbc/car/hyundai/fingerprints.py

@@ -1159,6 +1159,14 @@
       b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
     ],
   },
+  CAR.KIA_CARNIVAL_HEV_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KA4HMFC  AT USA LHD 1.00 1.05 99210-R0500 240305',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KAhe RDR -----      1.00 1.01 99110-ES500         ',
+    ],
+  },
   CAR.KIA_K8_HEV_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',

opendbc/car/hyundai/hyundaicanfd.py

@@ -73,14 +73,19 @@ def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
   return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):
+  canfd_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
+              "CRUISE_BUTTONS"
+  # If we discover cars use different values for this in the future, echoing back
+  # what's read from the car would also work.
+  SET_ME_2 = 6
   values = {
     "COUNTER": cnt,
-    "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
-  }
+    "SET_ME_1": 1,
+  } | {"SET_ME_2": SET_ME_2} if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else {}
 
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
+  return packer.make_can_msg(canfd_msg, bus, values)
 
 def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   # TODO: why do we copy different values here?

opendbc/car/hyundai/interface.py

@@ -39,11 +39,12 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
         # non-HDA2
-        if 0x1cf not in fingerprint[CAN.ECAN]:
-          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
         if not ret.flags & HyundaiFlags.RADAR_SCC:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
 
+      if 0x1cf not in fingerprint[CAN.ECAN]:
+        ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
+
       # Some HDA2 cars have alternative messages for gear checks
       # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
       if 0x130 not in fingerprint[CAN.ECAN]:

opendbc/car/hyundai/values.py

@@ -496,6 +496,13 @@ class CAR(Platforms):
     CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
     flags=HyundaiFlags.RADAR_SCC,
   )
+  KIA_CARNIVAL_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia Carnival Hybrid (with HDA II) 2025", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    ],
+    CarSpecs(mass=2253, wheelbase=3.09, steerRatio=14.23),
+    flags=HyundaiFlags.RADAR_SCC,
+  )
 
   # Genesis
   GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
@@ -653,8 +660,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 
 # We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
 CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
-                         # TODO: the hybrid variant is not out yet
-                         CAR.KIA_CARNIVAL_4TH_GEN}
+                         CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_HEV_4TH_GEN}
 
 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms

opendbc/car/tests/routes.py

@@ -124,6 +124,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, segment=1),
   CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
   CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
+  CarTestRoute("6c0069dcd5bbb6c1/00000020--6b95507969", HYUNDAI.KIA_CARNIVAL_HEV_4TH_GEN),  # HDA2
   CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
   CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),

opendbc/car/torque_data/override.toml

@@ -61,6 +61,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
 "GENESIS_GV80" = [2.5, 2.5, 0.1]
 "KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
+"KIA_CARNIVAL_HEV_4TH_GEN" = [1.75, 1.75, 0.15]
 "GMC_ACADIA" = [1.6, 1.6, 0.2]
 "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]