commaai · royjr · Feb 23, 2025 · Feb 23, 2025 · Feb 23, 2025 · Feb 23, 2025
diff --git a/opendbc/car/hyundai/carcontroller.py b/opendbc/car/hyundai/carcontroller.py
@@ -165,6 +165,7 @@ def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, a
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
     lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
+    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
 
     # steering control
     can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque))
@@ -176,7 +177,11 @@ def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, a
 
     # LFA and HDA icons
     if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
-      can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
+      if ccnc_non_hda2:
+        can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP.openpilotLongitudinalControl, CC.enabled, CC.hudControl,
+                                                  CC.leftBlinker, CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5, CS.is_metric, CS.out))
+      else:
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
 
     # blinkers
     if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -185,11 +190,11 @@ def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, a
     if self.CP.openpilotLongitudinalControl:
       if lka_steering:
         can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-      else:
+      elif not ccnc_non_hda2:
         can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
       if self.frame % 2 == 0:
         can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                         set_speed_in_units, hud_control))
+                                                         set_speed_in_units, hud_control, CS.cruise_info if ccnc_non_hda2 else None))
         self.accel_last = accel
     else:
       # button presses

diff --git a/opendbc/car/hyundai/carstate.py b/opendbc/car/hyundai/carstate.py
@@ -56,6 +56,7 @@ def __init__(self, CP):
     self.buttons_counter = 0
 
     self.cruise_info = {}
+    self.msg_161, self.msg_162, self.msg_1b5 = {}, {}, {}
 
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
     self.cluster_speed = 0
@@ -243,15 +244,16 @@ 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"
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
-                                                                      cp.vl["BLINKERS"][right_blinker_sig])
+    alt = "_ALT" if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN else ""
+    if self.CP.flags & HyundaiFlags.CCNC and not self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
+      self.msg_161, self.msg_162, self.msg_1b5 = map(copy.copy, (cp_cam.vl["CCNC_0x161"], cp_cam.vl["CCNC_0x162"], cp_cam.vl["FR_CMR_03_50ms"]))
+      self.cruise_info = copy.copy((cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp).vl["SCC_CONTROL"])
+      alt = "_ALT"
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][f"LEFT_LAMP{alt}"],
+                                                                      cp.vl["BLINKERS"][f"RIGHT_LAMP{alt}"])
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
-      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
+      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"][f"FL_INDICATOR{alt}"] != 0
+      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"][f"FR_INDICATOR{alt}"] != 0
 
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement

diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
@@ -213,6 +213,15 @@
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
   },
+  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',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
   CAR.HYUNDAI_SONATA_LF: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
@@ -561,6 +570,16 @@
       b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
     ],
   },
+  CAR.HYUNDAI_KONA_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      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',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
   CAR.KIA_CEED: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CD__ SCC F-CUP      1.00 1.00 99110-J7500         ',
@@ -596,6 +615,14 @@
       b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
     ],
   },
+  CAR.KIA_K4_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
+    ],
+  },
   CAR.KIA_K5_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
@@ -628,6 +655,14 @@
       b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
     ],
   },
+  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_K5_HEV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
@@ -711,6 +746,7 @@
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
     ],
   },
   CAR.KIA_NIRO_EV: {
@@ -966,6 +1002,16 @@
       b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
     ],
   },
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.00 99211-BE001 241015',
+      b'\xf1\x00SX2HMFC  AT EUR RHD 1.00 1.04 99211-BE000 231010',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
   CAR.HYUNDAI_SONATA_HYBRID: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
@@ -987,6 +1033,15 @@
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
   },
+  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',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
   CAR.KIA_SORENTO: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00UMP LKAS AT AUS RHD 1.00 1.00 96400-C6550 S30',
@@ -1089,6 +1144,16 @@
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
+  CAR.HYUNDAI_TUCSON_HEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+    ],
+  },
   CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
@@ -1100,6 +1165,14 @@
       b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
     ],
   },
+  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\x00NX4__               1.00 1.00 99110K5500          ',
+    ],
+  },
   CAR.KIA_SPORTAGE_5TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
@@ -1171,6 +1244,14 @@
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
     ],
   },
+  CAR.KIA_SORENTO_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+    ],
+  },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',

diff --git a/opendbc/car/hyundai/hyundaicanfd.py b/opendbc/car/hyundai/hyundaicanfd.py
@@ -1,6 +1,7 @@
 import copy
 import numpy as np
 from opendbc.car import CanBusBase
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 
@@ -130,7 +131,108 @@ def create_lfahda_cluster(packer, CAN, enabled):
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
+def create_ccnc(packer, CAN, openpilotLongitudinalControl, enabled, hud, leftBlinker, rightBlinker, msg_161, msg_162, msg_1b5, is_metric, out):
+  for f in {"FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"}:
+    msg_162[f] = 0
+  if msg_161["ALERTS_2"] == 5:
+    msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
+  if msg_161["ALERTS_3"] == 17:
+    msg_161["ALERTS_3"] = 0
+  if msg_161["ALERTS_5"] in (2, 5):
+    msg_161["ALERTS_5"] = 0
+  if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (3, 0,):
+    msg_161["SOUNDS_4"] = 0
+
+  LANE_CHANGE_SPEED_MIN = 8.9408
+  anyBlinker = leftBlinker or rightBlinker
+  curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
+
+  lfa_icon = enabled
+
+  msg_161.update({
+    "DAW_ICON": 0,
+    "LKA_ICON": 0,
+    "LFA_ICON": 2 if lfa_icon else 0,
+    "CENTERLINE": 1 if lfa_icon else 0,
+    "LANELINE_CURVATURE": curvature.get(max(-15, min(int(out.steeringAngleDeg / 4.5), 15)), 14) if lfa_icon and not anyBlinker else 15,
+    "LANELINE_LEFT": (0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if anyBlinker else 2),
+    "LANELINE_RIGHT": (0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if anyBlinker else 2),
+    "LCA_LEFT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.leftBlindspot else 2 if anyBlinker else 4),
+    "LCA_RIGHT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.rightBlindspot else 2 if anyBlinker else 4),
+    "LCA_LEFT_ARROW": 2 if leftBlinker else 0,
+    "LCA_RIGHT_ARROW": 2 if rightBlinker else 0,
+  })
+
+  if lfa_icon and (leftBlinker or rightBlinker):
+    leftlaneraw, rightlaneraw = msg_1b5["Info_LftLnPosVal"], msg_1b5["Info_RtLnPosVal"]
+
+    scale_per_m = 15 / 1.7
+    leftlane = abs(int(round(15 + (leftlaneraw - 1.7) * scale_per_m)))
+    rightlane = abs(int(round(15 + (rightlaneraw - 1.7) * scale_per_m)))
+
+    if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
+      leftlane = 0
+    if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
+      rightlane = 0
+
+    if leftlaneraw == -2.0248375:
+      leftlane = 30 - rightlane
+    if rightlaneraw == 2.0248375:
+      rightlane = 30 - leftlane
+
+    if leftlaneraw == rightlaneraw == 0:
+      leftlane = rightlane = 15
+    elif leftlaneraw == 0:
+      leftlane = 30 - rightlane
+    elif rightlaneraw == 0:
+      rightlane = 30 - leftlane
+
+    total = leftlane + rightlane
+    if total == 0:
+      leftlane = rightlane = 15
+    else:
+      leftlane = round((leftlane / total) * 30)
+      rightlane = 30 - leftlane
+
+    msg_161["LANELINE_LEFT_POSITION"] = leftlane
+    msg_161["LANELINE_RIGHT_POSITION"] = rightlane
+
+  if hud.leftLaneDepart or hud.rightLaneDepart:
+    msg_162["VIBRATE"] = 1
+
+  if openpilotLongitudinalControl:
+    if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
+      msg_161["ALERTS_3"] = 0
+    if msg_161["ALERTS_5"] == 4:
+      msg_161["ALERTS_5"] = 0
+    if msg_161["SOUNDS_3"] == 5:
+      msg_161["SOUNDS_3"] = 0
+
+    main_cruise_enabled = out.cruiseState.available
+
+    msg_161.update({
+      "SETSPEED": 3 if enabled else 1,
+      "SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SETSPEED_SPEED": (
+        255 if not main_cruise_enabled else
+        (40 if is_metric else 25) if (s := round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))) > (145 if is_metric else 90) else s
+      ),
+      "DISTANCE": hud.leadDistanceBars,
+      "DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
+      "DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
+      "DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SLA_ICON": 0,
+      "NAV_ICON": 0,
+      "TARGET": 0,
+    })
+
+    msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
+    msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
+
+  return [packer.make_can_msg(msg, CAN.ECAN, data) for msg, data in [("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162)]]
+
+
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, cruise_info=None):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -157,6 +259,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
     "SET_ME_TMP_64": 0x64,
     "DISTANCE_SETTING": hud_control.leadDistanceBars,
   }
+  if cruise_info:
+    values.update({s: cruise_info[s] for s in ["ACC_ObjDist", "ACC_ObjRelSpd"]})
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 

diff --git a/opendbc/car/hyundai/interface.py b/opendbc/car/hyundai/interface.py
@@ -80,6 +80,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
+      if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
+        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
 
     else:
       # Shared configuration for non CAN-FD cars

diff --git a/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc/car/hyundai/tests/test_hyundai.py
@@ -22,7 +22,9 @@
   # 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_HEV_2025,
   # CAN
   CAR.HYUNDAI_ELANTRA,
   CAR.HYUNDAI_ELANTRA_GT_I30,