Hyundai CAN FD: Accurate hybrid powertrain detection #1891
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sshane
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Mar 3, 2025
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Found
Checked some EV and ICE routes and did not see Validation: https://github.com/commaai/openpilot/actions/runs/13648043542/job/38150425614?pr=34769 @sshane any other validation we need for the time being? |
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@sunnyhaibin You might find commaai/openpilot#34771 helpful in validating. For those cars that aren't in the dataset, like the new car ports you're working on, you can just append any segments you have access to, LogReader will pick them up. |
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Excellent. Just ran the notebook with some minor tweaks, working great! ❤️ |
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Want to re-check with the updates in commaai/openpilot#34782? You can add routes for all the new HKG cars that aren't in the commaCarSegments dataset to EXTRA_SEGMENTS, whether they've been merged upstream or not. |
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Works great! |
chrispypatt
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Mar 12, 2025
* Hyundai CAN FD: Accurate hybrid powertrain detection * label message names * use 0xFA
Edison-CBS
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Apr 5, 2025
* Hyundai CAN FD: Accurate hybrid powertrain detection * label message names * use 0xFA
eli-davis
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Jul 15, 2025
* Hyundai CAN FD: Accurate hybrid powertrain detection * label message names * use 0xFA
jyoung8607
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Sep 29, 2025
* Add secoc ACC command * Remove commented out secoc long disable code * Add Toyota 2021 SecOC route * Send 0 accel for ACC_CONTROL to match stock * Update opendbc/car/toyota/carcontroller.py Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> * Add new ACC steering wheel message for SecOC cars. Update distance_button with the new message. * Add new DBC file for Toyota SecOC cars. * Update Toyota Rav4 Prime and 4th Gen Sienna to use SecOC DBC file. * Update carstate.py l * dont save button state on secoc Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update opendbc/car/toyota/carstate.py Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Remove unreachable code * Move secoc safety to opendbc * Update R4P SecOC route * Build safety with -Wextra * safety: relay malfunction config (#1959) * Do Toyota relay malfunction config * clean up * not needed * rm this * rm * fix * great name (rename after #1954) * do gm * need this since we will dynamically block it * subie * some more brands * Ford * Chrysler * Hyundai * huge oof hyundai * toyota & vw * fix * tesla * 0x194 isn't on Honda Bosch * Honda: we can check bus 1 for 0xe4 * misra * static * ugh need this * correct * nl * like * space * Hyundai: dashcam FCEV (#1973) * Disable FCEV * coverage * fixme * misra misra * Hyundai CAN FD: Accurate hybrid powertrain detection (#1891) * Hyundai CAN FD: Accurate hybrid powertrain detection * label message names * use 0xFA * Tesla: Autopilot enabled signal (#1978) * new Tesla signals * consistent --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * Tesla: fix incorrect DBC msg length (#1980) actually DBC is wrong * Subaru Pre-Global: fix missing rx checks (#1982) passes tm * Honda Nidec: missing brake command rx check (#1981) * missing honda rx nidec brake command * misra * move up * Honda safety: only test alt brake for alt brake param split from #1903 * safety tests: remove redundant test skips (#1983) remove useless skiptests * GM safety: add missing regen rx check (#1984) * from pr * forgot * fix test * cleaner * misra * Fingerprint: 2022 Civic Si (#1952) * 2022 Civic Si * fix * Hyundai CAN FD safety: more clear what is common (#1986) * more clear what is common * here too * Hyundai CANFD safety tests: common safety param combinations (#1987) clean this up * Hyundai CAN FD safety: replace alt buttons live detection with param (#1985) * alt buttons needs to be checked with the param * flip * do tests * Hyundai safety: add missing rx checks (#1989) * add torque driver addr check and always check buttons (for interaction) * fix * safety: rename allowed less confusing next to `safety_allowed` * safety: only run rx hooks on whitelisted msgs (#1903) * don't run rx hook on non-allowed messages * better name * fix toyota (bug w/ secoc) * looks like honda is broken * rivian is also bad! (missing EPAS_SystemStatus) * misra so far rivian is also bad! * nissan is fine * tesla is also borked * mazda's good * subaru's fine * gm broke * ford's good * chrysler's good * vw is good * hyundai is broky, canfd is good * Fix Rivian * revert these * do relay malfunction check on all addresses * Found a Tesla bug * fix subaru pg * body * rm * Fix Honda * stash * fix Hyundai * fix * Hyundai: buttons are used always (for interaction) * revert tesla * body: we don't rx _torque_cmd_msg * Revert "body: we don't rx _torque_cmd_msg" This reverts commit 2f973f6. * simpler * GM EV param for correct rxchecks * no need * might read better * rm extras * fix hyundai * we weren't testing lfa (non-hda2), alt buttons, long * fix * tested * rm * not needed * clean up * that too * . * Hyundai: Fix FCEV RX check and move out of dashcam (#1974) * Revert "Hyundai: dashcam FCEV (#1973)" This reverts commit 6254215. * Hyundai: Fix FCEV RX check and move out of dashcam * less duplication * line * same * add missing test --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * HKG: spas remove unused frame param (#1966) spas remove unused frame param * Added FW for Mazda CX5 2025 (#1911) Add other CX-5 2025 FP fw * Hyundai CAN FD: Fix steering messages in safety replay (#1975) * Hyundai: split car controller by CAN FD (#1990) * split main can sends part * use_clu11 was confusing * better * bet * clean up * Toyota: add static rx check for alt brake (#1991) rx check for alt brake * whoops bad pull * PR suggestions * Remove unnecessary parens * PR suggestions * Fix some logical errors * Fix tester present test * Update safety for non-op long secoc * Update tests * Update safety * Update tests * whitespace adjustment for clarity * PR suggestions --------- Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: PenitentTangent2401 <klabuschagne@kd9atp.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Lukas <61192133+lukasloetkolben@users.noreply.github.com> Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> Co-authored-by: royjr <royjr96@gmail.com> Co-authored-by: kenhuang14 <97474725+kenhuang14@users.noreply.github.com> Co-authored-by: Warren Togami <wtogami@gmail.com> Co-authored-by: Jason Young <jyoung8607@gmail.com>
gadhadar
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Oct 14, 2025
* Add secoc ACC command * Remove commented out secoc long disable code * Add Toyota 2021 SecOC route * Send 0 accel for ACC_CONTROL to match stock * Update opendbc/car/toyota/carcontroller.py Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> * Add new ACC steering wheel message for SecOC cars. Update distance_button with the new message. * Add new DBC file for Toyota SecOC cars. * Update Toyota Rav4 Prime and 4th Gen Sienna to use SecOC DBC file. * Update carstate.py l * dont save button state on secoc Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update opendbc/car/toyota/carstate.py Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Remove unreachable code * Move secoc safety to opendbc * Update R4P SecOC route * Build safety with -Wextra * safety: relay malfunction config (commaai#1959) * Do Toyota relay malfunction config * clean up * not needed * rm this * rm * fix * great name (rename after commaai#1954) * do gm * need this since we will dynamically block it * subie * some more brands * Ford * Chrysler * Hyundai * huge oof hyundai * toyota & vw * fix * tesla * 0x194 isn't on Honda Bosch * Honda: we can check bus 1 for 0xe4 * misra * static * ugh need this * correct * nl * like * space * Hyundai: dashcam FCEV (commaai#1973) * Disable FCEV * coverage * fixme * misra misra * Hyundai CAN FD: Accurate hybrid powertrain detection (commaai#1891) * Hyundai CAN FD: Accurate hybrid powertrain detection * label message names * use 0xFA * Tesla: Autopilot enabled signal (commaai#1978) * new Tesla signals * consistent --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * Tesla: fix incorrect DBC msg length (commaai#1980) actually DBC is wrong * Subaru Pre-Global: fix missing rx checks (commaai#1982) passes tm * Honda Nidec: missing brake command rx check (commaai#1981) * missing honda rx nidec brake command * misra * move up * Honda safety: only test alt brake for alt brake param split from commaai#1903 * safety tests: remove redundant test skips (commaai#1983) remove useless skiptests * GM safety: add missing regen rx check (commaai#1984) * from pr * forgot * fix test * cleaner * misra * Fingerprint: 2022 Civic Si (commaai#1952) * 2022 Civic Si * fix * Hyundai CAN FD safety: more clear what is common (commaai#1986) * more clear what is common * here too * Hyundai CANFD safety tests: common safety param combinations (commaai#1987) clean this up * Hyundai CAN FD safety: replace alt buttons live detection with param (commaai#1985) * alt buttons needs to be checked with the param * flip * do tests * Hyundai safety: add missing rx checks (commaai#1989) * add torque driver addr check and always check buttons (for interaction) * fix * safety: rename allowed less confusing next to `safety_allowed` * safety: only run rx hooks on whitelisted msgs (commaai#1903) * don't run rx hook on non-allowed messages * better name * fix toyota (bug w/ secoc) * looks like honda is broken * rivian is also bad! (missing EPAS_SystemStatus) * misra so far rivian is also bad! * nissan is fine * tesla is also borked * mazda's good * subaru's fine * gm broke * ford's good * chrysler's good * vw is good * hyundai is broky, canfd is good * Fix Rivian * revert these * do relay malfunction check on all addresses * Found a Tesla bug * fix subaru pg * body * rm * Fix Honda * stash * fix Hyundai * fix * Hyundai: buttons are used always (for interaction) * revert tesla * body: we don't rx _torque_cmd_msg * Revert "body: we don't rx _torque_cmd_msg" This reverts commit 2f973f6. * simpler * GM EV param for correct rxchecks * no need * might read better * rm extras * fix hyundai * we weren't testing lfa (non-hda2), alt buttons, long * fix * tested * rm * not needed * clean up * that too * . * Hyundai: Fix FCEV RX check and move out of dashcam (commaai#1974) * Revert "Hyundai: dashcam FCEV (commaai#1973)" This reverts commit 6254215. * Hyundai: Fix FCEV RX check and move out of dashcam * less duplication * line * same * add missing test --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * HKG: spas remove unused frame param (commaai#1966) spas remove unused frame param * Added FW for Mazda CX5 2025 (commaai#1911) Add other CX-5 2025 FP fw * Hyundai CAN FD: Fix steering messages in safety replay (commaai#1975) * Hyundai: split car controller by CAN FD (commaai#1990) * split main can sends part * use_clu11 was confusing * better * bet * clean up * Toyota: add static rx check for alt brake (commaai#1991) rx check for alt brake * whoops bad pull * PR suggestions * Remove unnecessary parens * PR suggestions * Fix some logical errors * Fix tester present test * Update safety for non-op long secoc * Update tests * Update safety * Update tests * whitespace adjustment for clarity * PR suggestions --------- Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: PenitentTangent2401 <klabuschagne@kd9atp.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Lukas <61192133+lukasloetkolben@users.noreply.github.com> Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> Co-authored-by: royjr <royjr96@gmail.com> Co-authored-by: kenhuang14 <97474725+kenhuang14@users.noreply.github.com> Co-authored-by: Warren Togami <wtogami@gmail.com> Co-authored-by: Jason Young <jyoung8607@gmail.com>
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Some newer MY of ICE CAN FD vehicles have
0x105on E-CAN, therefore we can no longer rely on using this message to set the int flag for hybrid powertrain vehicles.0x130does not exist on all ICE vehicles even in the newer MY, so we can use this as an additional check.0xFAonly exists on HEV/PHEV, checked some EV and ICE routes and did not see0xFA.Affected Platforms
2bfcfe373379cd18/00000004--70bd925c8822a05b58157a0d7f/00000000--57c6170020f1a99071580b5733/00000007--260128fdab