commaai · adeebshihadeh · Feb 23, 2025 · Aug 20, 2024 · Sep 23, 2024 · Sep 25, 2024
diff --git a/opendbc/car/hyundai/carstate.py b/opendbc/car/hyundai/carstate.py
@@ -41,6 +41,8 @@ def __init__(self, CP):
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
     elif self.CP.flags & HyundaiFlags.TCU_GEARS:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
+    elif CP.flags & HyundaiFlags.FCEV:
+      self.shifter_values = can_define.dv["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
     else:
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
@@ -133,8 +135,10 @@ def update(self, can_parsers) -> structs.CarState:
     ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
-    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      if self.CP.flags & HyundaiFlags.HYBRID:
+    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
+      if self.CP.flags & HyundaiFlags.FCEV:
+        ret.gas = cp.vl["FCEV_ACCELERATOR"]["ACCELERATOR_PEDAL"] / 254.
+      elif self.CP.flags & HyundaiFlags.HYBRID:
         ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
       else:
         ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
@@ -147,6 +151,8 @@ def update(self, can_parsers) -> structs.CarState:
     # as this seems to be standard over all cars, but is not the preferred method.
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
+    elif self.CP.flags & HyundaiFlags.FCEV:
+      gear = cp.vl["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
     elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
     elif self.CP.flags & HyundaiFlags.TCU_GEARS:
@@ -363,6 +369,8 @@ def get_can_parsers(self, CP):
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       pt_messages.append(("E_EMS11", 50))
+    elif CP.flags & HyundaiFlags.FCEV:
+      pt_messages.append(("FCEV_ACCELERATOR", 100))
     else:
       pt_messages += [
         ("EMS12", 100),
@@ -371,6 +379,8 @@ def get_can_parsers(self, CP):
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       pt_messages.append(("ELECT_GEAR", 20))
+    elif CP.flags & HyundaiFlags.FCEV:
+      pt_messages.append(("EMS20", 100))
     elif CP.flags & HyundaiFlags.CLUSTER_GEARS:
       pass
     elif CP.flags & HyundaiFlags.TCU_GEARS:

diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
@@ -1199,4 +1199,18 @@
       b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
     ],
   },
+  CAR.HYUNDAI_NEXO_1ST_GEN: {
+    (Ecu.abs, 0x7D1, None): [
+      b'\xf1\x00FE IEB \x01 312 \x11\x13 58520-M5000',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00FE  MFC  AT KOR LHD 1.00 1.00 99211-M5100 201218',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00FE  MDPS C 1.00 1.05 56340-M5000 9903',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00FE__ SCC FHCUP      1.00 1.05 99110-M5000         ',
+    ],
+  },
 }
diff --git a/opendbc/car/hyundai/interface.py b/opendbc/car/hyundai/interface.py
@@ -117,6 +117,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.HYBRID_GAS.value
     elif ret.flags & HyundaiFlags.EV:
       ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.EV_GAS.value
+    elif ret.flags & HyundaiFlags.FCEV:
+      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value
 
     # Car specific configuration overrides
 

diff --git a/opendbc/car/hyundai/values.py b/opendbc/car/hyundai/values.py
@@ -59,6 +59,7 @@ class HyundaiSafetyFlags(IntFlag):
   CANFD_ALT_BUTTONS = 32
   ALT_LIMITS = 64
   CANFD_LKA_STEERING_ALT = 128
+  FCEV_GAS = 256
 
 
 class HyundaiFlags(IntFlag):
@@ -115,6 +116,8 @@ class HyundaiFlags(IntFlag):
 
   HAS_LDA_BUTTON = 2 ** 24
 
+  FCEV = 2 ** 25
+
 
 class Footnote(Enum):
   CANFD = CarFootnote(
@@ -260,6 +263,11 @@ class CAR(Platforms):
     CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.ALT_LIMITS,
   )
+  HYUNDAI_NEXO_1ST_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Nexo 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
+    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.79, steerRatio=14.19),  # https://www.hyundainews.com/assets/documents/original/42768-2021NEXOProductGuideSpecs.pdf
+    flags=HyundaiFlags.FCEV,
+  )
   HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
                     car_parts=CarParts.common([CarHarness.hyundai_d]))],

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
@@ -160,6 +160,8 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
   CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
   CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
+  CarTestRoute("a74afe0cf708748f/0000000e--a2885a9a71", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),
+  CarTestRoute("a74afe0cf708748f/0000000c--b476a8fd00", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),  # openpilot longitudinal enabled
   CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
   CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
   CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),

diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
@@ -74,6 +74,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
 "RIVIAN_R1_GEN1" = [3.3, 2.5, 0.07]
+"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

diff --git a/opendbc/safety/safety/safety_hyundai.h b/opendbc/safety/safety/safety_hyundai.h
@@ -32,14 +32,15 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
   {0x485, 0, 4}, // LFAHDA_MFC Bus 0
 };
 
-#define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                              \
+#define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                      \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U},                                       \
-           {0x371, 0, 8, .frequency = 100U}, { 0 }}},                                                                         \
+           {0x371, 0, 8, .frequency = 100U},                                                                                  \
+           {0x91,  0, 8, .frequency = 100U}}},                                                                                \
   {.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
   {.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}},  \
 
-#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus)                                                                                  \
-  {.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
+#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus)                                                                                     \
+  {.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},               \
 
 static bool hyundai_legacy = false;
 
@@ -145,6 +146,8 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
       gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
     } else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
       gas_pressed = GET_BYTE(to_push, 7) != 0U;
+    } else if ((addr == 0x91) && hyundai_fcev_gas_signal) {
+      gas_pressed = GET_BYTE(to_push, 6) != 0U;
     } else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
       gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
     } else {

diff --git a/opendbc/safety/safety/safety_hyundai_common.h b/opendbc/safety/safety/safety_hyundai_common.h
@@ -36,6 +36,9 @@ bool hyundai_canfd_lka_steering = false;
 extern bool hyundai_alt_limits;
 bool hyundai_alt_limits = false;
 
+extern bool hyundai_fcev_gas_signal;
+bool hyundai_fcev_gas_signal = false;
+
 static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 
 void hyundai_common_init(uint16_t param) {
@@ -44,12 +47,14 @@ void hyundai_common_init(uint16_t param) {
   const int HYUNDAI_PARAM_CAMERA_SCC = 8;
   const int HYUNDAI_PARAM_CANFD_LKA_STEERING = 16;
   const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
+  const int HYUNDAI_PARAM_FCEV_GAS = 256;
 
   hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
   hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
   hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
   hyundai_canfd_lka_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING);
   hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
+  hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
 
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
 

diff --git a/opendbc/safety/tests/test_hyundai.py b/opendbc/safety/tests/test_hyundai.py
@@ -138,6 +138,18 @@ def setUp(self):
     self.safety.init_tests()
 
 
+class TestHyundaiSafetyFCEV(TestHyundaiSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS)
+    self.safety.init_tests()
+
+  def _user_gas_msg(self, gas):
+    values = {"ACCELERATOR_PEDAL": gas}
+    return self.packer.make_can_msg_panda("FCEV_ACCELERATOR", 0, values)
+
+
 class TestHyundaiLegacySafety(TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")