Kia Seltos 2021 (#20321)
* Update hyundaican.py * Update carcontroller.py * Update interface.py * Update values.py * Update interface.py * Update interface.py * Update values.py * Update values.py * Update values.py * Update values.py * Update interface.py * Update values.py * Update values.py * Merge 4 conflict resolution * Update README.md * Update test_car_models.py * Update values.pyalbatross
speedking456
GitHub
parent
c4031750f3
commit
e59f7e0540
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@ -161,6 +161,7 @@ Community Maintained Cars and Features
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| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
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| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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@ -75,14 +75,14 @@ class CarController():
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
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elif CS.out.cruiseState.standstill:
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# send resume at a max freq of 10Hz
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if (frame - self.last_resume_frame)*DT_CTRL > 0.1:
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if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
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# send 25 messages at a time to increases the likelihood of resume being accepted
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can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
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self.last_resume_frame = frame
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020,
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CAR.KIA_CEED]:
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV,
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CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS]:
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can_sends.append(create_lfahda_mfc(self.packer, enabled))
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return can_sends
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@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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values["CF_Lkas_ActToi"] = steer_req
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values["CF_Lkas_MsgCount"] = frame % 0x10
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020]:
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.KIA_SELTOS]:
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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@ -143,6 +143,14 @@ class CarInterface(CarInterfaceBase):
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.KIA_SELTOS:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1310. + STD_CARGO_KG
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ret.wheelbase = 2.6
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ret.steerRatio = 13.73 # Spec
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3558. * CV.LB_TO_KG
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@ -158,7 +166,6 @@ class CarInterface(CarInterfaceBase):
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ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.KIA_FORTE:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3558. * CV.LB_TO_KG
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@ -207,8 +214,9 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF,
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CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED]:
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if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
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CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.KIA_SELTOS,
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CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED]:
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ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
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ret.centerToFront = ret.wheelbase * 0.4
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@ -39,6 +39,7 @@ class CAR:
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KIA_NIRO_EV = "KIA NIRO EV 2020"
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KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
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KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
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KIA_SELTOS = "KIA SELTOS 2021"
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KIA_SORENTO = "KIA SORENTO GT LINE 2018"
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KIA_STINGER = "KIA STINGER GT2 2018"
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KIA_CEED = "KIA CEED INTRO ED 2019"
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@ -153,6 +154,9 @@ FINGERPRINTS = {
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{
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68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
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}],
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CAR.KIA_SELTOS: [{
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67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 524: 8, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 905: 8, 909: 8, 910: 5, 911: 5, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1102: 8, 1107: 5, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1470: 8, 1485: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
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}],
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CAR.PALISADE: [{
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67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
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}],
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@ -162,7 +166,7 @@ FINGERPRINTS = {
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}
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# Don't use these fingerprints for fingerprinting, they are still used for ECU detection
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IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA, CAR.KIA_CEED]
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IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA, CAR.KIA_CEED, CAR.KIA_SELTOS]
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FW_VERSIONS = {
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CAR.IONIQ_EV_2020: {
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@ -390,6 +394,14 @@ FW_VERSIONS = {
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b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211',
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],
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},
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CAR.KIA_SELTOS: {
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(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 \xf1\xa01.05',],
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(Ecu.esp, 0x7d1, None): [b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450\xf1\xa01.01',],
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(Ecu.engine, 0x7e0, None): [b'\xf1\x81616D2051\000\000\000\000\000\000\000\000',],
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(Ecu.eps, 0x7d4, None): [b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ',],
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(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114',],
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(Ecu.transmission, 0x7e1, None): [b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000',],
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},
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CAR.KIA_OPTIMA: {
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(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 '],
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(Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
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@ -401,7 +413,7 @@ FW_VERSIONS = {
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}
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CHECKSUM = {
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"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE],
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"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS],
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"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
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}
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@ -412,11 +424,11 @@ FEATURES = {
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
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# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE]),
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"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
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"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70,
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CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA, CAR.IONIQ_EV_2020,
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CAR.SANTA_FE, CAR.KIA_NIRO_EV]),
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CAR.SANTA_FE, CAR.KIA_NIRO_EV, CAR.KIA_SELTOS]),
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}
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EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
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@ -435,6 +447,7 @@ DBC = {
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CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
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CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
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CAR.KONA: dbc_dict('hyundai_kia_generic', None),
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@ -205,6 +205,10 @@ routes = {
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'carFingerprint': HYUNDAI.KIA_OPTIMA,
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'enableCamera': True,
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},
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"c75a59efa0ecd502|2021-03-11--20-52-55": {
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'carFingerprint': HYUNDAI.KIA_SELTOS,
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'enableCamera': True,
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},
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"5b7c365c50084530|2020-04-15--16-13-24": {
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'carFingerprint': HYUNDAI.SONATA,
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'enableCamera': True,
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