From 24144674daa982d9e7b1d365277bcbd722b1583f Mon Sep 17 00:00:00 2001 From: atawi44 <79228346+atawi44@users.noreply.github.com> Date: Mon, 14 Sep 2026 07:01:11 +0300 Subject: [PATCH 1/3] Add Hyundai Grandeur Diesel 2019 support Co-authored-by: Copilot App <223556219+Copilot@users.noreply.github.com> --- opendbc_repo/opendbc/car/hyundai/fingerprints.py | 11 +++++++++++ opendbc_repo/opendbc/car/hyundai/values.py | 5 +++++ opendbc_repo/opendbc/car/torque_data/override.toml | 1 + 3 files changed, 17 insertions(+) diff --git a/opendbc_repo/opendbc/car/hyundai/fingerprints.py b/opendbc_repo/opendbc/car/hyundai/fingerprints.py index 9f4979f3adb306..272922f725e905 100644 --- a/opendbc_repo/opendbc/car/hyundai/fingerprints.py +++ b/opendbc_repo/opendbc/car/hyundai/fingerprints.py @@ -9,6 +9,17 @@ FW_VERSIONS = { + CAR.HYUNDAI_GRANDEUR_DIESEL_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC FHCUP 1.00 1.01 96400-G8500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.01 56310G8350\x00 4IG8C101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT KOR LHD 1.00 1.00 95740-M9200 170919', + ], + }, CAR.HYUNDAI_AZERA_6TH_GEN: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py index c29286b7fb7497..e1330d64b66656 100644 --- a/opendbc_repo/opendbc/car/hyundai/values.py +++ b/opendbc_repo/opendbc/car/hyundai/values.py @@ -159,6 +159,11 @@ def init(self): class CAR(Platforms): # Hyundai + HYUNDAI_GRANDEUR_DIESEL_2019 = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Azera Diesel 19", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=1650, wheelbase=2.885, steerRatio=14.5), + flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MANDO_RADAR, + ) HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig( [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), diff --git a/opendbc_repo/opendbc/car/torque_data/override.toml b/opendbc_repo/opendbc/car/torque_data/override.toml index c44d1d9f6c7ba3..004b828732b9c4 100644 --- a/opendbc_repo/opendbc/car/torque_data/override.toml +++ b/opendbc_repo/opendbc/car/torque_data/override.toml @@ -69,6 +69,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "KIA_CARNIVAL_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_GRANDEUR_DIESEL_2019" = [1.8, 1.8, 0.1] "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1] "HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005] "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1] From de96f95ad7eb6ee425205355299d71f649b0b7fc Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Wed, 30 Sep 2026 19:32:07 -0400 Subject: [PATCH 2/3] Hyundai: match the Azera Diesel port to its IG siblings --- .../opendbc/car/hyundai/fingerprints.py | 18 +++++++++--------- opendbc_repo/opendbc/car/hyundai/hyundaican.py | 3 ++- opendbc_repo/opendbc/car/hyundai/values.py | 10 +++++----- .../opendbc/car/torque_data/override.toml | 2 +- 4 files changed, 17 insertions(+), 16 deletions(-) diff --git a/opendbc_repo/opendbc/car/hyundai/fingerprints.py b/opendbc_repo/opendbc/car/hyundai/fingerprints.py index 272922f725e905..03db408e1a6990 100644 --- a/opendbc_repo/opendbc/car/hyundai/fingerprints.py +++ b/opendbc_repo/opendbc/car/hyundai/fingerprints.py @@ -9,27 +9,27 @@ FW_VERSIONS = { - CAR.HYUNDAI_GRANDEUR_DIESEL_2019: { + CAR.HYUNDAI_AZERA_6TH_GEN: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IG__ SCC FHCUP 1.00 1.01 96400-G8500 ', + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.01 56310G8350\x00 4IG8C101', + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', ], (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IG MFC AT KOR LHD 1.00 1.00 95740-M9200 170919', + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + b'\xf1\x00IG MFC AT MES LHD 1.00 1.05 99211-G8100 210409', ], }, - CAR.HYUNDAI_AZERA_6TH_GEN: { + CAR.HYUNDAI_AZERA_DIESEL_6TH_GEN: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + b'\xf1\x00IG__ SCC FHCUP 1.00 1.01 96400-G8500 ', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + b'\xf1\x00IG MDPS C 1.00 1.01 56310G8350\x00 4IG8C101', ], (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', - b'\xf1\x00IG MFC AT MES LHD 1.00 1.05 99211-G8100 210409', + b'\xf1\x00IG MFC AT KOR LHD 1.00 1.00 95740-M9200 170919', ], }, CAR.HYUNDAI_AZERA_HEV_6TH_GEN: { diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaican.py b/opendbc_repo/opendbc/car/hyundai/hyundaican.py index 8f3a049cd2d2aa..8a59055f95137c 100644 --- a/opendbc_repo/opendbc/car/hyundai/hyundaican.py +++ b/opendbc_repo/opendbc/car/hyundai/hyundaican.py @@ -39,7 +39,8 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req, CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, - CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022): + CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_DIESEL_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, + CAR.HYUNDAI_KONA_2022): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py index e1330d64b66656..ce9cc90a28e10a 100644 --- a/opendbc_repo/opendbc/car/hyundai/values.py +++ b/opendbc_repo/opendbc/car/hyundai/values.py @@ -159,15 +159,15 @@ def init(self): class CAR(Platforms): # Hyundai - HYUNDAI_GRANDEUR_DIESEL_2019 = HyundaiPlatformConfig( - [HyundaiCarDocs("Hyundai Azera Diesel 19", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))], - CarSpecs(mass=1650, wheelbase=2.885, steerRatio=14.5), - flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MANDO_RADAR, - ) HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig( [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), ) + HYUNDAI_AZERA_DIESEL_6TH_GEN = HyundaiPlatformConfig( + [HyundaiCarDocs("Hyundai Azera Diesel 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))], + CarSpecs(mass=1650, wheelbase=2.885, steerRatio=14.5), + flags=HyundaiFlags.CLUSTER_GEARS, + ) HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( [ HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), diff --git a/opendbc_repo/opendbc/car/torque_data/override.toml b/opendbc_repo/opendbc/car/torque_data/override.toml index 004b828732b9c4..ecb98eb2056383 100644 --- a/opendbc_repo/opendbc/car/torque_data/override.toml +++ b/opendbc_repo/opendbc/car/torque_data/override.toml @@ -69,10 +69,10 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "KIA_CARNIVAL_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_GRANDEUR_DIESEL_2019" = [1.8, 1.8, 0.1] "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1] "HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005] "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1] +"HYUNDAI_AZERA_DIESEL_6TH_GEN" = [1.8, 1.8, 0.1] "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1] "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1] "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1] From ccae81bc803cd947dcf8723b7ef06c09b5b20ad6 Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Wed, 14 Oct 2026 06:05:01 -0400 Subject: [PATCH 3/3] Hyundai: match the Azera Diesel port to its IG siblings - fixes --- opendbc_repo/opendbc/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py index ce9cc90a28e10a..8cc2e525e9cd0e 100644 --- a/opendbc_repo/opendbc/car/hyundai/values.py +++ b/opendbc_repo/opendbc/car/hyundai/values.py @@ -166,7 +166,7 @@ class CAR(Platforms): HYUNDAI_AZERA_DIESEL_6TH_GEN = HyundaiPlatformConfig( [HyundaiCarDocs("Hyundai Azera Diesel 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))], CarSpecs(mass=1650, wheelbase=2.885, steerRatio=14.5), - flags=HyundaiFlags.CLUSTER_GEARS, + flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MANDO_RADAR, ) HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( [