Add support for Hyundai Ioniq 5 PE model

The Hyundai Ioniq 5 PE model has been added to the fingerprint definitions in `fingerprints.py` and the car values in `values.py`. Additionally, adjustments have been made in `carcontroller.py`, `carstate.py`, and `interface.py` to properly support this new model's CAN FD signals and HDA II feature. A torque data override for the Ioniq 5 PE has also been set in `override.toml`.
sunnypilot · Jan 29, 2025 · 90f14a5 · 90f14a5
1 parent 4cac064
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diff --git a/docs/CARS.md b/docs/CARS.md
@@ -107,6 +107,7 @@
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
+|Hyundai|Ioniq 5 PE (with HDA II) 2025+|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2020|All|[Upstream](#upstream)|
@@ -145,7 +146,6 @@
 |Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
-|Kia|EV9 2024|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|

diff --git a/opendbc/car/hyundai/carcontroller.py b/opendbc/car/hyundai/carcontroller.py
@@ -177,7 +177,7 @@ def update(self, CC, CC_SP, CS, now_nanos):
                                                           self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
 
       # LFA and HDA icons
-      update_lfahda_icons = (not hda2 or hda2_long) or self.CP.carFingerprint == CAR.KIA_EV9
+      update_lfahda_icons = (not hda2 or hda2_long) or self.CP.flags & HyundaiFlags.ANGLE_CONTROL
       if self.frame % 5 == 0 and update_lfahda_icons:
         can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
 

diff --git a/opendbc/car/hyundai/carstate.py b/opendbc/car/hyundai/carstate.py
@@ -237,12 +237,12 @@ def update_canfd(self, can_parsers) -> structs.CarState:
 
     # 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 in (CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.KIA_EV9):
+    if self.CP.carFingerprint in (CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.HYUNDAI_IONIQ_5_PE):
       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])
     if self.CP.enableBsm:
-      if self.CP.carFingerprint == CAR.KIA_EV9:
+      if self.CP.flags & HyundaiFlags.ANGLE_CONTROL:
         ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_LEFT_FOUR"] != 0
         ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_RIGHT_FOUR"] != 0
       else:

diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
@@ -1018,6 +1018,16 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
     ],
   },
+  CAR.HYUNDAI_IONIQ_5_PE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE__ RDR -----      1.00 1.00 99110-PI000         ',
+      b'\xf1\x00NE__ RDR -----      1.00 1.01 99110-GI500         '
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.01 99211-PI000 240905',
+      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.03 99211-GI500 240809',
+    ],
+  },
   CAR.HYUNDAI_IONIQ_6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
@@ -1192,16 +1202,5 @@
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
     ],
-  },
-  CAR.KIA_EV9: {
-     (Ecu.fwdRadar, 0x7d0, None): [
-       b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO700         ',
-       b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO000         '
-     ],
-     (Ecu.fwdCamera, 0x7c4, None): [
-       b'\xf1\x00MV  MFC  AT KOR LHD 1.00 1.01 99211-DO000 230419',
-       b'\xf1\x00MV  MFC  AT USA LHD 1.00 1.02 99211-DO000 230616',
-       b'\xf1\x00MV  MFC  AT EUR LHD 1.00 1.02 99211-DO000 230616'
-     ],
-   },
+  }
 }
diff --git a/opendbc/car/hyundai/interface.py b/opendbc/car/hyundai/interface.py
@@ -63,8 +63,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+      if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:

diff --git a/opendbc/car/hyundai/values.py b/opendbc/car/hyundai/values.py
@@ -320,6 +320,11 @@ class CAR(Platforms):
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
+  HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 PE (with HDA II) 2025+", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
+    HYUNDAI_IONIQ_5.specs,
+    flags=HyundaiFlags.EV | HyundaiFlags.ANGLE_CONTROL,
+  )
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
     HYUNDAI_IONIQ_5.specs,
@@ -500,13 +505,6 @@ class CAR(Platforms):
     CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
     flags=HyundaiFlags.RADAR_SCC,
   )
-  KIA_EV9 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia EV9 2024", car_parts=CarParts.common([CarHarness.hyundai_r]))
-    ],
-    CarSpecs(mass=2625, wheelbase=3.1, steerRatio=16.02),
-    flags=HyundaiFlags.EV | HyundaiFlags.ANGLE_CONTROL,
-  )
 
   # Genesis
   GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
@@ -163,7 +163,6 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
   CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
-  CarTestRoute("ccfd4a1af758ee73/0000000b--a1d990a994", HYUNDAI.KIA_EV9),
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
   CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),

diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
@@ -82,4 +82,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_HRV_3G" = [2.5, 1.2, 0.2]
 
 # Hyundai/Kia/Genesis angle control
-"KIA_EV9" = [nan, 3.0, nan]
+"HYUNDAI_IONIQ_5_PE" = [nan, 3.0, nan]