HKG: ccNC port

opendbc/car/hyundai/carcontroller.py

@@ -116,7 +116,10 @@ def update(self, CC, CS, now_nanos):
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
+        if self.CP.flags & HyundaiFlags.CCNC and not hda2:
+          can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.frame, self.CP, CC, CS))
+        else:
+          can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:

opendbc/car/hyundai/carstate.py

@@ -53,6 +53,9 @@ def __init__(self, CP):
 
     self.cruise_info = {}
 
+    self.msg_161 = {}
+    self.msg_162 = {}
+
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
     self.cluster_speed = 0
     self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
@@ -224,15 +227,16 @@ def update_canfd(self, can_parsers) -> structs.CarState:
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
 
-    # 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 == CAR.HYUNDAI_KONA_EV_2ND_GEN:
-      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.flags & HyundaiFlags.CCNC and not self.CP.flags & HyundaiFlags.CANFD_HDA2:
+      self.msg_161 = copy.copy(cp_cam.vl["MSG_161"])
+      self.msg_162 = copy.copy(cp_cam.vl["MSG_162"])
+
+    alt = "_ALT" if self.CP.flags & HyundaiFlags.CCNC and not self.CP.flags & HyundaiFlags.CANFD_HDA2 else ""
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][f"LEFT_LAMP{alt}"],
+                                                                      cp.vl["BLINKERS"][f"RIGHT_LAMP{alt}"])
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
-      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
+      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"][f"FL_INDICATOR{alt}"] != 0
+      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"][f"FR_INDICATOR{alt}"] != 0
 
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
@@ -316,6 +320,11 @@ def get_can_parsers_canfd(self, CP):
       cam_messages += [
         ("SCC_CONTROL", 50),
       ]
+    if self.CP.flags & HyundaiFlags.CCNC and not self.CP.flags & HyundaiFlags.CANFD_HDA2:
+      cam_messages += [
+        ("MSG_161", 20),
+        ("MSG_162", 20),
+      ]
 
     return {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).ECAN),

opendbc/car/hyundai/fingerprints.py

@@ -200,6 +200,15 @@
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
   },
+  CAR.HYUNDAI_SONATA_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
   CAR.HYUNDAI_SONATA_LF: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
@@ -539,6 +548,16 @@
       b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
     ],
   },
+  CAR.HYUNDAI_KONA_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
   CAR.KIA_CEED: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CD__ SCC F-CUP      1.00 1.02 99110-J7000         ',
@@ -602,6 +621,14 @@
       b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
     ],
   },
+  CAR.KIA_K5_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L2500 240117',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DL3_ RDR -----      1.00 1.01 99110-L2500         ',
+    ],
+  },
   CAR.KIA_K5_HEV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
@@ -680,11 +707,12 @@
     ],
   },
   CAR.HYUNDAI_KONA_EV_2ND_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
-    ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
     ],
   },
   CAR.KIA_NIRO_EV: {
@@ -948,6 +976,15 @@
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
   },
+  CAR.HYUNDAI_SONATA_HEV_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
   CAR.KIA_SORENTO: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00UMP LKAS AT KOR LHD 1.00 1.00 95740-C5550 S30',
@@ -1119,6 +1156,14 @@
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
     ],
   },
+  CAR.KIA_SORENTO_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+    ],
+  },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',

opendbc/car/hyundai/hyundaicanfd.py

@@ -1,4 +1,5 @@
 from opendbc.car import CanBusBase
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.numpy_fast import clip
 from opendbc.car.hyundai.values import HyundaiFlags
 
@@ -38,17 +39,26 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   ret = []
 
-  values = {
-    "LKA_MODE": 2,
-    "LKA_ICON": 2 if enabled else 1,
-    "TORQUE_REQUEST": apply_steer,
-    "LKA_ASSIST": 0,
-    "STEER_REQ": 1 if lat_active else 0,
-    "STEER_MODE": 0,
-    "HAS_LANE_SAFETY": 0,  # hide LKAS settings
-    "NEW_SIGNAL_1": 0,
-    "NEW_SIGNAL_2": 0,
-  }
+  if CP.flags & HyundaiFlags.CCNC:
+    values = {
+      "NEW_SIGNAL_1": 3 if lat_active else 1,
+      "TORQUE_REQUEST": apply_steer if lat_active else 0,
+      "STEER_REQ": 1 if lat_active else 0,
+      "NEW_SIGNAL_4": 9,
+      "NEW_SIGNAL_3": 10 if lat_active else 100, # TODO: value between 10-32+ sometimes
+    }
+  else:
+    values = {
+      "LKA_MODE": 2,
+      "LKA_ICON": 2 if enabled else 1,
+      "TORQUE_REQUEST": apply_steer,
+      "LKA_ASSIST": 0,
+      "STEER_REQ": 1 if lat_active else 0,
+      "STEER_MODE": 0,
+      "HAS_LANE_SAFETY": 0,  # hide LKAS settings
+      "NEW_SIGNAL_1": 0,
+      "NEW_SIGNAL_2": 0,
+    }
 
   if CP.flags & HyundaiFlags.CANFD_HDA2:
     hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
@@ -119,6 +129,78 @@ def create_lfahda_cluster(packer, CAN, enabled):
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
+def create_ccnc(packer, CAN, frame, CP, CC, CS):
+  ret = []
+
+  msg_161 = CS.msg_161.copy()
+  msg_162 = CS.msg_162.copy()
+  enabled = CC.enabled
+  hud = CC.hudControl
+
+  # HIDE FAULTS
+  for f in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS"):
+    msg_162[f] = 0
+
+  # HIDE ALERTS
+  if msg_161.get("ALERTS_3") == 17:  # DRIVE_CAREFULLY
+    msg_161["ALERTS_3"] = 0
+
+  if msg_161.get("ALERTS_5") == 2:  # WATCH_FOR_SURROUNDING_VEHICLES
+    msg_161["ALERTS_5"] = 0
+
+  if msg_161.get("ALERTS_5") == 4:  # SMART_CRUISE_CONTROL_CONDITIONS_NOT_MET
+    msg_161["ALERTS_5"] = 0
+
+  if msg_161.get("ALERTS_5") == 5:  # USE_SWITCH_OR_PEDAL_TO_ACCELERATE
+    msg_161["ALERTS_5"] = 0
+
+  if msg_161.get("ALERTS_2") == 5:  # CONSIDER_TAKING_A_BREAK
+    msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0, "DAW_ICON": 0})
+
+  if msg_161.get("SOUNDS_4") == 2 and msg_161.get("LFA_ICON") in (3, 0,):  # LFA BEEPS
+    msg_161["SOUNDS_4"] = 0
+
+  # ICONS, LANELINES
+  msg_161.update({
+    "CENTERLINE": 1 if enabled else 0,
+    "LANELINE_LEFT": 2 if enabled else 0,
+    "LANELINE_RIGHT": 2 if enabled else 0,
+    "LFA_ICON": 2 if enabled else 0,
+    "LKA_ICON": 0,
+  })
+
+  # LFAHDA_CLUSTER
+  lfahda_cluster = {
+    "NEW_SIGNAL_5": 1,
+    "LFA_ICON": 2 if enabled else 0,
+  }
+
+  # OP LONG
+  if CP.openpilotLongitudinalControl:
+
+    # SETSPEED, DISTANCE
+    msg_161.update({
+      "SETSPEED": 3 if enabled else 1,
+      "SETSPEED_HUD": 2 if enabled else 1,
+      "SETSPEED_SPEED": 25 if (s := round(CS.out.vCruiseCluster * (1 if CS.is_metric else CV.KPH_TO_MPH))) > 100 else s,
+      "DISTANCE": hud.leadDistanceBars,
+      "DISTANCE_SPACING": 1 if enabled else 0,
+      "DISTANCE_LEAD": 2 if enabled and hud.leadVisible else 1 if enabled else 0,
+      "DISTANCE_CAR": 2 if enabled else 1,
+      "ALERTS_3": hud.leadDistanceBars + 6,
+    })
+
+    # LEAD
+    msg_162.update({
+      "LEAD": 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
+      "LEAD_DISTANCE": 150,
+    })
+
+  ret.append(packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, lfahda_cluster))
+  ret.append(packer.make_can_msg("MSG_161", CAN.ECAN, msg_161))
+  ret.append(packer.make_can_msg("MSG_162", CAN.ECAN, msg_162))
+
+  return ret
 
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5

opendbc/car/hyundai/values.py

@@ -98,6 +98,8 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  CCNC = 2 ** 24
+
 
 class Footnote(Enum):
   CANFD = CarFootnote(
@@ -222,6 +224,11 @@ class CAR(Platforms):
     CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.ALT_LIMITS,
   )
+  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona 2024", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_KONA_EV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
@@ -236,7 +243,7 @@ class CAR(Platforms):
     [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
                     car_parts=CarParts.common([CarHarness.hyundai_r]))],
     CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
   )
   HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
@@ -271,6 +278,11 @@ class CAR(Platforms):
     CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
+  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
@@ -307,6 +319,11 @@ class CAR(Platforms):
     HYUNDAI_SONATA.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
+  HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
@@ -354,6 +371,11 @@ class CAR(Platforms):
     CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
+  KIA_K5_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia K5 2025", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_m]))],
+    CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_K5_HEV_2020 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_K5_2021.specs,
@@ -457,6 +479,11 @@ class CAR(Platforms):
     CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
+  KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia Sorento 2024", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),

opendbc/car/tests/routes.py

@@ -131,13 +131,15 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
+  CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024),
   CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
   CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
   CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
   CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
   CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
   CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
+  CarTestRoute("60380edf6d76cb45/00000004--e450afc26c", HYUNDAI.KIA_SORENTO_2024),
   CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
   CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN),  # plug-in hybrid
   CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
@@ -152,6 +154,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ),  # openpilot longitudinal enabled
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
+  CarTestRoute("8f4a9150d36961c8/00000001--960c4735d5", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
   CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
@@ -164,6 +167,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("todo", HYUNDAI.KIA_K5_2025),
   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),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
@@ -181,6 +185,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
   CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
+  CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
   CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
   CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),