commaai · royjr · Nov 27, 2024 · Nov 27, 2024 · Nov 27, 2024 · Nov 27, 2024
diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
@@ -938,6 +938,21 @@
       b'\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
     ],
   },
+  CAR.HYUNDAI_ELANTRA_2024: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CN7_ RDR -----      1.00 1.01 99110-AA500         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.02 56300AA670\x00 4CSDC102',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.02 99210-AA500 230420',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA500 230918',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00CN ESC \t 104#\x07\x03 58910-AA850',
+    ],
+  },
   CAR.HYUNDAI_ELANTRA_HEV_2021: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
@@ -957,6 +972,20 @@
       b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
     ],
   },
+  CAR.HYUNDAI_ELANTRA_HEV_2024: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CN7_ RDR -----      1.00 1.01 99110-AA500         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.00 56300BY670\x00 4CSHC100',
+      b'\xf1\x00CN7 MDPS C 1.00 1.00 56300BY680\x00 4CSHC100',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CN7HMFC  AT AUS RHD 1.00 1.02 99210-AA500 230420',
+      b'\xf1\x00CN7HMFC  AT CAN LHD 1.00 1.05 99210-AA510 240509',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.03 99210-AA500 230918',
+    ],
+  },
   CAR.HYUNDAI_KONA_HEV: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',

diff --git a/opendbc/car/hyundai/hyundaican.py b/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_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022,
+                           CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

diff --git a/opendbc/car/hyundai/values.py b/opendbc/car/hyundai/values.py
@@ -189,12 +189,25 @@ class CAR(Platforms):
     CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
+  HYUNDAI_ELANTRA_2024 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Elantra 2024-25", car_parts=CarParts.common([CarHarness.hyundai_k]))],
+    CarSpecs(mass=2797 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAMERA_SCC,
+  )
   HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video="https://youtu.be/_EdYQtV52-c",
                     car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
+  HYUNDAI_ELANTRA_HEV_2024 = HyundaiPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Elantra Hybrid 2024-25", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai i30 Hybrid 2024", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    ],
+    CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAMERA_SCC | HyundaiFlags.HYBRID,
+  )
   HYUNDAI_GENESIS = HyundaiPlatformConfig(
     [
       # TODO: check 2015 packages

diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
@@ -205,7 +205,10 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("c5ac319aa9583f83/2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA),
   CarTestRoute("734ef96182ddf940/2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30),
   CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
+  CarTestRoute("c2fd040a5e34f3ad/00000013--9211a52a3d", HYUNDAI.HYUNDAI_ELANTRA_2024),
   CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
+  CarTestRoute("07a48901db7b2503/000001a1--ad07872c4f", HYUNDAI.HYUNDAI_ELANTRA_HEV_2024),
+  CarTestRoute("07a48901db7b2503/000001a1--ad07872c4f", HYUNDAI.HYUNDAI_ELANTRA_HEV_2024),  # Hyundai i30 Hybrid 2024
   CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
   CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
   CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),

diff --git a/opendbc/car/torque_data/substitute.toml b/opendbc/car/torque_data/substitute.toml
@@ -36,8 +36,10 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_IONIQ_HEV_2022" = "HYUNDAI_IONIQ_PHEV_2019"
 "HYUNDAI_IONIQ_EV_2020" = "HYUNDAI_IONIQ_PHEV_2019"
 "HYUNDAI_ELANTRA" = "HYUNDAI_SONATA_LF"
+"HYUNDAI_ELANTRA_2024" = "HYUNDAI_ELANTRA_2021"
 "HYUNDAI_ELANTRA_GT_I30" = "HYUNDAI_SONATA_LF"
 "HYUNDAI_ELANTRA_HEV_2021" = "HYUNDAI_SONATA"
+"HYUNDAI_ELANTRA_HEV_2024" = "HYUNDAI_SONATA"
 "HYUNDAI_TUCSON" = "HYUNDAI_SANTA_FE"
 "HYUNDAI_SANTA_FE_2022" = "HYUNDAI_SANTA_FE_HEV_2022"
 "KIA_K5_HEV_2020" = "KIA_K5_2021"

diff --git a/opendbc/dbc/hyundai_kia_generic.dbc b/opendbc/dbc/hyundai_kia_generic.dbc
@@ -1481,7 +1481,7 @@ BO_ 905 SCC14: 8 SCC
  SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
  SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
 
-BO_ 1157 LFAHDA_MFC: 4 XXX
+BO_ 1157 LFAHDA_MFC: 8 XXX
  SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
  SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
  SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX

diff --git a/opendbc/safety/modes/hyundai.h b/opendbc/safety/modes/hyundai.h
@@ -28,7 +28,7 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
 #define HYUNDAI_COMMON_TX_MSGS(scc_bus) \
   {0x340, 0,       8, .check_relay = true},   /* LKAS11 Bus 0                              */ \
   {0x4F1, scc_bus, 4, .check_relay = false},  /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
-  {0x485, 0,       4, .check_relay = true},   /* LFAHDA_MFC Bus 0                          */ \
+  {0x485, 0,       8, .check_relay = true},   /* LFAHDA_MFC Bus 0                          */ \
 
 #define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \
   HYUNDAI_COMMON_TX_MSGS(scc_bus) \