HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-24 (non-HDA2)

RELEASES.md

@@ -2,6 +2,8 @@ Version 0.9.2 (2023-03-XX)
 ========================
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Hyundai Palisade (without HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Telluride (without HDA II) 2023 support thanks to sunnyhaibin!
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 
 Version 0.9.1 (2023-02-28)

docs/CARS.md

@@ -80,6 +80,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade (without HDA II) 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade (without HDA II) 2023">Hyundai A</a>||
 |Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
 |Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -124,6 +125,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
+|Kia|Telluride (without HDA II) 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride (without HDA II) 2023">Hyundai L</a>||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
 |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||

release/files_common

@@ -554,6 +554,7 @@ opendbc/honda_civic_ex_2022_can_generated.dbc
 
 opendbc/hyundai_canfd.dbc
 opendbc/hyundai_kia_generic.dbc
+opendbc/hyundai_palisade_2023.dbc
 opendbc/hyundai_kia_mando_front_radar_generated.dbc
 
 opendbc/mazda_2017.dbc

selfdrive/car/hyundai/carcontroller.py

@@ -53,6 +53,7 @@ def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
+    self.lkas11_cnt = -1
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
@@ -157,18 +158,18 @@ def update(self, CC, CS, now_nanos):
               self.last_button_frame = self.frame
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
-                                                torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
-                                                hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                left_lane_warning, right_lane_warning))
+                                                  torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
+                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  left_lane_warning, right_lane_warning, self.CP))
 
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
         elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
-            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
             if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
               self.last_button_frame = self.frame
 
@@ -180,7 +181,7 @@ def update(self, CC, CS, now_nanos):
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
-        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, self.frame, CC.enabled, self.CP))
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:

selfdrive/car/hyundai/carstate.py

@@ -99,10 +99,11 @@ def update(self, cp, cp_cam):
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
     else:
-      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
+      scc_bus = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD.value else "SCC11"
+      ret.cruiseState.available = cp_cruise.vl[scc_bus]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
-      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
+      ret.cruiseState.standstill = cp_cruise.vl[scc_bus]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.speed = cp_cruise.vl[scc_bus]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -134,7 +135,7 @@ def update(self, cp, cp_cam):
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl:
+    if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD.value):
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -291,7 +292,6 @@ def get_can_parser(CP):
     ]
     checks = [
       # address, frequency
-      ("MDPS12", 50),
       ("TCS13", 50),
       ("TCS15", 10),
       ("CLU11", 50),
@@ -303,8 +303,10 @@ def get_can_parser(CP):
       ("WHL_SPD11", 50),
       ("SAS11", 100),
     ]
+    freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
+    checks.append(("MDPS12", freq_mdps12))
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD.value):
       signals += [
         ("MainMode_ACC", "SCC11"),
         ("VSetDis", "SCC11"),
@@ -330,13 +332,25 @@ def get_can_parser(CP):
           ("CF_VSM_Warn", "SCC12"),
           ("CF_VSM_DecCmdAct", "SCC12"),
         ]
+    elif CP.flags & HyundaiFlags.CAN_CANFD.value:
+      signals += [
+        ("MainMode_ACC", "SCC12"),
+        ("VSetDis", "SCC12"),
+        ("SCCInfoDisplay", "SCC12"),
+        ("ACC_ObjDist", "SCC12"),
+        ("ACCMode", "SCC12"),
+      ]
+      checks += [
+        ("SCC12", 50),
+      ]
 
     if CP.enableBsm:
       signals += [
         ("CF_Lca_IndLeft", "LCA11"),
         ("CF_Lca_IndRight", "LCA11"),
       ]
-      checks.append(("LCA11", 50))
+      freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
+      checks.append(("LCA11", freq_lca11))
 
     if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
       if CP.carFingerprint in HYBRID_CAR:
@@ -366,7 +380,8 @@ def get_can_parser(CP):
       signals.append(("CF_Lvr_Gear", "LVR12"))
       checks.append(("LVR12", 100))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    bus = 4 if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -376,21 +391,39 @@ def get_cam_can_parser(CP):
     signals = [
       # signal_name, signal_address
       ("CF_Lkas_LdwsActivemode", "LKAS11"),
-      ("CF_Lkas_LdwsSysState", "LKAS11"),
-      ("CF_Lkas_SysWarning", "LKAS11"),
       ("CF_Lkas_LdwsLHWarning", "LKAS11"),
       ("CF_Lkas_LdwsRHWarning", "LKAS11"),
-      ("CF_Lkas_HbaLamp", "LKAS11"),
-      ("CF_Lkas_FcwBasReq", "LKAS11"),
-      ("CF_Lkas_HbaSysState", "LKAS11"),
-      ("CF_Lkas_FcwOpt", "LKAS11"),
-      ("CF_Lkas_HbaOpt", "LKAS11"),
-      ("CF_Lkas_FcwSysState", "LKAS11"),
-      ("CF_Lkas_FcwCollisionWarning", "LKAS11"),
-      ("CF_Lkas_FusionState", "LKAS11"),
       ("CF_Lkas_FcwOpt_USM", "LKAS11"),
-      ("CF_Lkas_LdwsOpt_USM", "LKAS11"),
     ]
+    if CP.flags & HyundaiFlags.CAN_CANFD.value:
+      signals += [
+        ("CF_Lkas_ActToi", "LKAS11"),
+        ("CF_Lkas_Chksum", "LKAS11"),
+        ("CF_Lkas_MsgCount", "LKAS11"),
+        ("CF_Lkas_ToiFlt", "LKAS11"),
+        ("CR_Lkas_StrToqReq", "LKAS11"),
+        ("NEW_SIGNAL_1", "LKAS11"),
+        ("NEW_SIGNAL_2", "LKAS11"),
+        ("NEW_SIGNAL_3", "LKAS11"),
+        ("NEW_SIGNAL_4", "LKAS11"),
+        ("NEW_SIGNAL_5", "LKAS11"),
+        ("NEW_SIGNAL_6", "LKAS11"),
+        ("NEW_SIGNAL_7", "LKAS11"),
+      ]
+    else:
+      signals += [
+        ("CF_Lkas_LdwsSysState", "LKAS11"),
+        ("CF_Lkas_SysWarning", "LKAS11"),
+        ("CF_Lkas_HbaLamp", "LKAS11"),
+        ("CF_Lkas_FcwBasReq", "LKAS11"),
+        ("CF_Lkas_HbaSysState", "LKAS11"),
+        ("CF_Lkas_FcwOpt", "LKAS11"),
+        ("CF_Lkas_HbaOpt", "LKAS11"),
+        ("CF_Lkas_FcwSysState", "LKAS11"),
+        ("CF_Lkas_FcwCollisionWarning", "LKAS11"),
+        ("CF_Lkas_FusionState", "LKAS11"),
+        ("CF_Lkas_LdwsOpt_USM", "LKAS11"),
+      ]
     checks = [
       ("LKAS11", 100)
     ]
@@ -422,7 +455,8 @@ def get_cam_can_parser(CP):
           ("CF_VSM_DecCmdAct", "SCC12"),
         ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    bus = 6 if CP.flags & HyundaiFlags.CAN_CANFD else 2
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
 
   @staticmethod
   def get_can_parser_canfd(CP):

selfdrive/car/hyundai/hyundaican.py

@@ -1,21 +1,31 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
 def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
-                  left_lane_depart, right_lane_depart):
+                  left_lane_depart, right_lane_depart, CP):
+  can_canfd = CP.flags & HyundaiFlags.CAN_CANFD
+  bus = 4 if can_canfd else 0
+
   values = lkas11
-  values["CF_Lkas_LdwsSysState"] = sys_state
-  values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
   values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
   values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
   values["CR_Lkas_StrToqReq"] = apply_steer
   values["CF_Lkas_ActToi"] = steer_req
   values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
-  values["CF_Lkas_MsgCount"] = frame % 0x10
+  values["CF_Lkas_MsgCount"] = frame % (0xF if can_canfd else 0x10)
+
+  if can_canfd:
+    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
+    values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
+    values["NEW_SIGNAL_1"] = 0
+    values["NEW_SIGNAL_5"] = 100
+  else:
+    values["CF_Lkas_LdwsSysState"] = sys_state
+    values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
 
   if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
@@ -60,11 +70,11 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
 
-  dat = packer.make_can_msg("LKAS11", 0, values)[2]
+  dat = packer.make_can_msg("LKAS11", bus, values)[2]
 
   if car_fingerprint in CHECKSUM["crc8"]:
     # CRC Checksum as seen on 2019 Hyundai Santa Fe
-    dat = dat[:6] + dat[7:8]
+    dat = dat[1:8] if can_canfd else dat[:6] + dat[7:8]
     checksum = hyundai_checksum(dat)
   elif car_fingerprint in CHECKSUM["6B"]:
     # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
@@ -75,26 +85,42 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
 
   values["CF_Lkas_Chksum"] = checksum
 
-  return packer.make_can_msg("LKAS11", 0, values)
+  return packer.make_can_msg("LKAS11", bus, values)
 
 
-def create_clu11(packer, frame, clu11, button, car_fingerprint):
+def create_clu11(packer, frame, clu11, button, CP):
   values = clu11
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars
-  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
+  bus = 2 if CP.carFingerprint in CAMERA_SCC_CAR else 4 if CP.flags & HyundaiFlags.CAN_CANFD else 0
   return packer.make_can_msg("CLU11", bus, values)
 
 
-def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
+def create_lfahda_mfc(packer, frame, enabled, CP):
+  can_canfd = CP.flags & HyundaiFlags.CAN_CANFD
+  bus = 4 if can_canfd else 0
+
   values = {
     "LFA_Icon_State": 2 if enabled else 0,
-    "HDA_Active": 1 if hda_set_speed else 0,
-    "HDA_Icon_State": 2 if hda_set_speed else 0,
-    "HDA_VSetReq": hda_set_speed,
+    "HDA_Icon_State": 2 if enabled else 0,
   }
-  return packer.make_can_msg("LFAHDA_MFC", 0, values)
+
+  if can_canfd:
+    values.update({
+      "COUNTER": frame % 0xF
+    })
+
+    dat = packer.make_can_msg("LFAHDA_MFC", bus, values)[2]
+
+    # CRC Checksum
+    checksum = hyundai_checksum(dat[1:8])
+
+    values.update({
+      "CHECKSUM": checksum,
+    })
+
+  return packer.make_can_msg("LFAHDA_MFC", bus, values)
 
 def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):
   commands = []

selfdrive/car/hyundai/interface.py

@@ -45,8 +45,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
         if candidate not in CANFD_RADAR_SCC_CAR:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
     else:
+      # detect non-HDA2 with CAN and CAN-FD definitions
+      if 0x2a4 in fingerprint[5]:
+        ret.flags |= HyundaiFlags.CAN_CANFD.value
+
+      lfa_bus = 6 if ret.flags & HyundaiFlags.CAN_CANFD else 2
       # Send LFA message on cars with HDA
-      if 0x485 in fingerprint[2]:
+      if 0x485 in fingerprint[lfa_bus]:
         ret.flags |= HyundaiFlags.SEND_LFA.value
 
       # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
@@ -73,7 +78,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
       ret.mass = 4497. * CV.LB_TO_KG
       ret.wheelbase = 2.804
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-    elif candidate == CAR.PALISADE:
+    elif candidate in (CAR.PALISADE, CAR.PALISADE_2023):
       ret.mass = 1999. + STD_CARGO_KG
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
@@ -235,7 +240,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) and not (ret.flags & HyundaiFlags.CAN_CANFD)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -250,7 +255,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     if candidate in CANFD_CAR:
       ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]
     else:
-      ret.enableBsm = 0x58b in fingerprint[0]
+      bus = 4 if ret.flags & HyundaiFlags.CAN_CANFD else 0
+      ret.enableBsm = 0x58b in fingerprint[bus]
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
@@ -267,6 +273,10 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+      elif ret.flags & HyundaiFlags.CAN_CANFD:
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+                             get_safety_config(car.CarParams.SafetyModel.hyundai)]
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
       else:
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]