From 3787b6daf7fe91151109c7fbe5648c9ebad8d7d3 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 23 Sep 2024 18:46:30 -0400
Subject: [PATCH] Add second alt limits (will open another PR on this)

---
 opendbc/car/hyundai/interface.py | 6 ++++++
 opendbc/car/hyundai/values.py    | 9 ++++++++-
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/hyundai/interface.py b/opendbc/car/hyundai/interface.py
index 27df5b556d..7cce11bfe2 100644
--- a/opendbc/car/hyundai/interface.py
+++ b/opendbc/car/hyundai/interface.py
@@ -130,6 +130,12 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.flags |= HyundaiFlags.ALT_LIMITS.value
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
 
+    # TODO: Enforce in panda safety
+    if candidate in CAR.KIA_SPORTAGE_5TH_GEN:
+      for fw in car_fw:
+        if fw.ecu == "fwdCamera" and fw.fwVersion == "" b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.01 99211-P1060 680':
+          ret.flags |= HyundaiFlags.ALT_LIMITS_2.value
+
     ret.centerToFront = ret.wheelbase * 0.4
 
     return ret
diff --git a/opendbc/car/hyundai/values.py b/opendbc/car/hyundai/values.py
index 37b3297bdc..ad5cd02a67 100644
--- a/opendbc/car/hyundai/values.py
+++ b/opendbc/car/hyundai/values.py
@@ -26,13 +26,18 @@ def __init__(self, CP):
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
-      self.STEER_MAX = 170
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 250
       self.STEER_DELTA_UP = 2
       self.STEER_DELTA_DOWN = 3
 
+      if CP.flags & HyundaiFlags.ALT_LIMITS_2:
+        self.STEER_MAX = 170
+
+      else:
+        self.STEER_MAX = 270
+
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
@@ -95,6 +100,8 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  ALT_LIMITS_2 = 2 ** 24
+
 
 class Footnote(Enum):
   CANFD = CarFootnote(