commaai · sunnyhaibin · Dec 2, 2023 · Dec 8, 2023 · Dec 8, 2023 · Dec 8, 2023
diff --git a/docs/CARS.md b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 269 Supported Cars
+# 270 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -146,6 +146,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
 |Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Plug-in Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Plug-in Hybrid 2023">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -167,7 +167,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
  ret.mass = 1337.
  ret.wheelbase = 2.63
  ret.steerRatio = 14.56
- elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
+ elif candidate in CAR.KIA_SPORTAGE_5TH_GEN:
  ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions
  ret.wheelbase = 2.756
  ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
@@ -202,8 +202,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
  ret.wheelbase = 2.9
  ret.steerRatio = 16.
  ret.tireStiffnessFactor = 0.65
- elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
- ret.mass = 1767. # SX Prestige trim support only
+ elif candidate in (CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SPORTAGE_PHEV_5TH_GEN):
+ ret.mass = {CAR.KIA_SPORTAGE_PHEV_5TH_GEN: 1923., }.get(candidate, 1767.) # HYBRID: SX Prestige trim support only
  ret.wheelbase = 2.756
  ret.steerRatio = 13.6
  elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
@@ -125,6 +125,7 @@ class CAR(StrEnum):
  KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
  KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
  KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
+ KIA_SPORTAGE_PHEV_5TH_GEN = "KIA SPORTAGE PLUG-IN HYBRID 5TH GEN"
  KIA_STINGER = "KIA STINGER GT2 2018"
  KIA_STINGER_2022 = "KIA STINGER 2022"
  KIA_CEED = "KIA CEED INTRO ED 2019"
@@ -269,6 +270,7 @@ def init_make(self, CP: car.CarParams):
  CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+ CAR.KIA_SPORTAGE_PHEV_5TH_GEN: HyundaiCarInfo("Kia Sportage Plug-in Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
  car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -2104,6 +2106,14 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
  b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ',
  ],
  },
+ CAR.KIA_SPORTAGE_PHEV_5TH_GEN: {
+ (Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ',
+ ],
+ (Ecu.fwdCamera, 0x7c4, None): [
+ b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.01 99211-P1060 680',
+ ],
+ },
 }
 
 CHECKSUM = {
@@ -2122,11 +2132,12 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
  CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
  CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
- CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
+ CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
+ CAR.KIA_SPORTAGE_PHEV_5TH_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
- CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+ CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SPORTAGE_PHEV_5TH_GEN}
 
 # These CAN FD cars do not accept communication control to disable the ADAS ECU,
 # responds with 0x7F2822 - 'conditions not correct'
@@ -2140,7 +2151,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
  CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
  CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
- CAR.AZERA_HEV_6TH_GEN}
+ CAR.AZERA_HEV_6TH_GEN, CAR.KIA_SPORTAGE_PHEV_5TH_GEN}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
  CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
@@ -2223,4 +2234,5 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
  CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
+ CAR.KIA_SPORTAGE_PHEV_5TH_GEN: dbc_dict('hyundai_canfd', None),
 }
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
@@ -64,6 +64,7 @@ HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
 KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
 HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
 LEXUS GS F 2016: [2.5, 2.5, 0.08]
+KIA SPORTAGE PLUG-IN HYBRID 5TH GEN: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]