Kia: Sorento 2024 Port

opendbc/car/hyundai/carcontroller.py

@@ -115,8 +115,11 @@ def update(self, CC, CS, now_nanos):
                                                           self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
 
       # LFA and HDA icons
-      if self.frame % 5 == 0 and (not hda2 or hda2_long):
+      if self.frame % 5 == 0 and (not hda2 or hda2_long) and self.car_fingerprint not in (CAR.KIA_SORENTO_2024,):
         can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
+      if self.frame % 5 == 0 and (not hda2 or hda2_long) and self.car_fingerprint in (CAR.KIA_SORENTO_2024,):
+        can_sends.append(hyundaicanfd.create_msg_161(self.packer, self.CAN, CC.enabled, CS.msg_161, self.CP, hud_control, CS, CC, self.frame))
+        can_sends.append(hyundaicanfd.create_msg_162(self.packer, self.CAN, CC.enabled, CS.msg_162, self.CP, hud_control))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:

opendbc/car/hyundai/carstate.py

@@ -50,6 +50,8 @@ def __init__(self, CP):
     self.buttons_counter = 0
 
     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
@@ -224,13 +226,14 @@ def update_canfd(self, can_parsers) -> structs.CarState:
 
     # 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:
+    if self.CP.carFingerprint in (CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.KIA_SORENTO_2024):
       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.enableBsm:
-      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
-      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
+      alt = "_ALT" if self.CP.carFingerprint == CAR.KIA_SORENTO_2024 else ""
+      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
@@ -267,6 +270,10 @@ def update_canfd(self, can_parsers) -> structs.CarState:
     ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
                         *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})]
 
+    if self.CP.carFingerprint in (CAR.KIA_SORENTO_2024,):
+      self.msg_161 = copy.copy(cp_cam.vl["MSG_161"])
+      self.msg_162 = copy.copy(cp_cam.vl["MSG_162"])
+
     return ret
 
   def get_can_parsers_canfd(self, CP):
@@ -314,6 +321,11 @@ def get_can_parsers_canfd(self, CP):
       cam_messages += [
         ("SCC_CONTROL", 50),
       ]
+    if self.CP.carFingerprint in (CAR.KIA_SORENTO_2024,):
+      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

@@ -1107,6 +1107,14 @@
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
       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): [

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
 
@@ -119,6 +120,98 @@ def create_lfahda_cluster(packer, CAN, enabled):
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
+def create_msg_161(packer, CAN, enabled, msg_161, car_params, hud_control, car_state, car_control, frame):
+  values = msg_161.copy()
+
+  # HIDE ALERTS
+  if values.get("ALERTS_5") == 5:  # USE SWITCH OR PEDAL TO ACCELERATE
+    values["ALERTS_5"] = 0
+  if values.get("ALERTS_2") == 5:  # CONSIDER TAKING A BREAK
+    values.update({"ALERTS_2": 0, "SOUNDS_2": 0, "DAW_ICON": 0})
+
+  # LANELINES
+  curvature = {
+    i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i
+    for i in range(-15, 16)
+  }
+  values.update({
+    "LANELINE_CURVATURE": curvature.get(max(-15, min(int(car_state.out.steeringAngleDeg / 3), 15)), 14) if enabled else 15,
+    "LFA_ICON": 2 if enabled else 0,
+    "LKA_ICON": 4 if enabled else 0,
+    "LANELINE_LEFT": 2 if enabled else 0,
+    "LANELINE_RIGHT": 2 if enabled else 0,
+    "CENTERLINE": 1 if enabled else 0,
+  })
+
+  # LCA
+  if enabled:
+    speed_below_threshold = car_state.out.vEgo < 8.94
+    values.update({
+      "LCA_LEFT_ICON": 0 if car_state.out.leftBlindspot or speed_below_threshold else 2 if car_control.leftBlinker else 1,
+      "LCA_RIGHT_ICON": 0 if car_state.out.rightBlindspot or speed_below_threshold else 2 if car_control.rightBlinker else 1,
+      "LCA_LEFT_ARROW": 2 if car_control.leftBlinker else 0,
+      "LCA_RIGHT_ARROW": 2 if car_control.rightBlinker else 0,
+    })
+
+  # LANE DEPARTURE
+  if hud_control.leftLaneDepart:
+    values["LANELINE_LEFT"] = 4 if (frame // 50) % 2 == 0 else 1
+  if hud_control.rightLaneDepart:
+    values["LANELINE_RIGHT"] = 4 if (frame // 50) % 2 == 0 else 1
+
+  if car_params.openpilotLongitudinalControl:
+    # HIDE ALERTS
+    if values.get("ALERTS_5") == 4:  # SMART CRUISE CONTROL CONDITIONS NOT MET
+      values["ALERTS_5"] = 0
+
+    # SETSPEED
+    values["SETSPEED"] = 3 if enabled else 1
+    values["SETSPEED_HUD"] = 2 if enabled else 1
+    values["SETSPEED_SPEED"] = 25 if (s := round(car_state.out.vCruiseCluster * CV.KPH_TO_MPH)) > 100 else s
+
+    # DISTANCE
+    if 1 <= hud_control.leadDistanceBars <= 3:
+      values["DISTANCE"] = hud_control.leadDistanceBars
+      values["DISTANCE_SPACING"] = 1 if enabled else 0
+      values["DISTANCE_LEAD"] = 2 if enabled and hud_control.leadVisible else 1 if enabled else 0
+      values["DISTANCE_CAR"] = 2 if enabled else 1
+      values["ALERTS_3"] = hud_control.leadDistanceBars + 6
+    else:
+      values["DISTANCE"] = 0
+      values["DISTANCE_SPACING"] = 0
+      values["DISTANCE_LEAD"] = 0
+      values["DISTANCE_CAR"] = 0
+
+    # BACKGROUND
+    values["BACKGROUND"] = 1 if enabled else 7
+
+  return packer.make_can_msg("MSG_161", CAN.ECAN, values)
+
+def create_msg_162(packer, CAN, enabled, msg_162, car_params, hud_control):
+  values = msg_162.copy()
+
+  # HIDE FAULTS
+  values.update({
+    "FAULT_LSS": 0,
+    "FAULT_HDA": 0,
+    "FAULT_DAS": 0,
+  })
+
+  # LANE DEPARTURE
+  if hud_control.leftLaneDepart or hud_control.rightLaneDepart:
+    values["VIBRATE"] = 1
+
+  if car_params.openpilotLongitudinalControl:
+    # *** TODO *** LEAD_DISTANCE/LEAD_LATERAL
+    # LEAD
+    if hud_control.leadVisible:
+      values["LEAD"] = 2 if enabled else 1
+      values["LEAD_DISTANCE"] = 100
+    else:
+      values["LEAD"] = 0
+      values["LEAD_DISTANCE"] = 0
+
+  return packer.make_can_msg("MSG_162", CAN.ECAN, values)
 
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5

opendbc/car/hyundai/values.py

@@ -457,6 +457,10 @@ 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),
+  )
   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

@@ -137,6 +137,7 @@ class CarTestRoute(NamedTuple):
   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),

opendbc/car/torque_data/override.toml

@@ -72,6 +72,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
+"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc/dbc/hyundai_canfd.dbc

@@ -599,6 +599,8 @@ BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
  SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
  SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
  SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
+ SG_ FL_INDICATOR_ALT : 138|1@0+ (1,0) [0|1] "" XXX
+ SG_ FR_INDICATOR_ALT : 141|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 874 BLINDSPOTS_FRONT_CORNER_2: 16 XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -658,6 +660,116 @@ BO_ 1264 LOCAL_TIME: 8 XXX
  SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
  SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
 
+BO_ 353 MSG_161: 32 CCNC
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ FCA_ICON : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ FCA_ALT_ICON : 27|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKA_ICON : 30|3@1+ (1,0) [0|3] "" XXX
+ SG_ HBA_ICON : 33|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_1 : 36|4@1+ (1,0) [0|15] "" XXX
+ SG_ ZEROS_2 : 40|2@1+ (1,0) [0|3] "" XXX
+ SG_ FCA_IMAGE : 42|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_3 : 45|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_4 : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ BCA_LEFT : 51|3@1+ (1,0) [0|7] "" XXX
+ SG_ BCA_RIGHT : 54|3@1+ (1,0) [0|7] "" XXX
+ SG_ LCA_LEFT_ARROW : 57|3@1+ (1,0) [0|7] "" XXX
+ SG_ LCA_RIGHT_ARROW : 60|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_5 : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ CENTERLINE : 64|2@1+ (1,0) [0|3] "" XXX
+ SG_ TARGET : 66|3@1+ (1,0) [0|7] "" XXX
+ SG_ TARGET_POSITION : 69|11@1+ (1,0) [0|7] "" XXX
+ SG_ LANELINE_LEFT : 80|4@1+ (1,0) [0|15] "" XXX
+ SG_ LANELINE_LEFT_POSITION : 84|6@1+ (1,0) [0|15] "" XXX
+ SG_ LANELINE_RIGHT : 90|4@1+ (1,0) [0|15] "" XXX
+ SG_ LANELINE_RIGHT_POSITION : 94|6@1+ (1,0) [0|3] "" XXX
+ SG_ LANELINE_CURVATURE : 100|5@1- (1,15) [0|31] "" XXX
+ SG_ LANE_HIGHLIGHT : 105|4@1+ (1,0) [0|15] "" XXX
+ SG_ LANE_HIGHLIGHT_DISTANCE : 109|11@1+ (1,0) [0|7] "" XXX
+ SG_ LANE_LEFT : 120|3@1+ (1,0) [0|7] "" XXX
+ SG_ LANE_RIGHT : 123|3@1+ (1,0) [0|7] "" XXX
+ SG_ LANE_ZOOM : 126|2@1+ (1,0) [0|3] "" XXX
+ SG_ ALERTS_1 : 128|6@1+ (1,0) [0|63] "" XXX
+ SG_ ALERTS_2 : 134|5@1+ (1,0) [0|3] "" XXX
+ SG_ ALERTS_3 : 139|4@1+ (1,0) [0|15] "" XXX
+ SG_ ALERTS_4 : 143|9@1+ (1,0) [0|511] "" XXX
+ SG_ ALERTS_5 : 152|5@1+ (1,0) [0|7] "" XXX
+ SG_ MUTE : 157|3@1+ (1,0) [0|7] "" XXX
+ SG_ SOUNDS_1 : 160|4@1+ (1,0) [0|3] "" XXX
+ SG_ SOUNDS_2 : 164|4@1+ (1,0) [0|3] "" XXX
+ SG_ SOUNDS_3 : 168|4@1+ (1,0) [0|15] "" XXX
+ SG_ SOUNDS_4 : 172|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_6 : 175|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_7 : 176|5@1+ (1,0) [0|31] "" XXX
+ SG_ SETSPEED_HUD : 181|3@1+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_LEAD : 184|5@1+ (1,0) [0|31] "" XXX
+ SG_ DISTANCE_CAR : 189|3@1+ (1,0) [0|7] "" XXX
+ SG_ DISTANCE_SPACING : 192|4@1+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE : 196|4@1+ (1,0) [0|7] "" XXX
+ SG_ SETSPEED_SPEED : 200|8@1+ (1,0) [0|255] "" XXX
+ SG_ SETSPEED : 208|4@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_ICON : 212|4@1+ (1,0) [0|3] "" XXX
+ SG_ SLA_ICON : 216|4@1+ (1,0) [0|15] "" XXX
+ SG_ NAV_ICON : 220|4@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_ICON : 224|4@1+ (1,0) [0|3] "" XXX
+ SG_ LCA_LEFT_ICON : 228|4@1+ (1,0) [0|15] "" XXX
+ SG_ LCA_RIGHT_ICON : 232|4@1+ (1,0) [0|15] "" XXX
+ SG_ BACKGROUND : 236|4@1+ (1,0) [0|15] "" XXX
+ SG_ DAW_ICON : 240|3@1+ (1,0) [0|7] "" XXX
+ SG_ CAR_CIRCLE : 243|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_8 : 246|2@1+ (1,0) [0|3] "" XXX
+ SG_ ZEROS_9 : 248|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 354 MSG_162: 32 CCNC
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SPEEDLIMIT_STYLE : 24|4@1+ (1,0) [0|7] "" XXX
+ SG_ SPEEDLIMIT_FLASH : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ SPEEDLIMIT : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNS : 40|8@1+ (1,0) [0|15] "" XXX
+ SG_ SPEEDLIMIT_WEATHER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ VIBRATE : 52|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ LEAD : 64|5@1+ (1,0) [0|31] "" XXX
+ SG_ LEAD_DISTANCE : 69|11@1+ (1,0) [0|2047] "" XXX
+ SG_ LEAD_LATERAL : 80|7@1+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_3 : 87|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_ALT : 88|5@1+ (1,0) [0|31] "" XXX
+ SG_ LEAD_ALT_DISTANCE : 93|11@1+ (1,0) [0|2047] "" XXX
+ SG_ LEAD_ALT_LATERAL : 104|7@1+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_4 : 111|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_LEFT : 112|5@1+ (1,0) [0|31] "" XXX
+ SG_ LEAD_LEFT_DISTANCE : 117|11@1+ (1,0) [0|2047] "" XXX
+ SG_ LEAD_LEFT_LATERAL : 128|7@1+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_5 : 135|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_RIGHT : 136|5@1+ (1,0) [0|31] "" XXX
+ SG_ LEAD_RIGHT_DISTANCE : 141|11@1+ (1,0) [0|2047] "" XXX
+ SG_ LEAD_RIGHT_LATERAL : 152|7@1+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_6 : 159|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_7 : 160|8@1+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_8 : 168|8@1+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_9 : 176|8@1+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_10 : 184|8@1+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_11 : 192|8@1+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_12 : 200|8@1+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_13 : 208|5@1+ (1,0) [0|31] "" XXX
+ SG_ FAULT_FSS : 213|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_FCA : 216|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_LSS : 219|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_SLA : 222|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_DAW : 225|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_HBA : 228|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_SCC : 231|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_LFA : 234|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_HDA : 237|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_LCA : 240|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_HDP : 243|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_DAS : 246|3@1+ (1,0) [0|7] "" XXX
+ SG_ FAULT_ESS : 249|3@1+ (1,0) [0|7] "" XXX
+ SG_ ZEROS_14 : 252|4@1+ (1,0) [0|15] "" XXX
+
 CM_ 272 "Alternative LKAS message, used on cars such as 2023 Ioniq 6, 2nd gen Kona. Matches LKAS except size is 32 bytes";
 CM_ 676 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA.";
 CM_ 866 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA. Used on cars that use message 272.";