HDA2: 26-pin wiring reference

A reference preserving community wiring diagrams from the original manual.

Scope as of 2026-10-30: these physical vehicle pinouts were not validated in preparing this guide. Compare with service wiring diagrams matching the vehicle, year, connector and ECU, and with the current harness specification. Historical purchase links and part information are not current stock or suitability recommendations.

Check the current branch first

1. Identify actual CAN / CAN-FD, HDA/ADAS configuration and connection point.
2. Verify camera/ADAS harness pins, CAN High/Low and power using service information.
3. Evaluate HyundaiCameraSCC, CanfdHDA2 and EnableRadarTracks for the current interface and wiring.
4. Back up settings and, while parked, check vehicle recognition, gear, pedals and CAN errors.

Historical bulk setting values are not current recommended presets. A radar display or enabled CAMERA SCC does not validate longitudinal control, preserved AEB or wiring suitability.

Vehicle configuration · CAMERA SCC modes · Radar support.

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Preserved historical diagrams and instructions

Read this historical material separately from current setup instructions.

Parts

MG656971-5, MG646151-5, insulation-displacement connectors.

Unlike HDA1, the HDA2 work described here is inside the cabin at the ADAS module.

Historical procedure

• Use Hyundai GSW · KIA GSW to identify ADAS-connector E-CAN Low/High.
• Solder the male connector (MG646151-5) so signals other than E-CAN Low/High pass through unchanged.
• The historical guide states CANFD/HDA2 radar-track support became available after July 2025 using camera-longitudinal mode. Consult the current support checks above rather than treating this as universal support.
• Extend the two E-CAN wires from the female connector (MG656971-5) using the GSW positions (1.7 m for the Sorento example).

EV6 example

• Pins 4 and 10 are E-CAN.
• Pins 3, 6, 7 and 9 are not E-CAN and connect male-to-female unchanged.
• Extend 4 and 10 toward the comma device.

Harness

Swap the PQR ↔ AKLM pin positions of the comma harness as shown in the original diagram.

After swapping, connect E-CAN Low to pin 24 and E-CAN High to pin 22 as shown below.

Checks and records after work

Record before/after harness photographs, parts, model year, settings and commit. Stop using the configuration if errors or recognition mismatches occur and seek validation for the same configuration. Retain diagram credits and recheck connector orientation/pin numbers against the actual part.

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Source reference

Reference checked 2026-10-30 · carrot-wip · 10bf0a56.

README.md · opendbc_repo/opendbc/car/hyundai/interface.py · openpilot/selfdrive/carrot_settings.json

The development branch continues to change. Check your device’s branch, commit and current settings together.