From 63b0fb586604ef8cd9be48eb31fecd93a2b029dc Mon Sep 17 00:00:00 2001
From: Max <maxzzznz@users.noreply.github.com>
Date: Tue, 11 Aug 2026 22:38:51 +1200
Subject: [PATCH] mazda: recognize CX-9 with swapped CX-5 EPS

---
 opendbc/car/mazda/fingerprints.py             |  2 ++
 .../car/mazda/tests/test_mazda_interface.py   | 31 +++++++++++++++++++
 2 files changed, 33 insertions(+)

diff --git a/opendbc/car/mazda/fingerprints.py b/opendbc/car/mazda/fingerprints.py
index 99e64142a65..d3ce5dcaefc 100644
--- a/opendbc/car/mazda/fingerprints.py
+++ b/opendbc/car/mazda/fingerprints.py
@@ -259,6 +259,8 @@
   CAR.MAZDA_CX9_2021: {
     (Ecu.eps, 0x730, None): [
       b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      # CX-9 with a supported 2022+ CX-5 EPS swap
+      b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'PW25-188K2-\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
diff --git a/opendbc/car/mazda/tests/test_mazda_interface.py b/opendbc/car/mazda/tests/test_mazda_interface.py
index bd71e67d033..5af83976702 100644
--- a/opendbc/car/mazda/tests/test_mazda_interface.py
+++ b/opendbc/car/mazda/tests/test_mazda_interface.py
@@ -2,6 +2,7 @@
 
 from opendbc.car import structs
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.fw_versions import match_fw_to_car
 from opendbc.car.mazda.interface import CarInterface
 from opendbc.car.mazda.values import CAR, LKAS_LIMITS, STEER_TO_ZERO_EPS_FW
 
@@ -21,6 +22,26 @@ def _eps_fw(version: bytes) -> list[structs.CarParams.CarFw]:
   return [fw]
 
 
+def _fw(ecu, address: int, version: bytes) -> structs.CarParams.CarFw:
+  fw = structs.CarParams.CarFw()
+  fw.brand = 'mazda'
+  fw.ecu = ecu
+  fw.address = address
+  fw.subAddress = 0
+  fw.fwVersion = version
+  return fw
+
+
+HYBRID_CX9_FW = [
+  _fw(Ecu.engine, 0x7e0, b'PXM7-188K2-E' + b'\x00' * 12),
+  _fw(Ecu.transmission, 0x7e1, b'PXM7-21PS1-B' + b'\x00' * 12),
+  _fw(Ecu.abs, 0x760, b'TA0B-437K2-C' + b'\x00' * 12),
+  _fw(Ecu.fwdRadar, 0x764, b'K131-67XK2-F' + b'\x00' * 12),
+  _fw(Ecu.fwdCamera, 0x706, b'GSH7-67XK2-S' + b'\x00' * 12),
+  _fw(Ecu.eps, 0x730, b'KSD5-3210X-C-00' + b'\x00' * 9),
+]
+
+
 def _params(candidate, car_fw=None, alpha_long=False):
   return CarInterface.get_params(candidate, {0: {}, 1: {}, 2: {}}, car_fw or [],
                                  alpha_long, is_release=False, docs=False)
@@ -46,6 +67,16 @@ def test_swapped_eps_lifts_dashcam_and_the_speed_floor(self):
     assert CP.minSteerSpeed == 0
     assert CP.steerActuatorDelay == pytest.approx(0.14)
 
+  def test_hybrid_cx9_is_identified_with_the_swapped_eps(self):
+    exact, candidates = match_fw_to_car(HYBRID_CX9_FW, "", allow_fuzzy=False, log=False)
+    assert exact
+    assert candidates == {CAR.MAZDA_CX9_2021}
+
+    CP = _params(CAR.MAZDA_CX9_2021, HYBRID_CX9_FW)
+    assert not CP.dashcamOnly
+    assert CP.minSteerSpeed == 0
+    assert CP.steerActuatorDelay == pytest.approx(0.14)
+
   def test_swapped_eps_does_not_unlock_longitudinal(self):
     # the radar and camera are not part of an EPS swap, and this car keeps its own pre-2022 pair
     CP = _params(CAR.MAZDA_CX5, _eps_fw(SWAPPED_EPS_FW), alpha_long=True)