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It was Diahatsu, not Hyundai it's a common misconception. The Hyundai motor group had a limited run with platform sharing (2 models , 2 manufacturers - 1 platform) in the late 90's early 2000's but they have never shared powersource, powertrain or drivetrain outside of the Hyundai/Kia range.
It's either the Hyundai Kappa or Epsilon Engine (both came in 1.0l variants). The Kappa is used in the i10, Picanto and Rios wheras the Epsilon was used in the Atos.
The Daihatsu used a Toyota KR engine and is used in the Toyota Aygo, Daihatsu Charade, Citroën C1 and Peugeot 107
Sorry, I got distracted by work. It's a disgusting habit.
The engine development deal I'm thinking of was 2008 at the earliest, but more likely 2010-2012 somewhere, so I think it's the KR engine I'm thinking about. I'll have to go and dig some more to figure our exactly what I was (mis-)remembering, but I won't be able to really read up before the weekend
Either way, thanks for sharing the knowledge, I really appreciate it!