From e2681b17a4549ee81c127d7dde700158d54e7d5d Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 26 Apr 2026 17:36:12 -0500 Subject: [PATCH] lane change? --- .../opendbc/car/hyundai/carcontroller.py | 20 +++++++++++++++ .../opendbc/car/hyundai/hyundaicanfd.py | 23 ++++++++++++++++++ .../opendbc/car/hyundai/tests/test_hyundai.py | 21 ++++++++++++++++ .../opendbc/safety/modes/hyundai_canfd.h | 1 + .../safety/tests/test_hyundai_canfd.py | 4 +-- panda/board/obj/body_h7.bin.signed | Bin 76636 -> 76780 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 76500 -> 76644 bytes panda/board/obj/body_h7/main.elf | Bin 368520 -> 368568 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 68356 -> 68356 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 68220 -> 68220 bytes panda/board/obj/panda/main.elf | Bin 332444 -> 332444 bytes panda/board/obj/panda_h7.bin.signed | Bin 84572 -> 84716 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 84436 -> 84580 bytes panda/board/obj/panda_h7/main.elf | Bin 411912 -> 411960 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 84516 -> 84660 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 84380 -> 84524 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 411836 -> 411884 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 78492 -> 78636 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 78356 -> 78500 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 376648 -> 376696 bytes panda/board/obj/panda_remote.bin.signed | Bin 68312 -> 68312 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 68176 -> 68176 bytes panda/board/obj/panda_remote/main.elf | Bin 332484 -> 332484 bytes panda/board/obj/version | 2 +- 37 files changed, 69 insertions(+), 4 deletions(-) diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py index 0c74334ec..d1b135340 100644 --- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py +++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py @@ -63,6 +63,8 @@ class CarController(CarControllerBase): self._ecu_disable_checked = False self._params = Params() self.long_active_ecu = self.CP.openpilotLongitudinalControl + self._ioniq_6_lane_change_ui_side = None + self._ioniq_6_lane_change_ui_trigger_frames = 0 def update(self, CC, CS, now_nanos, starpilot_toggles): actuators = CC.actuators @@ -228,6 +230,24 @@ class CarController(CarControllerBase): if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker)) + if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6: + lane_change_ui_side = None + if CC.leftBlinker and not CC.rightBlinker: + lane_change_ui_side = "left" + elif CC.rightBlinker and not CC.leftBlinker: + lane_change_ui_side = "right" + + if lane_change_ui_side != self._ioniq_6_lane_change_ui_side: + self._ioniq_6_lane_change_ui_side = lane_change_ui_side + self._ioniq_6_lane_change_ui_trigger_frames = 6 if lane_change_ui_side is not None else 0 + + if lane_change_ui_side is not None: + trigger = self._ioniq_6_lane_change_ui_trigger_frames > 0 + can_sends.extend(hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(self.CAN, self.frame, + lane_change_ui_side, trigger)) + if self._ioniq_6_lane_change_ui_trigger_frames > 0: + self._ioniq_6_lane_change_ui_trigger_frames -= 1 + if self.long_active_ecu: if lka_steering: can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py index 555e76a10..aee83bdc4 100644 --- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py +++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py @@ -264,6 +264,18 @@ IONIQ_6_CLUSTER_BLINDSPOT_3B5 = { } +IONIQ_6_CLUSTER_LANE_CHANGE_3C1 = { + "right": { + "trigger": bytes.fromhex("e910300041000000"), + "steady": bytes.fromhex("ab20300001000000"), + }, + "left": { + "trigger": bytes.fromhex("3d40304010000000"), + "steady": bytes.fromhex("3e50300000000000"), + }, +} + + def create_ioniq_6_cluster_blindspot_messages(CAN, frame, left_blindspot=False, right_blindspot=False, left_blinker=False, right_blinker=False): side = None @@ -291,6 +303,17 @@ def create_ioniq_6_cluster_blindspot_messages(CAN, frame, left_blindspot=False, return ret +def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None, trigger=False): + if side not in IONIQ_6_CLUSTER_LANE_CHANGE_3C1: + return [] + + if trigger: + return [(0x3C1, IONIQ_6_CLUSTER_LANE_CHANGE_3C1[side]["trigger"], CAN.ECAN)] + if frame % 20 == 0: + return [(0x3C1, IONIQ_6_CLUSTER_LANE_CHANGE_3C1[side]["steady"], CAN.ECAN)] + return [] + + def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control): jerk = 5 jn = jerk / 50 diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py index c8ca8c006..b029995dd 100644 --- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py +++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py @@ -380,6 +380,27 @@ class TestHyundaiFingerprint: both_msgs = hyundaicanfd.create_ioniq_6_cluster_blindspot_messages(can_bus, 0, True, True) assert both_msgs == [] + def test_ioniq_6_cluster_lane_change_helper_uses_stock_trigger_and_hold(self): + CP = CarParams.new_message() + CP.carFingerprint = CAR.HYUNDAI_IONIQ_6 + CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING) + + can_bus = CanBus(CP) + + assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 7, "right") == [] + assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 0, "right", trigger=True) == [ + (0x3C1, bytes.fromhex("e910300041000000"), can_bus.ECAN), + ] + assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 20, "right") == [ + (0x3C1, bytes.fromhex("ab20300001000000"), can_bus.ECAN), + ] + assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 0, "left", trigger=True) == [ + (0x3C1, bytes.fromhex("3d40304010000000"), can_bus.ECAN), + ] + assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 20, "left") == [ + (0x3C1, bytes.fromhex("3e50300000000000"), can_bus.ECAN), + ] + def test_sportage_angle_jerk_override_is_scoped(self): sportage = CarParams.new_message() sportage.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026 diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h index 6fde1e0dd..e439220cc 100644 --- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h +++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h @@ -29,6 +29,7 @@ {0x1E5, e_can, 16, .check_relay = false}, /* BLINDSPOTS_FRONT_CORNER_1 */ \ {0x31A, e_can, 32, .check_relay = false}, /* cluster blindspot overlay */ \ {0x3B5, e_can, 32, .check_relay = false}, /* cluster blindspot overlay */ \ + {0x3C1, e_can, 8, .check_relay = false}, /* cluster lane change overlay */ \ // *** Addresses checked in rx hook *** // EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105) diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py index 96e497e18..c75add648 100755 --- a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py +++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py @@ -451,7 +451,7 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase): class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV): TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1], - [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x31a, 1], [0x3b5, 1], + [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x31a, 1], [0x3b5, 1], [0x3c1, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]] RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4), 1: (0x1a0,)} # LKAS, CAM_0x2A4, SCC_CONTROL @@ -481,7 +481,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf # Tests longitudinal for ICE, hybrid, EV cars with LFA steering class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase): - TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0], [0x1BA, 0], [0x1E5, 0], [0x31A, 0], [0x3B5, 0]] + TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0], [0x1BA, 0], [0x1E5, 0], [0x31A, 0], [0x3B5, 0], [0x3C1, 0]] FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0xcb, 0x1e0, 0x1a0, 0x160]} RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0xCB, 0x1E0, 0x1a0, 0x160)} # LFA, ADAS_CMD_35_10ms, LFAHDA_CLUSTER, SCC_CONTROL, ADRV_0x160 diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 845fa42156207f5096aec49621a74e0b6df442af..6db3023a487bd32ebac2821399d08957e1eb7745 100644 GIT binary patch delta 3248 zcmZ`*2~<;88ou`>!AD4hm>?kA3xs14w+>0wf`}uCY;{2^j(7xtjutw&wxcAnDlW*3 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