always I-pedal

2026-07-11 20:32:13 +08:00 · 2026-05-04 20:30:03 -05:00
parent aed0b7fdb9
commit 1ddbc24a14
10 changed files with 183 additions and 9 deletions
@@ -159,6 +159,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2}},
    {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0}},
    {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"AlwaysIPedal", {PERSISTENT, BOOL, "0", "0", 2}},
    {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
    {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
    {"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
@@ -53,6 +53,8 @@ IONIQ_6_STOP_RELEASE_JERK_BP = [0.0, 0.15, 0.5]
 IONIQ_6_STOP_RELEASE_JERK_V = [3.6 * IONIQ_6_RESPONSE_MULTIPLIER,
                               4.2 * IONIQ_6_RESPONSE_MULTIPLIER,
                               4.8 * IONIQ_6_RESPONSE_MULTIPLIER]
+IONIQ_6_IPEDAL_PRESS_SEND_COUNT = 6
+IONIQ_6_IPEDAL_RETRY_WAIT_FRAMES = 30


@dataclass
@@ -235,8 +237,55 @@ class CarController(CarControllerBase):
    self._ioniq_6_lane_change_ui_side = None
    self._ioniq_6_lane_change_ui_trigger_frames = 0
    self._ioniq_6_long_tuning = Ioniq6LongitudinalTuningState()
+    self._ioniq_6_always_ipedal_pending = False
+    self._ioniq_6_always_ipedal_press_remaining = 0
+    self._ioniq_6_always_ipedal_retry_frame = 0
+    self._ioniq_6_always_ipedal_counter = 0
+    self._ioniq_6_last_gear = structs.CarState.GearShifter.unknown
    self._genesis_g90_long_tuning = GenesisG90LongitudinalTuningState()

+  def _reset_ioniq_6_always_ipedal(self) -> None:
+    self._ioniq_6_always_ipedal_pending = False
+    self._ioniq_6_always_ipedal_press_remaining = 0
+    self._ioniq_6_always_ipedal_retry_frame = 0
+
+  def _update_ioniq_6_always_ipedal(self, CC, CS, starpilot_toggles):
+    can_sends = []
+
+    if self.CP.carFingerprint != CAR.HYUNDAI_IONIQ_6 or not getattr(starpilot_toggles, "always_ipedal", False):
+      self._reset_ioniq_6_always_ipedal()
+      self._ioniq_6_last_gear = CS.out.gearShifter
+      return can_sends
+
+    drive = CS.out.gearShifter == structs.CarState.GearShifter.drive
+    drive_edge = drive and self._ioniq_6_last_gear != structs.CarState.GearShifter.drive
+
+    if drive_edge:
+      self._ioniq_6_always_ipedal_pending = not CS.ipedal_active
+      self._ioniq_6_always_ipedal_press_remaining = 0
+      self._ioniq_6_always_ipedal_retry_frame = self.frame
+    elif not drive or CS.ipedal_active:
+      self._reset_ioniq_6_always_ipedal()
+    elif CC.enabled:
+      self._ioniq_6_always_ipedal_pending = False
+      self._ioniq_6_always_ipedal_press_remaining = 0
+
+    if drive and self._ioniq_6_always_ipedal_pending and not CS.ipedal_active and not CC.enabled:
+      if self._ioniq_6_always_ipedal_press_remaining == 0 and self.frame >= self._ioniq_6_always_ipedal_retry_frame:
+        self._ioniq_6_always_ipedal_press_remaining = IONIQ_6_IPEDAL_PRESS_SEND_COUNT
+        self._ioniq_6_always_ipedal_counter = (int(CS.buttons_counter) + 1) % 0x10
+
+      if self._ioniq_6_always_ipedal_press_remaining > 0 and self.frame % 2 == 0:
+        can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, self._ioniq_6_always_ipedal_counter,
+                                                     base_values=CS.cruise_buttons_msg, left_paddle=True))
+        self._ioniq_6_always_ipedal_counter = (self._ioniq_6_always_ipedal_counter + 1) % 0x10
+        self._ioniq_6_always_ipedal_press_remaining -= 1
+        if self._ioniq_6_always_ipedal_press_remaining == 0:
+          self._ioniq_6_always_ipedal_retry_frame = self.frame + IONIQ_6_IPEDAL_RETRY_WAIT_FRAMES
+
+    self._ioniq_6_last_gear = CS.out.gearShifter
+    return can_sends
+
  def update(self, CC, CS, now_nanos, starpilot_toggles):
    actuators = CC.actuators
    hud_control = CC.hudControl
@@ -348,7 +397,7 @@ class CarController(CarControllerBase):
    # *** CAN/CAN FD specific ***
    if self.CP.flags & HyundaiFlags.CANFD:
      can_sends.extend(self.create_canfd_msgs(now_nanos, apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel,
-                                              stopping, hud_control, CS, CC))
+                                              stopping, hud_control, CS, CC, starpilot_toggles))
    else:
      can_sends.extend(self.create_can_msgs(apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel,
                                            stopping, hud_control, actuators, CS, CC))
@@ -428,7 +477,7 @@ class CarController(CarControllerBase):

    return can_sends

-  def create_canfd_msgs(self, now_nanos, apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel, stopping, hud_control, CS, CC):
+  def create_canfd_msgs(self, now_nanos, apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel, stopping, hud_control, CS, CC, starpilot_toggles):
    can_sends = []

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
@@ -479,6 +528,8 @@ class CarController(CarControllerBase):
        if self._ioniq_6_lane_change_ui_trigger_frames > 0:
          self._ioniq_6_lane_change_ui_trigger_frames -= 1

+    can_sends.extend(self._update_ioniq_6_always_ipedal(CC, CS, starpilot_toggles))
+
    if self.long_active_ecu:
      if lka_steering:
        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
@@ -24,6 +24,8 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu

 IONIQ_6_BLINDSPOT_RIGHT_MASK = 0x08
 IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
+IONIQ_6_IPEDAL_REGEN_STATE = 0x50
+IONIQ_6_IPEDAL_REGEN_STATE_2 = 0x03


 def calculate_canfd_speed_limit(CP, FPCP, cp, cp_cam, speed_factor):
@@ -43,6 +45,10 @@ def decode_ioniq_6_blindspot_radar_state(state: int) -> tuple[bool, bool]:
  return bool(state_int & IONIQ_6_BLINDSPOT_LEFT_MASK), bool(state_int & IONIQ_6_BLINDSPOT_RIGHT_MASK)


+def decode_ioniq_6_ipedal_state(regen_state: int, regen_state_2: int) -> bool:
+  return int(regen_state) == IONIQ_6_IPEDAL_REGEN_STATE and int(regen_state_2) == IONIQ_6_IPEDAL_REGEN_STATE_2
+
+
 class CarState(CarStateBase):
  @staticmethod
  def get_canfd_blinker_sig_names(car_fingerprint, use_alt_lamp: bool) -> tuple[str, str]:
@@ -61,6 +67,8 @@ class CarState(CarStateBase):
    self.mode_button = 0
    self.custom_button = 0
    self.cancel_button_enable_in_progress = False
+    self.cruise_buttons_msg = {}
+    self.ipedal_active = False

    self.gear_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
                          "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
@@ -309,6 +317,7 @@ class CarState(CarStateBase):

    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    self.ipedal_active = False

    if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID):
      ret.gasPressed = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] > 1e-5
@@ -386,6 +395,9 @@ class CarState(CarStateBase):
    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
    if self.CP.flags & HyundaiFlags.EV:
      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
+      if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+        msla = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]
+        self.ipedal_active = decode_ioniq_6_ipedal_state(msla["EV_REGEN_STATE"], msla["EV_REGEN_STATE_2"])

    prev_cruise_buttons = self.cruise_buttons[-1]
    prev_main_buttons = self.main_buttons[-1]
@@ -396,6 +408,7 @@ class CarState(CarStateBase):
    self.lda_button = cp.vl[self.cruise_btns_msg_canfd]["LDA_BTN"]
    self.left_paddle = 0
    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+      self.cruise_buttons_msg = copy.copy(cp.vl["CRUISE_BUTTONS"])
      self.left_paddle = cp.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"]
    self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
    ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
@@ -156,12 +156,15 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
  return packer.make_can_msg(suppress_msg, CAN.ACAN, values)


-def create_buttons(packer, CP, CAN, cnt, btn):
-  values = {
+def create_buttons(packer, CP, CAN, cnt, btn=0, base_values=None, left_paddle=False, right_paddle=False):
+  values = {k: v for k, v in base_values.items() if k not in ("_CHECKSUM", "COUNTER")} if base_values else {}
+  values.update({
    "COUNTER": cnt,
    "SET_ME_1": 1,
    "CRUISE_BUTTONS": btn,
-  }
+    "LEFT_PADDLE": int(left_paddle),
+    "RIGHT_PADDLE": int(right_paddle),
+  })

  bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else CAN.CAM
  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
@@ -7,9 +7,9 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
 from opendbc.car.structs import CarControl, CarParams
 from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
-from opendbc.car.hyundai.carcontroller import Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
+from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
                                              update_ioniq_6_longitudinal_tuning, update_genesis_g90_longitudinal_tuning
-from opendbc.car.hyundai.carstate import CarState, decode_ioniq_6_blindspot_radar_state
+from opendbc.car.hyundai.carstate import CarState, decode_ioniq_6_blindspot_radar_state, decode_ioniq_6_ipedal_state
 from opendbc.car.hyundai.interface import CarInterface
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
@@ -53,7 +53,7 @@ CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}


 def get_test_toggles() -> SimpleNamespace:
-  return SimpleNamespace(always_on_lateral_lkas=False, force_torque_controller=False, nnff=False, nnff_lite=False)
+  return SimpleNamespace(always_ipedal=False, always_on_lateral_lkas=False, force_torque_controller=False, nnff=False, nnff_lite=False)


 class TestHyundaiFingerprint:
@@ -294,6 +294,78 @@ class TestHyundaiFingerprint:
    ret = update(0, 3)
    assert any(be.type == ButtonType.altButton2 and not be.pressed for be in ret.buttonEvents)

+  def test_ioniq_6_ipedal_state_decode(self):
+    assert not decode_ioniq_6_ipedal_state(0x3C, 0x01)
+    assert decode_ioniq_6_ipedal_state(0x50, 0x03)
+
+  def test_ioniq_6_msla_regen_signals_decode(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("MANUAL_SPEED_LIMIT_ASSIST", 0)], can_bus.ECAN)
+
+    msg = packer.make_can_msg("MANUAL_SPEED_LIMIT_ASSIST", can_bus.ECAN, {
+      "MSLA_STATUS": 0,
+      "MSLA_ENABLED": 0,
+      "MAX_SPEED": 0,
+      "MAX_SPEED_COPY": 0,
+      "EV_REGEN_STATE": 0x50,
+      "EV_REGEN_STATE_2": 0x03,
+    })
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["MANUAL_SPEED_LIMIT_ASSIST"]["EV_REGEN_STATE"] == 0x50
+    assert parser.vl["MANUAL_SPEED_LIMIT_ASSIST"]["EV_REGEN_STATE_2"] == 0x03
+
+  def test_ioniq_6_always_ipedal_spoofs_left_paddle_until_latched(self):
+    toggles = get_test_toggles()
+    toggles.always_ipedal = True
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    can_bus = CanBus(CP)
+    parser_bus = can_bus.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else can_bus.CAM
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CRUISE_BUTTONS", 0)], parser_bus)
+
+    cs = SimpleNamespace(
+      out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.drive),
+      ipedal_active=False,
+      buttons_counter=5,
+      cruise_buttons_msg={
+        "_CHECKSUM": 0,
+        "COUNTER": 5,
+        "CRUISE_BUTTONS": 0,
+        "ADAPTIVE_CRUISE_MAIN_BTN": 0,
+        "NORMAL_CRUISE_MAIN_BTN": 0,
+        "LDA_BTN": 0,
+        "RIGHT_PADDLE": 0,
+        "LEFT_PADDLE": 0,
+        "SET_ME_1": 1,
+      },
+    )
+    cc = SimpleNamespace(enabled=False)
+
+    controller._ioniq_6_last_gear = structs.CarState.GearShifter.reverse
+    sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
+    parser.update([(1, sends)])
+
+    assert sends
+    assert parser.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"] == 1
+    assert parser.vl["CRUISE_BUTTONS"]["COUNTER"] == 6
+    assert controller._ioniq_6_always_ipedal_pending
+
+    controller.frame = 2
+    cs.ipedal_active = True
+    sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
+
+    assert sends == []
+    assert not controller._ioniq_6_always_ipedal_pending
+    assert controller._ioniq_6_always_ipedal_press_remaining == 0
+
  def test_ioniq_6_longitudinal_params_match_canfd_tune(self):
    toggles = get_test_toggles()
    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -822,8 +822,10 @@ BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
 SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ MSLA_STATUS : 26|2@1+ (1,0) [0|3] "" XXX
 SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ EV_REGEN_STATE : 104|8@1+ (1,0) [0|255] "" XXX
 SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ MAX_SPEED_COPY : 144|8@1+ (1,0) [0|255] "" XXX
+ SG_ EV_REGEN_STATE_2 : 184|8@1+ (1,0) [0|255] "" XXX

 BO_ 837 ADRV_0x345: 8 ADRV
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -177,7 +177,7 @@ class VehicleSettingsManagerView(Widget):
      count = 1
      if cs.isGM: count += 4
      if cs.isGM and cs.isVolt and not cs.hasSNG: count += 1
-      if cs.isHKG and cs.isHKGCanFd: count += 1
+      if cs.isHKG and cs.isHKGCanFd: count += 2
      if cs.isSubaru: count += 1
      if cs.isToyota: count += 4
      if cs.isToyota and not cs.hasSNG: count += 1
@@ -469,6 +469,11 @@ class VehicleSettingsManagerView(Widget):
    rows.append({"target_id": "toggle:RemapCancelToDistance", "type": "toggle",
                  "title": tr("Remap Cancel Button"), "subtitle": tr("Remap the Cancel button to act as the Distance button."),
                  "get_state": lambda: self._controller._params.get_bool("RemapCancelToDistance")})
+    if cs.isHKGCanFd:
+      rows.append({"target_id": "toggle:AlwaysIPedal", "type": "toggle",
+                    "title": tr("Always I-Pedal"),
+                    "subtitle": tr("Spoof the left paddle after shifting into Drive until i-Pedal latches."),
+                    "get_state": lambda: self._controller._params.get_bool("AlwaysIPedal")})
    if cs.isHKGCanFd and cs.hasOpenpilotLongitudinal:
      rows.append({"target_id": "toggle:NostalgiaMode", "type": "toggle",
                    "title": tr("Nostalgia Mode"),
@@ -769,6 +769,7 @@ class StarPilotVariables:
    toggle.no_uploads = self.get_value("NoUploads", condition=device_management and not self.vetting_branch)
    toggle.no_onroad_uploads = self.get_value("DisableOnroadUploads", condition=toggle.no_uploads)

+    toggle.always_ipedal = self.get_value("AlwaysIPedal", condition=toggle.car_model == HYUNDAI_CAR.HYUNDAI_IONIQ_6)
    toggle.nostalgia_mode = self.get_value("NostalgiaMode", condition=toggle.openpilot_longitudinal and toggle.car_model == HYUNDAI_CAR.HYUNDAI_IONIQ_6)

    distance_button_control = self.get_value("DistanceButtonControl", cast=float)
@@ -2323,6 +2323,13 @@
        "data_type": "bool",
        "ui_type": "toggle"
      },
+      {
+        "key": "AlwaysIPedal",
+        "label": "Always I-Pedal",
+        "description": "Automatically spoof the left paddle when shifting into Drive until i-Pedal latches on supported Hyundai CAN-FD cars.",
+        "data_type": "bool",
+        "ui_type": "toggle"
+      },
      {
        "key": "NostalgiaMode",
        "label": "Nostalgia Mode",
@@ -68,6 +68,21 @@ StarPilotWheelPanel::StarPilotWheelPanel(StarPilotSettingsWindow *parent, bool f
    update();
  });

+  ParamControl *alwaysIPedalToggle = new ParamControl(
+    "AlwaysIPedal",
+    tr("Always I-Pedal"),
+    tr("<b>Automatically spoof the left paddle when shifting into Drive</b> until i-Pedal latches on supported Hyundai CAN-FD cars."),
+    "../../starpilot/assets/toggle_icons/icon_mute.png"
+  );
+  toggles["AlwaysIPedal"] = alwaysIPedalToggle;
+  addItem(alwaysIPedalToggle);
+  QObject::connect(alwaysIPedalToggle, &AbstractControl::hideDescriptionEvent, [this]() {
+    update();
+  });
+  QObject::connect(alwaysIPedalToggle, &AbstractControl::showDescriptionEvent, [this]() {
+    update();
+  });
+
  const std::vector<std::tuple<QString, QString, QString, QString>> wheelToggles {
    {"DistanceButtonControl", tr("Distance Button"), tr("<b>Action performed when the \"Distance\" button is pressed.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
    {"LongDistanceButtonControl", tr("Distance Button (Long Press)"), tr("<b>Action performed when the \"Distance\" button is pressed for more than 0.5 seconds.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
@@ -148,6 +163,10 @@ void StarPilotWheelPanel::updateToggles() {
      setVisible &= parent->hasOpenpilotLongitudinal;
    }

+    if (!showAllToggles && key == "AlwaysIPedal") {
+      setVisible &= parent->isHKGCanFd;
+    }
+
    if (!showAllToggles && (
        key == "ModeButtonControl" ||
        key == "LongModeButtonControl" ||