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firestar5683
2026-05-05 11:59:29 -05:00
parent 5e0447df1e
commit 4747792c37
2 changed files with 19 additions and 8 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+11 -6
View File
@@ -244,10 +244,10 @@ class CarController(CarControllerBase):
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_always_ipedal_startup_park_done = False
self._ioniq_6_last_ipedal_regen_state = 0
self._ioniq_6_last_ipedal_regen_state_2 = 0
self._ioniq_6_last_buttons_counter = 0
self._ioniq_6_last_gear = structs.CarState.GearShifter.unknown
self._genesis_g90_long_tuning = GenesisG90LongitudinalTuningState()
@@ -269,13 +269,16 @@ class CarController(CarControllerBase):
self._ioniq_6_always_ipedal_startup_park_done = False
self._ioniq_6_last_ipedal_regen_state = int(getattr(CS, "ipedal_regen_state", 0))
self._ioniq_6_last_ipedal_regen_state_2 = int(getattr(CS, "ipedal_regen_state_2", 0))
self._ioniq_6_last_buttons_counter = int(getattr(CS, "buttons_counter", 0))
self._ioniq_6_last_gear = CS.out.gearShifter
return can_sends
gear = CS.out.gearShifter
regen_state = int(getattr(CS, "ipedal_regen_state", 0))
regen_state_2 = int(getattr(CS, "ipedal_regen_state_2", 0))
buttons_counter = int(getattr(CS, "buttons_counter", 0))
regen_state_changed = regen_state != self._ioniq_6_last_ipedal_regen_state or regen_state_2 != self._ioniq_6_last_ipedal_regen_state_2
buttons_counter_changed = buttons_counter != self._ioniq_6_last_buttons_counter
ipedal_latch_pending = regen_state == IONIQ_6_IPEDAL_REGEN_STATE and regen_state_2 == IONIQ_6_IPEDAL_REGEN_STATE_2_PENDING
drive = gear == structs.CarState.GearShifter.drive
park = gear == structs.CarState.GearShifter.park
@@ -301,13 +304,14 @@ class CarController(CarControllerBase):
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_LATCH_PRESS_SEND_COUNT if ipedal_latch_pending \
else IONIQ_6_IPEDAL_PRESS_SEND_COUNT
self._ioniq_6_always_ipedal_counter = hyundaicanfd.get_ioniq_6_cruise_buttons_next_counter(CS.buttons_counter)
if self._ioniq_6_always_ipedal_press_remaining > 0 and self.frame % 2 == 0:
# Mirror the current stock counter after seeing the real CRUISE_BUTTONS frame land on the bus.
# Sending the next counter early creates a paddle frame that gets followed by the stock no-paddle
# frame for that same counter, which matches the "UI changed but drivetrain didn't latch" behavior.
if self._ioniq_6_always_ipedal_press_remaining > 0 and buttons_counter_changed and \
0 <= buttons_counter < hyundaicanfd.IONIQ_6_CRUISE_BUTTONS_COUNTER_MAX:
can_sends.append(hyundaicanfd.create_ioniq_6_paddle_buttons(self.packer, self.CP, self.CAN,
self._ioniq_6_always_ipedal_counter, left_paddle=True))
self._ioniq_6_always_ipedal_counter = hyundaicanfd.get_ioniq_6_cruise_buttons_next_counter(
self._ioniq_6_always_ipedal_counter)
buttons_counter, left_paddle=True))
self._ioniq_6_always_ipedal_press_remaining -= 1
if self._ioniq_6_always_ipedal_press_remaining == 0:
retry_wait_frames = IONIQ_6_IPEDAL_PROGRESS_RETRY_WAIT_FRAMES if regen_state_changed else IONIQ_6_IPEDAL_RETRY_WAIT_FRAMES
@@ -315,6 +319,7 @@ class CarController(CarControllerBase):
self._ioniq_6_last_ipedal_regen_state = regen_state
self._ioniq_6_last_ipedal_regen_state_2 = regen_state_2
self._ioniq_6_last_buttons_counter = buttons_counter
self._ioniq_6_last_gear = gear
return can_sends
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+8 -2
View File
@@ -374,14 +374,20 @@ class TestHyundaiFingerprint:
parser.update([(1, sends)])
assert sends
assert sends[0][1].hex() == "9060002800000000"
assert sends[0][1].hex() == "4650002800000000"
assert parser.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"] == 1
assert parser.vl["CRUISE_BUTTONS"]["COUNTER"] == 6
assert parser.vl["CRUISE_BUTTONS"]["COUNTER"] == 5
assert controller._ioniq_6_always_ipedal_pending
assert not controller._ioniq_6_always_ipedal_startup_park_done
controller.frame = 1
sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
assert sends == []
controller.frame = 2
cs.out.gearShifter = structs.CarState.GearShifter.drive
cs.buttons_counter = 6
sends = controller._update_ioniq_6_always_ipedal(cc, cs, toggles)
assert sends