ipedal

2026-06-30 02:52:04 +08:00 · 2026-05-05 11:11:10 -05:00
parent d9676ca194
commit 5e0447df1e
4 changed files with 67 additions and 5 deletions
@@ -54,6 +54,10 @@ 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_LATCH_PRESS_SEND_COUNT = 10
+IONIQ_6_IPEDAL_REGEN_STATE = 0x50
+IONIQ_6_IPEDAL_REGEN_STATE_2_PENDING = 0x01
+IONIQ_6_IPEDAL_PROGRESS_RETRY_WAIT_FRAMES = 10
 IONIQ_6_IPEDAL_RETRY_WAIT_FRAMES = 30


@@ -242,6 +246,8 @@ class CarController(CarControllerBase):
    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_gear = structs.CarState.GearShifter.unknown
    self._genesis_g90_long_tuning = GenesisG90LongitudinalTuningState()

@@ -261,10 +267,16 @@ class CarController(CarControllerBase):
    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_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_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))
+    regen_state_changed = regen_state != self._ioniq_6_last_ipedal_regen_state or regen_state_2 != self._ioniq_6_last_ipedal_regen_state_2
+    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
    drive_edge = drive and self._ioniq_6_last_gear != structs.CarState.GearShifter.drive
@@ -287,7 +299,8 @@ class CarController(CarControllerBase):

    if target_gear 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_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:
@@ -297,8 +310,11 @@ class CarController(CarControllerBase):
          self._ioniq_6_always_ipedal_counter)
        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
+          retry_wait_frames = IONIQ_6_IPEDAL_PROGRESS_RETRY_WAIT_FRAMES if regen_state_changed else IONIQ_6_IPEDAL_RETRY_WAIT_FRAMES
+          self._ioniq_6_always_ipedal_retry_frame = self.frame + retry_wait_frames

+    self._ioniq_6_last_ipedal_regen_state = regen_state
+    self._ioniq_6_last_ipedal_regen_state_2 = regen_state_2
    self._ioniq_6_last_gear = gear
    return can_sends

@@ -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_INTERMEDIATE_REGEN_STATE = 0x50
+IONIQ_6_IPEDAL_INTERMEDIATE_REGEN_STATE_2 = 0x01
 IONIQ_6_IPEDAL_REGEN_STATE = 0x50
 IONIQ_6_IPEDAL_REGEN_STATE_2 = 0x03

@@ -49,6 +51,10 @@ 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


+def decode_ioniq_6_ipedal_intermediate_state(regen_state: int, regen_state_2: int) -> bool:
+  return int(regen_state) == IONIQ_6_IPEDAL_INTERMEDIATE_REGEN_STATE and int(regen_state_2) == IONIQ_6_IPEDAL_INTERMEDIATE_REGEN_STATE_2
+
+
 class CarState(CarStateBase):
  @staticmethod
  def get_canfd_blinker_sig_names(car_fingerprint, use_alt_lamp: bool) -> tuple[str, str]:
@@ -69,6 +75,8 @@ class CarState(CarStateBase):
    self.cancel_button_enable_in_progress = False
    self.cruise_buttons_msg = {}
    self.ipedal_active = False
+    self.ipedal_regen_state = 0
+    self.ipedal_regen_state_2 = 0

    self.gear_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
                          "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
@@ -397,8 +405,9 @@ class CarState(CarStateBase):
      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"]
-        # Tolerate older/stale DBCs that do not yet expose the inferred regen state signals.
-        self.ipedal_active = decode_ioniq_6_ipedal_state(msla.get("EV_REGEN_STATE", 0), msla.get("EV_REGEN_STATE_2", 0))
+        self.ipedal_regen_state = int(msla.get("EV_REGEN_STATE", 0))
+        self.ipedal_regen_state_2 = int(msla.get("EV_REGEN_STATE_2", 0))
+        self.ipedal_active = decode_ioniq_6_ipedal_state(self.ipedal_regen_state, self.ipedal_regen_state_2)

    prev_cruise_buttons = self.cruise_buttons[-1]
    prev_main_buttons = self.main_buttons[-1]
@@ -9,7 +9,8 @@ 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 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, decode_ioniq_6_ipedal_state
+from opendbc.car.hyundai.carstate import CarState, decode_ioniq_6_blindspot_radar_state, decode_ioniq_6_ipedal_intermediate_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
@@ -296,6 +297,8 @@ class TestHyundaiFingerprint:

  def test_ioniq_6_ipedal_state_decode(self):
    assert not decode_ioniq_6_ipedal_state(0x3C, 0x01)
+    assert not decode_ioniq_6_ipedal_state(0x50, 0x01)
+    assert decode_ioniq_6_ipedal_intermediate_state(0x50, 0x01)
    assert decode_ioniq_6_ipedal_state(0x50, 0x03)

  def test_ioniq_6_msla_regen_signals_decode(self):
@@ -394,6 +397,38 @@ class TestHyundaiFingerprint:
    assert not controller._ioniq_6_always_ipedal_pending
    assert controller._ioniq_6_always_ipedal_press_remaining == 0

+  def test_ioniq_6_always_ipedal_uses_stronger_followup_pull_for_intermediate_latch_state(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)
+    cs = SimpleNamespace(
+      out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.drive),
+      ipedal_active=False,
+      ipedal_regen_state=0x50,
+      ipedal_regen_state_2=0x01,
+      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)
+
+    assert sends
+    assert controller._ioniq_6_always_ipedal_press_remaining == 9
+
  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)
@@ -823,7 +823,9 @@ BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
 SG_ MSLA_STATUS : 26|2@1+ (1,0) [0|3] "" XXX
 SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX
 SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ EV_REGEN_STATE : 104|8@1+ (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