ioniq tests

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -19,6 +19,7 @@ MAX_ANGLE = 85
 MAX_ANGLE_FRAMES = 89
 MAX_ANGLE_CONSECUTIVE_FRAMES = 2
 CANFD_BLINDSPOT_STATUS_STALE_NS = 200_000_000
+IONIQ_6_LANE_CHANGE_UI_MIN_SPEED = 20 * CV.MPH_TO_MS
 
 
 def process_hud_alert(enabled, fingerprint, hud_control):
@@ -223,6 +224,9 @@ class CarController(CarControllerBase):
     if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
       can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
 
+    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and CC.enabled and CS.out.vEgo >= IONIQ_6_LANE_CHANGE_UI_MIN_SPEED:
+      can_sends.append(hyundaicanfd.create_ioniq_6_lane_change_status(self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
+
     # blinkers
     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))

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -307,8 +307,12 @@ class CarState(CarStateBase):
         cp.vl["BLINDSPOTS_FRONT_CORNER_2"]["SIDE_DETECT_STATE"])
     if self.CP.enableBsm:
       if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
-        ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["LEFT_MB"] != 0 or self.left_blindspot_from_radar
-        ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["MORE_LEFT_PROB"] != 0 or self.right_blindspot_from_radar
+        ret.leftBlindspot = (cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 or
+                             cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR_ALT"] != 0 or
+                             self.left_blindspot_from_radar)
+        ret.rightBlindspot = (cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 or
+                              cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR_ALT"] != 0 or
+                              self.right_blindspot_from_radar)
       else:
         ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
         ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -1,6 +1,6 @@
 import copy
 import numpy as np
-from opendbc.car import CanBusBase
+from opendbc.car import CanBusBase, CanData
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 
@@ -196,12 +196,38 @@ def create_lfahda_cluster(packer, CAN, enabled):
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
+IONIQ_6_LANE_CHANGE_UI_ADDR = 0x120
+IONIQ_6_LANE_CHANGE_UI_TEMPLATE = bytearray.fromhex("0000000000000005ffd9671f46454645d90200000000000000000a0000002040")
+IONIQ_6_LANE_CHANGE_UI_BASE = (0x45, 0xD9)
+IONIQ_6_LANE_CHANGE_UI_RIGHT = (0x45, 0xDA)
+IONIQ_6_LANE_CHANGE_UI_LEFT = (0x46, 0xDD)
+
+
+def create_ioniq_6_lane_change_status(CAN, counter: int, left_blinker: bool, right_blinker: bool):
+  dat = bytearray(IONIQ_6_LANE_CHANGE_UI_TEMPLATE)
+  dat[2] = counter & 0xFF
+
+  state = IONIQ_6_LANE_CHANGE_UI_BASE
+  if left_blinker:
+    state = IONIQ_6_LANE_CHANGE_UI_LEFT
+  elif right_blinker:
+    state = IONIQ_6_LANE_CHANGE_UI_RIGHT
+
+  dat[15], dat[16] = state
+  dat[0:2] = hkg_can_fd_checksum(IONIQ_6_LANE_CHANGE_UI_ADDR, None, dat).to_bytes(2, "little")
+  return CanData(IONIQ_6_LANE_CHANGE_UI_ADDR, bytes(dat), CAN.ECAN)
+
+
 def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values, left_blindspot=False, right_blindspot=False):
   # Reuse the last known-good payload but regenerate the rolling counter/checksum.
   rear = {k: v for k, v in rear_values.items() if k not in ("CHECKSUM", "COUNTER")}
   front = {k: v for k, v in front_corner_values.items() if k not in ("CHECKSUM", "COUNTER")}
   rear["LEFT_MB"] = int(left_blindspot)
   rear["MORE_LEFT_PROB"] = int(right_blindspot)
+  rear["FL_INDICATOR"] = int(left_blindspot)
+  rear["FR_INDICATOR"] = int(right_blindspot)
+  rear["FL_INDICATOR_ALT"] = int(left_blindspot)
+  rear["FR_INDICATOR_ALT"] = int(right_blindspot)
   if "NEW_SIGNAL_3" not in front:
     front["NEW_SIGNAL_3"] = 1
 

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -277,8 +277,37 @@ class TestHyundaiFingerprint:
     assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["COUNTER"] == 0
     assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["LEFT_MB"] == 1
     assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["MORE_LEFT_PROB"] == 0
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] == 1
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] == 0
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR_ALT"] == 1
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR_ALT"] == 0
     assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["NEW_SIGNAL_3"] == 1
 
+  def test_ioniq_6_lane_change_ui_helper_regenerates_checksum_and_state(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+
+    can_bus = CanBus(CP)
+
+    base_msg = hyundaicanfd.create_ioniq_6_lane_change_status(can_bus, 0x12, left_blinker=False, right_blinker=False)
+    right_msg = hyundaicanfd.create_ioniq_6_lane_change_status(can_bus, 0x34, left_blinker=False, right_blinker=True)
+    left_msg = hyundaicanfd.create_ioniq_6_lane_change_status(can_bus, 0x56, left_blinker=True, right_blinker=False)
+
+    assert base_msg[0] == 0x120
+    assert base_msg[2] == can_bus.ECAN
+    assert base_msg[1][2] == 0x12
+    assert right_msg[1][2] == 0x34
+    assert left_msg[1][2] == 0x56
+
+    assert hyundaicanfd.hkg_can_fd_checksum(base_msg[0], None, bytearray(base_msg[1])) == int.from_bytes(base_msg[1][:2], "little")
+    assert hyundaicanfd.hkg_can_fd_checksum(right_msg[0], None, bytearray(right_msg[1])) == int.from_bytes(right_msg[1][:2], "little")
+    assert hyundaicanfd.hkg_can_fd_checksum(left_msg[0], None, bytearray(left_msg[1])) == int.from_bytes(left_msg[1][:2], "little")
+
+    assert (base_msg[1][15], base_msg[1][16]) == hyundaicanfd.IONIQ_6_LANE_CHANGE_UI_BASE
+    assert (right_msg[1][15], right_msg[1][16]) == hyundaicanfd.IONIQ_6_LANE_CHANGE_UI_RIGHT
+    assert (left_msg[1][15], left_msg[1][16]) == hyundaicanfd.IONIQ_6_LANE_CHANGE_UI_LEFT
+
   def test_ioniq_6_blindspot_radar_state_decode(self):
     assert decode_ioniq_6_blindspot_radar_state(0x02) == (False, False)
     assert decode_ioniq_6_blindspot_radar_state(0x0A) == (False, True)

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -289,6 +289,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
     HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
     HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(1)
+    {0x120, 1, 32, .check_relay = false},  // IONIQ_6 lane change UI
     {0x51,  0, 32, .check_relay = false},  // ADRV_0x51
     {0x730, 1,  8, .check_relay = false},  // tester present for ADAS ECU disable
     {0x160, 1, 16, .check_relay = false},  // ADRV_0x160

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -450,7 +450,7 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
 
 class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):
 
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
+  TX_MSGS = [[0x50, 0], [0x120, 1], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
              [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4), 1: (0x1a0,)}  # LKAS, CAM_0x2A4, SCC_CONTROL

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-9f1a9298-DEBUG";
+const uint8_t gitversion[19] = "DEV-962e0d74-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-9f1a9298-DEBUG
+DEV-962e0d74-DEBUG

selfdrive/controls/lib/latcontrol_torque.py

@@ -204,7 +204,7 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
 IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
 IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
 IONIQ_6_FF_GAIN_LEFT = 0.050
-IONIQ_6_FF_GAIN_RIGHT = 0.004
+IONIQ_6_FF_GAIN_RIGHT = 0.000
 IONIQ_6_FF_ONSET = 0.10
 IONIQ_6_FF_ONSET_WIDTH = 0.04
 IONIQ_6_FF_CUTOFF = 0.52
@@ -212,22 +212,22 @@ IONIQ_6_FF_CUTOFF_WIDTH = 0.12
 IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
 IONIQ_6_TURN_IN_BOOST_LEFT = 0.52
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.40
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.36
 IONIQ_6_UNWIND_TAPER_LEFT = 0.60
-IONIQ_6_UNWIND_TAPER_RIGHT = 1.18
+IONIQ_6_UNWIND_TAPER_RIGHT = 1.24
 IONIQ_6_FRICTION_MULT = 0.995
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.12
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
 IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.42
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.02
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.08
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.36
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.82
-IONIQ_6_CENTER_TAPER_MAX = 0.015
-IONIQ_6_CENTER_TAPER_LAT = 0.06
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.88
+IONIQ_6_CENTER_TAPER_MAX = 0.018
+IONIQ_6_CENTER_TAPER_LAT = 0.07
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5