HKG Test

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -7,7 +7,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, Buttons, CarControllerParams
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, CAR, DBC, Buttons, CarControllerParams
 from opendbc.car.interfaces import CarStateBase
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -22,6 +22,18 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
+def calculate_canfd_speed_limit(CP, FPCP, cp, cp_cam, speed_factor):
+  if not (FPCP.flags & HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE):
+    return 0.0
+
+  speed_limit_bus = cp if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else cp_cam
+  try:
+    speed_limit = speed_limit_bus.vl["FR_CMR_02_100ms"]["ISLW_SpdCluMainDis"]
+    return speed_limit * speed_factor if 1 <= speed_limit <= 252 else 0.0
+  except (KeyError, ValueError):
+    return 0.0
+
+
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -269,6 +281,7 @@ class CarState(CarStateBase):
       ret.cruiseState.standstill = False
     else:
       cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
+      ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
       ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
@@ -301,6 +314,7 @@ class CarState(CarStateBase):
     ret.blockPcmEnable = not self.recent_button_interaction()
 
     fp_ret = custom.StarPilotCarState.new_message()
+    fp_ret.dashboardSpeedLimit = calculate_canfd_speed_limit(self.CP, self.FPCP, cp, cp_cam, speed_factor)
 
     return ret, fp_ret
 

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -59,6 +59,10 @@ class CarInterface(CarInterfaceBase):
         if not ret.flags & HyundaiFlags.RADAR_SCC:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
 
+      # Ioniq 6 HDA2 uses the camera SCC path for stock ACC, even on LKA steering variants.
+      if candidate == CAR.HYUNDAI_IONIQ_6:
+        ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
+
       # Some LKA steering cars have alternative messages for gear checks
       # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
       if 0x130 not in fingerprint[CAN.ECAN]:

opendbc_repo/opendbc/car/hyundai/values.py

@@ -73,6 +73,10 @@ class HyundaiStarPilotSafetyFlags(IntFlag):
   AOL_LKAS_ON_ENGAGE = 2048
 
 
+class HyundaiStarPilotFlags(IntFlag):
+  SPEED_LIMIT_AVAILABLE = 1
+
+
 class HyundaiFlags(IntFlag):
   # Dynamic Flags
 
@@ -350,7 +354,7 @@ class CAR(Platforms):
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
     HYUNDAI_IONIQ_5.specs,
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    flags=HyundaiFlags.EV,
   )
   HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
     [

opendbc_repo/opendbc/car/interfaces.py

@@ -20,7 +20,7 @@ from opendbc.car.common.simple_kalman import KF1D, get_kalman_gain
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HONDA_CAMERA_MESSAGE_CARS, HondaSafetyFlags, HondaStarPilotFlags
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotSafetyFlags
+from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaStarPilotFlags, ToyotaSafetyFlags
 from opendbc.car.values import PLATFORMS
@@ -214,8 +214,11 @@ class CarInterfaceBase(ABC):
       elif platform in HYUNDAI:
         if candidate in CANFD_CAR:
           hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
+          CAN = CanBus(None, fingerprint, bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING))
 
           fp_ret.isHDA2 = hda2
+          if 0x1FA in fingerprint[CAN.ECAN]:
+            fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value
 
         if CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value