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EV6 Hotfix

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firestar5683
2026-09-10 11:30:48 -05:00
parent 1c35e376e9
commit 79b791a26b
3 changed files with 24 additions and 13 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+1 -1
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@@ -860,7 +860,7 @@ class CarController(CarControllerBase):
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.KIA_EV6)
lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
lka_steering_long = lka_steering and lfa_longitudinal_active
opendbc_repo/opendbc/car/hyundai/interface.py
+10 -8
View File
@@ -27,6 +27,15 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
ButtonType = structs.CarState.ButtonEvent.Type
Ecu = structs.CarParams.Ecu
def get_communication_control_request(car_fingerprint):
if car_fingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and car_fingerprint != CAR.KIA_EV6:
return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
uds.MESSAGE_TYPE.NORMAL])
return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
uds.MESSAGE_TYPE.NORMAL])
# Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
@@ -353,14 +362,7 @@ class CarInterface(CarInterfaceBase):
params = Params()
if communication_control is None:
if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
# Don't use 0x80 suppress bit so we can read the ECU response.
# Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
# while blocking SCC TX.
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
else:
# 0x80 silences response for other cars (original behavior)
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
communication_control = get_communication_control_request(CP.carFingerprint)
ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+13 -4
View File
@@ -4,7 +4,7 @@ from types import SimpleNamespace
import pytest
from opendbc.can import CANPacker, CANParser
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs, uds
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, CANCEL_BUTTON_DELAY_FRAMES, Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
@@ -24,7 +24,7 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
clear_ioniq_6_torque_when_request_inactive
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
get_canfd_cruise_available
from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
from opendbc.car.hyundai import hyundaican, hyundaicanfd
from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
@@ -129,6 +129,14 @@ def get_test_toggles() -> SimpleNamespace:
class TestHyundaiFingerprint:
def test_ev6_uses_stock_hda2_communication_control_path(self):
stock_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x83, uds.MESSAGE_TYPE.NORMAL])
radar_keepalive_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
assert get_communication_control_request(CAR.KIA_EV6) == stock_request
assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
def test_carnival_hev_low_speed_torque_rate_limits(self):
CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
False, False, False, None)
@@ -2552,9 +2560,10 @@ class TestHyundaiFingerprint:
if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
def test_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
@pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6])
def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
CP.carFingerprint = car
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
CP.openpilotLongitudinalControl = True