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firestar5683
2026-04-29 23:11:46 -05:00
parent b3a2f141d6
commit b5340a3f3d
2 changed files with 10 additions and 1 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+6 -1
View File
@@ -21,6 +21,7 @@ MAX_ANGLE = 85
MAX_ANGLE_FRAMES = 89
MAX_ANGLE_CONSECUTIVE_FRAMES = 2
CANFD_BLINDSPOT_STATUS_STALE_NS = 200_000_000
CANFD_BLINKER_STALKS_STALE_NS = 200_000_000
HYUNDAI_CANFD_SCC_ACCEL_STEP = 5.0 / 50.0
HYUNDAI_CANFD_SCC_DECEL_STEP = 12.5 / 50.0
IONIQ_6_LONG_MIN_JERK = 0.5
@@ -348,12 +349,16 @@ class CarController(CarControllerBase):
lane_change_ui_side = "left"
elif CC.rightBlinker and not CC.leftBlinker:
lane_change_ui_side = "right"
stock_blinker_stalks_live = now_nanos - CS.stock_blinker_stalks_ts <= CANFD_BLINKER_STALKS_STALE_NS
if lane_change_ui_side != self._ioniq_6_lane_change_ui_side:
self._ioniq_6_lane_change_ui_side = lane_change_ui_side
self._ioniq_6_lane_change_ui_trigger_frames = 6 if lane_change_ui_side is not None else 0
if lane_change_ui_side is not None:
if stock_blinker_stalks_live:
self._ioniq_6_lane_change_ui_trigger_frames = 0
if lane_change_ui_side is not None and not stock_blinker_stalks_live:
trigger = self._ioniq_6_lane_change_ui_trigger_frames > 0
can_sends.extend(hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(self.CAN, self.frame,
lane_change_ui_side, trigger))
opendbc_repo/opendbc/car/hyundai/carstate.py
+4
View File
@@ -88,6 +88,7 @@ class CarState(CarStateBase):
self.cruise_info = {}
self.stock_lfa_msg = {}
self.stock_lfahda_cluster_msg = {}
self.stock_blinker_stalks_ts = 0
self.blindspots_rear_corners = {}
self.blindspots_front_corner_1 = {}
self.blindspots_rear_corners_ts = 0
@@ -365,6 +366,8 @@ class CarState(CarStateBase):
self.stock_lfa_msg = copy.copy(cp.vl["LFA"])
if cp.ts_nanos["LFAHDA_CLUSTER"]["CHECKSUM"] > 0:
self.stock_lfahda_cluster_msg = copy.copy(cp.vl["LFAHDA_CLUSTER"])
if cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"] > 0:
self.stock_blinker_stalks_ts = cp.ts_nanos["BLINKER_STALKS"]["CHECKSUM_MAYBE"]
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
@@ -408,6 +411,7 @@ class CarState(CarStateBase):
msgs += [
("LFA", 0), # optional: may stop once OP takes over, but preserve stock UI fields when present
("LFAHDA_CLUSTER", 0), # optional: carries cluster icon state on some variants
("BLINKER_STALKS", 0), # optional: some trims publish live stalk/light state on ECAN during turn camera events
]
if CP.flags & HyundaiFlags.EV:
msgs.append(("DRIVE_MODE_EV", 0)) # optional: not all CAN-FD EV variants publish drive mode