From b5340a3f3dd94610f2f46cf12cd2490a2be539ec Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 29 Apr 2026 23:11:46 -0500
Subject: [PATCH] blinky

---
 opendbc_repo/opendbc/car/hyundai/carcontroller.py | 7 ++++++-
 opendbc_repo/opendbc/car/hyundai/carstate.py      | 4 ++++
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 12d35788b..5b56014a3 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -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))
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 3dd2b355b..ce9770a20 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -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