i6

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -19,7 +19,6 @@ 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):
@@ -213,7 +212,8 @@ class CarController(CarControllerBase):
 
     # steering control
     can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
-                                                           apply_steer_req, apply_torque, apply_angle))
+                                                           apply_steer_req, apply_torque, apply_angle,
+                                                           CS.stock_lfa_msg))
 
     # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
     if self.frame % 5 == 0 and lka_steering:
@@ -222,10 +222,7 @@ class CarController(CarControllerBase):
 
     # LFA and HDA icons
     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))
+      can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CS.stock_lfahda_cluster_msg))
 
     # blinkers
     if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -86,6 +86,8 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
 
     self.cruise_info = {}
+    self.stock_lfa_msg = {}
+    self.stock_lfahda_cluster_msg = {}
     self.blindspots_rear_corners = {}
     self.blindspots_front_corner_1 = {}
     self.blindspots_rear_corners_ts = 0
@@ -361,6 +363,10 @@ class CarState(CarStateBase):
     if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
       self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
                                           else cp_cam.vl["CAM_0x2a4"])
+    if cp.ts_nanos["LFA"]["CHECKSUM"] > 0:
+      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"])
 
     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}),
@@ -397,6 +403,10 @@ class CarState(CarStateBase):
       msgs.append(("FR_CMR_02_100ms", 10))
     else:
       cam_msgs.append(("FR_CMR_02_100ms", 0))  # optional: not all non-LKA CANFD cars have this on CAM bus
+    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
+    ]
     if CP.flags & HyundaiFlags.EV:
       msgs.append(("DRIVE_MODE_EV", 0))  # optional: not all CAN-FD EV variants publish drive mode
     msgs.append(("STEERING_WHEEL_MEDIA_BUTTONS", 0))  # optional: absent or slower on some CAN-FD variants

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -91,24 +91,29 @@ def _create_angle_adas_cmd_msg(packer, CAN, apply_angle: float, lat_active: bool
   return packer.make_can_msg("ADAS_CMD_35_10ms", CAN.ECAN, values)
 
 
-def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle):
-  common_values = {
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle, lfa_base_values=None):
+  control_values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
     "TORQUE_REQUEST": 0 if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING else apply_torque,
     "LKA_ASSIST": 0,
     "STEER_REQ": 0 if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING else (1 if lat_active else 0),
     "STEER_MODE": 0,
-    "HAS_LANE_SAFETY": 0,  # hide LKAS settings
-    "NEW_SIGNAL_2": 0,
-    "DAMP_FACTOR": 100,  # can potentially tuned for better perf [3, 200]
   }
 
-  lkas_values = copy.copy(common_values)
+  lkas_values = copy.copy(control_values)
   lkas_values["LKA_AVAILABLE"] = 0
 
-  lfa_values = copy.copy(common_values)
-  lfa_values["NEW_SIGNAL_1"] = 0
+  if lfa_base_values:
+    # Preserve stock UI/status fields and only override the actuation-relevant signals.
+    lfa_values = {k: v for k, v in lfa_base_values.items() if k not in ("CHECKSUM", "COUNTER")}
+    lfa_values.update(control_values)
+  else:
+    lfa_values = copy.copy(control_values)
+    lfa_values["HAS_LANE_SAFETY"] = 0  # hide LKAS settings
+    lfa_values["NEW_SIGNAL_1"] = 0
+    lfa_values["NEW_SIGNAL_2"] = 0
+    lfa_values["DAMP_FACTOR"] = 100  # can potentially tuned for better perf [3, 200]
 
   if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
     lkas_values["ADAS_StrAnglReqVal"] = apply_angle
@@ -188,36 +193,15 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
 
-def create_lfahda_cluster(packer, CAN, enabled):
-  values = {
+def create_lfahda_cluster(packer, CAN, enabled, base_values=None):
+  values = {k: v for k, v in base_values.items() if k not in ("CHECKSUM", "COUNTER")} if base_values else {}
+  values.update({
     "HDA_ICON": 1 if enabled else 0,
     "LFA_ICON": 2 if enabled else 0,
-  }
+  })
   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")}

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

@@ -232,6 +232,49 @@ class TestHyundaiFingerprint:
     msgs = hyundaicanfd.create_steering_messages(packer, CP, CanBus(CP), True, True, 1.0, 12.3)
     assert [(addr, bus) for addr, _, bus in msgs] == [(0xCB, CanBus(CP).ECAN)]
 
+  def test_ioniq_6_lfa_helper_preserves_stock_ui_fields(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+    CP.openpilotLongitudinalControl = True
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
+
+    stock_lfa = {
+      "CHECKSUM": 1234,
+      "COUNTER": 42,
+      "LKA_MODE": 6,
+      "NEW_SIGNAL_1": 3,
+      "LKA_WARNING": 1,
+      "LKA_ICON": 1,
+      "TORQUE_REQUEST": 17,
+      "STEER_REQ": 0,
+      "LFA_BUTTON": 1,
+      "LKA_ASSIST": 1,
+      "STEER_MODE": 5,
+      "NEW_SIGNAL_2": 2,
+      "NEW_SIGNAL_4": 7,
+      "HAS_LANE_SAFETY": 1,
+      "DAMP_FACTOR": 0x77,
+    }
+
+    msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 123, 0.0, stock_lfa)
+    lfa_msgs = [msg for msg in msgs if msg[0] == 0x12A]
+    assert len(lfa_msgs) == 1
+
+    parser.update([(1, lfa_msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["LFA"]["NEW_SIGNAL_1"] == 3
+    assert parser.vl["LFA"]["NEW_SIGNAL_2"] == 2
+    assert parser.vl["LFA"]["HAS_LANE_SAFETY"] == 1
+    assert parser.vl["LFA"]["DAMP_FACTOR"] == 0x77
+    assert parser.vl["LFA"]["TORQUE_REQUEST"] == 123
+    assert parser.vl["LFA"]["STEER_REQ"] == 1
+    assert parser.vl["LFA"]["LKA_ICON"] == 2
+
   def test_ioniq_6_blindspot_status_helper_regenerates_counter_checksum(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
@@ -283,31 +326,6 @@ class TestHyundaiFingerprint:
     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

@@ -289,7 +289,6 @@ 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], [0x120, 1], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
+  TX_MSGS = [[0x50, 0], [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-962e0d74-DEBUG";
+const uint8_t gitversion[19] = "DEV-71528fd5-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-962e0d74-DEBUG
+DEV-71528fd5-DEBUG