lane change?

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -63,6 +63,8 @@ class CarController(CarControllerBase):
     self._ecu_disable_checked = False
     self._params = Params()
     self.long_active_ecu = self.CP.openpilotLongitudinalControl
+    self._ioniq_6_lane_change_ui_side = None
+    self._ioniq_6_lane_change_ui_trigger_frames = 0
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
@@ -228,6 +230,24 @@ class CarController(CarControllerBase):
     if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))
 
+    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+      lane_change_ui_side = None
+      if CC.leftBlinker and not CC.rightBlinker:
+        lane_change_ui_side = "left"
+      elif CC.rightBlinker and not CC.leftBlinker:
+        lane_change_ui_side = "right"
+
+      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:
+        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))
+        if self._ioniq_6_lane_change_ui_trigger_frames > 0:
+          self._ioniq_6_lane_change_ui_trigger_frames -= 1
+
     if self.long_active_ecu:
       if lka_steering:
         can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -264,6 +264,18 @@ IONIQ_6_CLUSTER_BLINDSPOT_3B5 = {
 }
 
 
+IONIQ_6_CLUSTER_LANE_CHANGE_3C1 = {
+  "right": {
+    "trigger": bytes.fromhex("e910300041000000"),
+    "steady": bytes.fromhex("ab20300001000000"),
+  },
+  "left": {
+    "trigger": bytes.fromhex("3d40304010000000"),
+    "steady": bytes.fromhex("3e50300000000000"),
+  },
+}
+
+
 def create_ioniq_6_cluster_blindspot_messages(CAN, frame, left_blindspot=False, right_blindspot=False,
                                               left_blinker=False, right_blinker=False):
   side = None
@@ -291,6 +303,17 @@ def create_ioniq_6_cluster_blindspot_messages(CAN, frame, left_blindspot=False,
   return ret
 
 
+def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None, trigger=False):
+  if side not in IONIQ_6_CLUSTER_LANE_CHANGE_3C1:
+    return []
+
+  if trigger:
+    return [(0x3C1, IONIQ_6_CLUSTER_LANE_CHANGE_3C1[side]["trigger"], CAN.ECAN)]
+  if frame % 20 == 0:
+    return [(0x3C1, IONIQ_6_CLUSTER_LANE_CHANGE_3C1[side]["steady"], CAN.ECAN)]
+  return []
+
+
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5
   jn = jerk / 50

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

@@ -380,6 +380,27 @@ class TestHyundaiFingerprint:
     both_msgs = hyundaicanfd.create_ioniq_6_cluster_blindspot_messages(can_bus, 0, True, True)
     assert both_msgs == []
 
+  def test_ioniq_6_cluster_lane_change_helper_uses_stock_trigger_and_hold(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+
+    can_bus = CanBus(CP)
+
+    assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 7, "right") == []
+    assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 0, "right", trigger=True) == [
+      (0x3C1, bytes.fromhex("e910300041000000"), can_bus.ECAN),
+    ]
+    assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 20, "right") == [
+      (0x3C1, bytes.fromhex("ab20300001000000"), can_bus.ECAN),
+    ]
+    assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 0, "left", trigger=True) == [
+      (0x3C1, bytes.fromhex("3d40304010000000"), can_bus.ECAN),
+    ]
+    assert hyundaicanfd.create_ioniq_6_cluster_lane_change_messages(can_bus, 20, "left") == [
+      (0x3C1, bytes.fromhex("3e50300000000000"), can_bus.ECAN),
+    ]
+
   def test_sportage_angle_jerk_override_is_scoped(self):
     sportage = CarParams.new_message()
     sportage.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -29,6 +29,7 @@
   {0x1E5, e_can, 16, .check_relay = false},  /* BLINDSPOTS_FRONT_CORNER_1 */ \
   {0x31A, e_can, 32, .check_relay = false},  /* cluster blindspot overlay */ \
   {0x3B5, e_can, 32, .check_relay = false},  /* cluster blindspot overlay */ \
+  {0x3C1, e_can, 8, .check_relay = false},  /* cluster lane change overlay */ \
 
 // *** Addresses checked in rx hook ***
 // EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -451,7 +451,7 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
 class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):
 
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
-             [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x31a, 1], [0x3b5, 1],
+             [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x31a, 1], [0x3b5, 1], [0x3c1, 1],
              [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4), 1: (0x1a0,)}  # LKAS, CAM_0x2A4, SCC_CONTROL
@@ -481,7 +481,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
 # Tests longitudinal for ICE, hybrid, EV cars with LFA steering
 class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase):
 
-  TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0], [0x1BA, 0], [0x1E5, 0], [0x31A, 0], [0x3B5, 0]]
+  TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0], [0x1BA, 0], [0x1E5, 0], [0x31A, 0], [0x3B5, 0], [0x3C1, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0xcb, 0x1e0, 0x1a0, 0x160]}
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0xCB, 0x1E0, 0x1a0, 0x160)}  # LFA, ADAS_CMD_35_10ms, LFAHDA_CLUSTER, SCC_CONTROL, ADRV_0x160

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-71528fd5-DEBUG";
+const uint8_t gitversion[19] = "DEV-da61e79f-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-71528fd5-DEBUG
+DEV-da61e79f-DEBUG