blueee

Added date/time signal from Ioniq 6 can

cereal/log.capnp

@@ -132,6 +132,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     audioFeedback @97;
     bigModelLoading @100;
     bigModelFailed @102;
+    bigModelPending @103;
 
     soundsUnavailableDEPRECATED @47;
     stockLkasDEPRECATED @98;

common/params_keys.h

@@ -177,6 +177,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"UsbGpuPending", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
@@ -431,6 +432,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"HideSteeringWheel", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"HighwayCorrectionGain", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
     {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"IconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
@@ -576,7 +578,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PauseAOLOnBrake", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"PauseLateralOnSignal", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
-    {"LateralResumeDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
+    {"LateralResumeDelay",{PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
     {"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"PIPPreviewEnabled", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -441,12 +441,6 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
   )
 
 
-def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
-  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
-    return 0
-  return apply_torque
-
-
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -642,8 +636,6 @@ class CarController(CarControllerBase):
       if not CC.latActive:
         apply_torque = 0
 
-      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
-
       # Hold torque with induced temporary fault when cutting the actuation bit
       # FIXME: we don't use this with CAN FD?
       torque_fault = CC.latActive and not apply_steer_req
@@ -946,7 +938,8 @@ class CarController(CarControllerBase):
                                                              CS.stock_lfa_msg if preserve_stock_lfa_status else None,
                                                              CS.stock_lkas_msg if preserve_stock_lkas else None,
                                                              lka_icon=lka_icon,
-                                                             longitudinal_active=lfa_longitudinal_active))
+                                                             longitudinal_active=lfa_longitudinal_active,
+                                                             v_ego=getattr(getattr(CS, "out", None), "vEgo", None)))
     direct_steering_active = ccnc_angle_long and drive_gear and CC.latActive and self.direct_angle_request_allowed and not CS.angle_steering_fault
     inactive_steering_angle = float(np.clip(CS.angle_steering_angle,
                                             -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -7,6 +7,28 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR
 
+# Ioniq 6 EPS damping, matched to the car's own LFA. With the stock ADAS driving, the Ioniq 6 steers
+# through LFA (0x12A) and sends ONLY a damping value in LKAS_ALT (0x110 byte 8, Hyundai name
+# Damping_Gain); both are scheduled purely on speed (drive 00000b41: no dependence on angle, torque or
+# hands). openpilot sent a fixed 100 in LFA and never set LKAS_ALT's, so the EPS got 0 there. The
+# breakpoints are the stock medians per 5 mph band (centers) while the stock system is steering,
+# rising steadily to 163 (LFA) / 154 (LKAS_ALT) at 85-90 mph. openpilot's highway weave matched the
+# stock system at 45-60 mph and grew past it above 60 mph, exactly where the stock damping pulls away.
+# Below ~35 mph the previous values are kept (LFA floor 100, LKAS_ALT 0) so low-speed turn tuning
+# is untouched. The panda only checks torque/steer_req on these messages, not the damping byte.
+_DAMP_MPH = [37.5, 42.5, 47.5, 52.5, 57.5, 62.5, 67.5, 72.5, 77.5, 82.5, 87.5]
+IONIQ_6_LFA_DAMP_BP = [mph * CV.MPH_TO_MS for mph in _DAMP_MPH]
+IONIQ_6_LFA_DAMP_V = [100., 105., 107., 112., 116., 119., 133., 145., 151., 157., 163.]
+IONIQ_6_LKAS_ALT_DAMP_BP = [mph * CV.MPH_TO_MS for mph in [35.0] + _DAMP_MPH[1:]]
+IONIQ_6_LKAS_ALT_DAMP_V = [0., 125., 127., 132., 136., 139., 142., 144., 146., 150., 154.]
+
+
+def get_ioniq_6_damp_factors(v_ego: float) -> tuple[int, int]:
+  """(LFA DAMP_FACTOR, LKAS_ALT DAMP_FACTOR) for the Ioniq 6 at this speed."""
+  lfa = float(np.interp(v_ego, IONIQ_6_LFA_DAMP_BP, IONIQ_6_LFA_DAMP_V))
+  lkas_alt = float(np.interp(v_ego, IONIQ_6_LKAS_ALT_DAMP_BP, IONIQ_6_LKAS_ALT_DAMP_V))
+  return int(round(lfa)), int(round(lkas_alt))
+
 
 def _set_value(msg: bytearray, sig, ival: int) -> None:
   i = sig.lsb // 8
@@ -100,7 +122,7 @@ def create_angle_adas_cmd(packer, CAN, apply_angle: float, lat_active: bool, tor
 
 def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle,
                              lfa_base_values=None, lkas_base_values=None, lka_icon=None,
-                             longitudinal_active=None):
+                             longitudinal_active=None, v_ego=None):
   if lka_icon is None:
     lka_icon = 2 if enabled else 1
   if longitudinal_active is None:
@@ -142,6 +164,10 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     lfa_values["NEW_SIGNAL_2"] = 0
     lfa_values["DAMP_FACTOR"] = 100  # can potentially tuned for better perf [3, 200]
 
+  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and v_ego is not None and \
+     not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+    lfa_values["DAMP_FACTOR"], lkas_values["DAMP_FACTOR"] = get_ioniq_6_damp_factors(v_ego)
+
   if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
     lkas_values["ADAS_StrAnglReqVal"] = apply_angle
     lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1

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

@@ -20,8 +20,7 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              should_track_stop_accel_directly_for_car, \
                                              preserve_stock_canfd_lfa_status, \
                                              preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel, \
-                                             clear_ioniq_6_torque_when_request_inactive
+                                             suppress_redundant_gv70_brake_cancel
 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, get_communication_control_request
@@ -626,14 +625,7 @@ class TestHyundaiFingerprint:
     assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
 
-  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
-    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
-    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
-
-    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
-    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
-    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
-
+  def test_palisade_2023_uses_can_canfd_blended_layout(self):
     palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
     assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
     assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"

opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_damping.py

@@ -0,0 +1,62 @@
+import pytest
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.structs import CarParams
+from opendbc.car.hyundai import hyundaicanfd
+from opendbc.car.hyundai.hyundaicanfd import CanBus, get_ioniq_6_damp_factors
+from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags
+
+
+def _cp(fingerprint):
+  CP = CarParams.new_message()
+  CP.carFingerprint = fingerprint
+  CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING |
+                 HyundaiFlags.CANFD_LKA_STEERING_ALT)
+  CP.openpilotLongitudinalControl = True
+  return CP
+
+
+def _damping(fingerprint, v_ego, torque=100):
+  CP = _cp(fingerprint)
+  packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+  can_bus = CanBus(CP)
+  msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, torque, 0.0, v_ego=v_ego)
+  names = [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs]
+  assert names == [("LFA", can_bus.ECAN), ("LKAS_ALT", can_bus.ACAN)]
+
+  lfa = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
+  lfa.update([(1, [msgs[0]])])
+  lkas = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+  lkas.update([(1, [msgs[1]])])
+  assert lfa.can_valid and lkas.can_valid
+  assert lfa.vl["LFA"]["TORQUE_REQUEST"] == torque
+  assert lkas.vl["LKAS_ALT"]["TORQUE_REQUEST"] == torque
+  return lfa.vl["LFA"]["DAMP_FACTOR"], lkas.vl["LKAS_ALT"]["DAMP_FACTOR"], lkas.vl["LKAS_ALT"]["Damping_Gain"]
+
+
+@pytest.mark.parametrize(("mph", "expected"), [
+  (10, (100, 0)),     # low speed unchanged: previous LFA 100 floor, LKAS_ALT 0
+  (30, (100, 0)),
+  (42.5, (105, 125)), # stock medians, 40-45 mph band
+  (50, (110, 130)),   # halfway between the 45-50 (107/127) and 50-55 (112/132) bands
+  (72.5, (145, 144)), # stock medians, 70-75 mph band
+  (95, (163, 154)),   # held beyond the last breakpoint (85-90 mph band)
+])
+def test_ioniq_6_damping_schedule(mph, expected):
+  assert get_ioniq_6_damp_factors(mph * CV.MPH_TO_MS) == expected
+
+
+def test_ioniq_6_damping_is_encoded_on_both_steering_messages():
+  lfa, lkas_alt, damping_gain = _damping(CAR.HYUNDAI_IONIQ_6, 72.5 * CV.MPH_TO_MS)
+  assert (lfa, lkas_alt) == (145, 144)
+  assert damping_gain == lkas_alt  # same bits: Hyundai's name for the LKAS_ALT damping byte
+
+
+def test_ioniq_6_without_speed_keeps_previous_values():
+  assert _damping(CAR.HYUNDAI_IONIQ_6, None)[:2] == (100, 0)
+
+
+def test_other_cars_unchanged():
+  assert _damping(CAR.HYUNDAI_IONIQ_5, 70 * CV.MPH_TO_MS)[:2] == (100, 0)

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc

@@ -727,10 +727,14 @@ BO_ 1259 LOCAL_TIME2: 8 XXX
  SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
- SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
- SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
+ SG_ HOURS : 8|8@1+ (1,0) [0|23] "" XXX
+ SG_ MINUTES : 16|8@1+ (1,0) [0|59] "" XXX
+ SG_ SECONDS : 24|8@1+ (1,0) [0|59] "" XXX
+ SG_ MONTH : 34|4@1+ (1,0) [1|12] "" XXX
+ SG_ YEAR : 40|8@1+ (1,2000) [2000|2255] "" XXX
+ SG_ DAY : 48|8@1+ (1,0) [1|31] "" XXX
 
+CM_ BO_ 1264 "Cluster wall clock, 1Hz. Local time, not UTC. All 0xFF until the cluster initializes.";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";

opendbc_repo/opendbc/dbc/hyundai_canfd_generated.dbc

@@ -964,10 +964,14 @@ BO_ 1259 LOCAL_TIME2: 8 XXX
  SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
- SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
- SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
+ SG_ HOURS : 8|8@1+ (1,0) [0|23] "" XXX
+ SG_ MINUTES : 16|8@1+ (1,0) [0|59] "" XXX
+ SG_ SECONDS : 24|8@1+ (1,0) [0|59] "" XXX
+ SG_ MONTH : 34|4@1+ (1,0) [1|12] "" XXX
+ SG_ YEAR : 40|8@1+ (1,2000) [2000|2255] "" XXX
+ SG_ DAY : 48|8@1+ (1,0) [1|31] "" XXX
 
+CM_ BO_ 1264 "Cluster wall clock, 1Hz. Local time, not UTC. All 0xFF until the cluster initializes.";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-14370fe9-DEBUG";
+const uint8_t gitversion[19] = "DEV-25df1b90-DEBUG";