Hyundai: Car Port for Ioniq 6 2023

selfdrive/car/hyundai/carcontroller.py

@@ -106,12 +106,13 @@ class CarController:
     if self.CP.carFingerprint in CANFD_CAR:
       hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
+      hda2_alt_steering = self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
 
       # steering control
       can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
 
       # disable LFA on HDA2
-      if self.frame % 5 == 0 and hda2:
+      if self.frame % 5 == 0 and hda2 and not hda2_alt_steering:
         can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
 
       # LFA and HDA icons

selfdrive/car/hyundai/carstate.py

@@ -227,7 +227,7 @@ class CarState(CarStateBase):
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
     ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
-    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
+    if self.CP.flags & HyundaiFlags.CANFD_HDA2 and not self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
       self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
@@ -330,7 +330,7 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser_canfd(CP):
     messages = []
-    if CP.flags & HyundaiFlags.CANFD_HDA2:
+    if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
       messages += [("CAM_0x2a4", 20)]
     elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
       messages += [

selfdrive/car/hyundai/hyundaicanfd.py

@@ -52,9 +52,10 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
   }
 
   if CP.flags & HyundaiFlags.CANFD_HDA2:
+    hda2_steering_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
     if CP.openpilotLongitudinalControl:
       ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
-    ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
+    ret.append(packer.make_can_msg(hda2_steering_msg, CAN.ACAN, values))
   else:
     ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
 

selfdrive/car/hyundai/interface.py

@@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6}
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
 
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
     CAN = CanBus(None, hda2, fingerprint)
@@ -37,6 +37,8 @@ class CarInterface(CarInterfaceBase):
       # detect HDA2 with ADAS Driving ECU
       if hda2:
         ret.flags |= HyundaiFlags.CANFD_HDA2.value
+        if 0x50 not in fingerprint[CAN.CAM]:
+          ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
         # non-HDA2
         if 0x1cf not in fingerprint[CAN.ECAN]:
@@ -274,6 +276,8 @@ class CarInterface(CarInterfaceBase):
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:

selfdrive/car/hyundai/values.py

@@ -64,6 +64,7 @@ class HyundaiFlags(IntFlag):
   CANFD_ALT_GEARS_2 = 64
   SEND_LFA = 128
   USE_FCA = 256
+  CANFD_HDA2_ALT_STEERING = 512
 
 
 class CAR: