hda2 long doesn't need to send 0x1CF

# Conflicts:
#	RELEASES.md
#	docs/CARS.md
#	opendbc
#	panda
#	selfdrive/car/hyundai/interface.py

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.9.5 (202X-XX-XX)
 ========================
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, mob9221, and sshane!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!
 

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 258 Supported Cars
+# 259 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -80,6 +80,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||

selfdrive/car/hyundai/carcontroller.py

@@ -106,13 +106,18 @@ 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:
-        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
+        # TODO: consolidate both messages, they have similar definitions
+        if hda2_alt_steering:
+          can_sends.append(hyundaicanfd.create_cam_0x362(self.packer, self.CAN, CS.cam_0x362))
+        else:
+          can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):

selfdrive/car/hyundai/carstate.py

@@ -228,8 +228,12 @@ 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
 
+    # TODO: consolidate both messages, they have similar definitions
     if self.CP.flags & HyundaiFlags.CANFD_HDA2:
-      self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
+      if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+        self.cam_0x362 = copy.copy(cp_cam.vl["CAM_0x362"])
+      else:
+        self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
@@ -332,7 +336,8 @@ class CarState(CarStateBase):
   def get_cam_can_parser_canfd(CP):
     messages = []
     if CP.flags & HyundaiFlags.CANFD_HDA2:
-      messages += [("CAM_0x2a4", 20)]
+      block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
+      messages += [(block_lfa_msg, 20)]
     elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
       messages += [
         ("SCC_CONTROL", 50),

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))
 
@@ -66,6 +67,15 @@ def create_cam_0x2a4(packer, CAN, cam_0x2a4):
   values["BYTE7"] = 0
   return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
 
+def create_cam_0x362(packer, CAN, cam_0x362):
+  values = {f"BYTE{i}": cam_0x362[f"BYTE{i}"] for i in range(3, 32) if i != 7}
+  values["COUNTER"] = cam_0x362["COUNTER"]
+  values["NEW_SIGNAL_1"] = cam_0x362["NEW_SIGNAL_1"]
+  values["NEW_SIGNAL_2"] = cam_0x362["NEW_SIGNAL_2"]
+  values["LEFT_LANELINES"] = 0
+  values["RIGHT_LANELINES"] = 0
+  return packer.make_can_msg("CAM_0x362", CAN.ACAN, values)
+
 def create_buttons(packer, CP, CAN, cnt, btn):
   values = {
     "COUNTER": cnt,
@@ -173,7 +183,6 @@ def create_adrv_messages(packer, CAN, frame):
 
   values = {
   }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
   if frame % 2 == 0:
     values = {

selfdrive/car/hyundai/interface.py

@@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
     # 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.
     # FIXME: the Optima Hybrid uses a different SCC12 checksum
-    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)
@@ -38,6 +38,8 @@ 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]:
@@ -277,6 +279,8 @@ 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:
@@ -198,8 +199,6 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   ],
   CAR.IONIQ_6: [
-    # TODO: unknown
-    HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
     HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
   ],
   CAR.TUCSON_4TH_GEN: [

selfdrive/car/tests/routes.py

@@ -22,7 +22,6 @@ non_tested_cars = [
   GM.MALIBU,
   GM.EQUINOX,
   HYUNDAI.GENESIS_G90,
-  HYUNDAI.IONIQ_6,
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
   TOYOTA.RAV4_TSS2_2023,
@@ -124,6 +123,7 @@ routes = [
   CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
   CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
+  CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6),  # HDA2
   CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
   CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),