Add support for Hyundai Ioniq 5 PE model

The Hyundai Ioniq 5 PE model has been added to the fingerprint definitions in `fingerprints.py` and the car values in `values.py`. Additionally, adjustments have been made in `carcontroller.py`, `carstate.py`, and `interface.py` to properly support this new model's CAN FD signals and HDA II feature. A torque data override for the Ioniq 5 PE has also been set in `override.toml`.
sunnypilot · Jan 29, 2025 · 36efc3b · 36efc3b
1 parent 4cac064
commit 36efc3b
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Showing 6 changed files with 21 additions and 5 deletions.
diff --git a/opendbc/car/hyundai/carcontroller.py b/opendbc/car/hyundai/carcontroller.py
@@ -177,7 +177,7 @@ def update(self, CC, CC_SP, CS, now_nanos):
                                                           self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
 
       # LFA and HDA icons
-      update_lfahda_icons = (not hda2 or hda2_long) or self.CP.carFingerprint == CAR.KIA_EV9
+      update_lfahda_icons = (not hda2 or hda2_long) or self.CP.flags & HyundaiFlags.ANGLE_CONTROL
       if self.frame % 5 == 0 and update_lfahda_icons:
         can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
 

diff --git a/opendbc/car/hyundai/carstate.py b/opendbc/car/hyundai/carstate.py
@@ -237,12 +237,12 @@ def update_canfd(self, can_parsers) -> structs.CarState:
 
     # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
     left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint in (CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.KIA_EV9):
+    if self.CP.carFingerprint in (CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.KIA_EV9) or self.CP.flags & HyundaiFlags.ANGLE_CONTROL:
       left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])
     if self.CP.enableBsm:
-      if self.CP.carFingerprint == CAR.KIA_EV9:
+      if self.CP.flags & HyundaiFlags.ANGLE_CONTROL:
         ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_LEFT_FOUR"] != 0
         ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_RIGHT_FOUR"] != 0
       else:

diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
@@ -1018,6 +1018,16 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
     ],
   },
+  CAR.HYUNDAI_IONIQ_5_PE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE__ RDR -----      1.00 1.00 99110-PI000         ',
+      b'\xf1\x00NE__ RDR -----      1.00 1.01 99110-GI500         '
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.01 99211-PI000 240905',
+      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.03 99211-GI500 240809',
+    ],
+  },
   CAR.HYUNDAI_IONIQ_6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',

diff --git a/opendbc/car/hyundai/interface.py b/opendbc/car/hyundai/interface.py
@@ -63,8 +63,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
       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_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:

diff --git a/opendbc/car/hyundai/values.py b/opendbc/car/hyundai/values.py
@@ -320,6 +320,11 @@ class CAR(Platforms):
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
+  HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 PE (with HDA II) 2025+", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
+    HYUNDAI_IONIQ_5.specs,
+    flags=HyundaiFlags.EV | HyundaiFlags.ANGLE_CONTROL,
+  )
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
     HYUNDAI_IONIQ_5.specs,

diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
@@ -83,3 +83,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 # Hyundai/Kia/Genesis angle control
 "KIA_EV9" = [nan, 3.0, nan]
+"HYUNDAI_IONIQ_5_PE" = [nan, 3.0, nan]
Original file line number	Diff line number	Diff line change
Expand Up		@@ -83,3 +83,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]

		# Hyundai/Kia/Genesis angle control
		"KIA_EV9" = [nan, 3.0, nan]
		"HYUNDAI_IONIQ_5_PE" = [nan, 3.0, nan]