WIP: Adding 2025 Ioniq 5 PE

[devtekve]

WIP do not use, not safe yet

Summary by Sourcery

New Features:

• Added support for the 2025 Hyundai Ioniq 5 PE, including angle-based steering control.

Related

Upstream PR

commaai#1676

sunnypilot PR

sunnypilot/sunnypilot#625

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request adds support for the 2025 Hyundai Ioniq 5 PE, including angle-based control. It also refactors the steering torque logic to better handle driver input and adds a new CAN message for angle control.

Sequence diagram for steering control logic

sequenceDiagram
    participant D as Driver
    participant C as CarController
    participant S as Steering System

    Note over C: Initialize torque control
    D->>C: Apply steering torque
    activate C
    C->>C: Calculate ego_weight based on speed
    C->>C: Update driver_applied_torque_reducer
    alt driver applying torque
        C->>C: Reduce max torque (down to 30)
    else no driver torque
        C->>C: Increase max torque (up to 150)
    end
    C->>S: Apply calculated steering angle and torque
    deactivate C

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Class diagram for updated CarController and HyundaiFlags

classDiagram
    class CarController {
        +apply_angle_last: float
        +lkas_max_torque: int
        +driver_applied_torque_reducer: int
        +update(CC, CC_SP, CS, now_nanos)
    }

    class HyundaiFlags {
        +ANGLE_CONTROL
        +CANFD_HDA2
        +CANFD_HDA2_ALT_STEERING
        +EV
    }

    note for CarController "Added new fields for angle-based control"
    note for HyundaiFlags "Added ANGLE_CONTROL flag"

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File-Level Changes

Change	Details	Files
Added support for the 2025 Hyundai Ioniq 5 PE.	Added the 2025 Hyundai Ioniq 5 PE to the fingerprints. Added the 2025 Hyundai Ioniq 5 PE to the list of supported cars. Added a test route for the 2025 Hyundai Ioniq 5 PE. Added a torque data override for the 2025 Hyundai Ioniq 5 PE. Added the ANGLE_CONTROL flag to the 2025 Hyundai Ioniq 5 PE.	opendbc/car/hyundai/fingerprints.py opendbc/car/hyundai/values.py docs/CARS.md opendbc/car/tests/routes.py opendbc/car/torque_data/override.toml
Refactored steering torque logic to better handle driver input.	Added a driver_applied_torque_reducer to reduce max torque when the driver is applying torque. Added logic to interpolate torque based on vehicle speed. Added logic to set lkas_max_torque based on driver input and vehicle speed. Set apply_angle to the current steering angle when lateral control is not active. Set lkas_max_torque to 0 when lateral control is not active.	opendbc/car/hyundai/carcontroller.py
Added angle-based control for supported cars.	Added logic to apply steering angle in car controller. Added logic to send steering angle command in CAN message. Added ANGLE_CONTROL flag to HyundaiFlags. Added logic to set steerControlType to angle for cars with ANGLE_CONTROL flag. Added logic to use the alternate blinker signals for cars with ANGLE_CONTROL flag. Added logic to use the alternate blindspot signals for cars with ANGLE_CONTROL flag. Added angle rate limits. Added torque data override for angle control.	opendbc/car/hyundai/carcontroller.py opendbc/car/hyundai/hyundaicanfd.py opendbc/car/hyundai/values.py opendbc/car/hyundai/interface.py opendbc/car/hyundai/carstate.py opendbc/car/torque_data/override.toml
Added a new CAN message for angle control.	Added LKAS_ANGLE_CMD, LKAS_ANGLE_ACTIVE, and UNKNOWN signals to the steering CAN message. Added logic to send the steering angle command in the CAN message.	opendbc/car/hyundai/hyundaicanfd.py
Fixed a bug in the Toyota car controller.	Fixed a bug where the car would erroneously unset PERMIT_BRAKING when stopping on uphills.	opendbc/car/toyota/carcontroller.py

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