Remove duplicate Ioniq 6 blind-spot sound alias

opendbc_repo/opendbc/car/hyundai/ioniq6_bsm.py

@@ -25,7 +25,8 @@ def rear_body(status: BlindspotStatus) -> bytes:
   body = bytearray(REAR_NEUTRAL_BODY)
   body[3] = int(bool(left or right)) | (left << 6)
   body[4] = right
-  body[5] = left << 1
+  # The legacy FL_INDICATOR alias overlaps the right sound-warning field.
+  # Mirror lamps have their own indication bits below.
   body[6] = right << 5
   body[7] = 0x80 | (max(left, right) << 3)
   body[16] = left | (right << 2)

opendbc_repo/opendbc/car/hyundai/tests/test_ioniq6_bsm.py

@@ -28,14 +28,25 @@ def long_params():
 
 
 class TestIoniq6BlindspotStatus(unittest.TestCase):
-  def test_all_sixteen_frozen_executable_outputs_and_integrity(self):
+  def test_all_sixteen_reference_outputs_without_overlapping_sound_alias(self):
     for case in CASES:
       with self.subTest(case=case):
         left = 1 + int(case["leftBlinker"]) if case["left"] else 0
         right = 1 + int(case["rightBlinker"]) if case["right"] else 0
         frames = create_ioniq6_blindspot_status(case["counter"], BlindspotStatus(left, right))
         self.assertEqual([(addr, bus) for addr, _, bus in frames], [(0x1BA, 1), (0x1E5, 1)])
-        self.assertEqual([payload.hex() for _, payload, _ in frames], [case["rear"], case["front"]])
+        expected_rear = bytearray.fromhex(case["rear"])
+        expected_rear[5] = 0  # Retired FL_INDICATOR alias overlaps BCW_RtSndWrngSta.
+        expected_rear[:2] = hkg_can_fd_checksum(0x1BA, None, expected_rear).to_bytes(2, "little")
+        self.assertEqual([payload.hex() for _, payload, _ in frames], [expected_rear.hex(), case["front"]])
+        rear = frames[0][1]
+        sound_word = int.from_bytes(rear, "little")
+        self.assertEqual((sound_word >> 34) & 0x3, 0)
+        self.assertEqual((sound_word >> 36) & 0x3ff, 0)
+        self.assertEqual(rear[16] & 3, left)
+        self.assertEqual((rear[16] >> 2) & 0x3f, right)
+        self.assertEqual((rear[3] >> 6) & 3, left)
+        self.assertEqual(rear[4] & 3, right)
         for addr, payload, _ in frames:
           self.assertEqual(int.from_bytes(payload[:2], "little"), hkg_can_fd_checksum(addr, None, bytearray(payload)))
 

opendbc_repo/opendbc/car/hyundai/tests/testdata/README.md

@@ -13,8 +13,10 @@ no recorded routes, VINs, or location data.
   combinations from the reference blind-spot encoder, using a
   synthetic neutral base and counters 0–15. The frozen indicator mirror bits
   remain in the raw payload even though the current DBC omits their names; one
-  alias is decoded as a sound-warning field, so this fixture proves bytes,
-  not audible behavior.
+  alias overlaps the right sound-warning field. The test intentionally clears
+  only that retired alias and regenerates its checksum, while preserving the
+  original fixture as provenance. It checks mirror/BCW indication separately;
+  the fixture does not prove audible behavior.
 - `scc_parent_frames.json` records the default SCC packer's output before the
   Ioniq-specific options were added. Other vehicles retain these defaults.
 

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -972,7 +972,7 @@ static bool hyundai_canfd_tx_hook_valid(const CANPacket_t *msg) {
     uint8_t body[24] = {0};
     body[3] = ((left || right) ? 1U : 0U) | (left << 6U);
     body[4] = right;
-    body[5] = left << 1U;
+    // Retired FL_INDICATOR overlaps the right sound-warning bits; require zero.
     body[6] = right << 5U;
     body[7] = 0x80U | (SAFETY_MAX(left, right) << 3U);
     body[16] = left | (right << 2U);

opendbc_repo/opendbc/safety/tests/test_hyundai_ioniq6_long.py

@@ -181,6 +181,29 @@ class TestHyundaiIoniq6Long(unittest.TestCase):
           self.assertTrue(self.safety.get_relay_malfunction())
           self.assertFalse(self.safety.safety_tx_hook(self.packet(rear)))
 
+  def test_bsm_legacy_indicator_sound_alias_is_rejected(self):
+    for raw in (*RAW_LONG.values(), *RAW_AOL.values()):
+      for left_lamp in (False, True):
+        with self.subTest(raw=hex(raw), left_lamp=left_lamp):
+          self.mode(raw)
+          _, cp = params("lkas_alt" if raw & 0x80 else "lkas")
+          packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+          self.bsm_physical(packer, left=True, left_lamp=left_lamp)
+          level = 1 + int(left_lamp)
+          rear, front = create_ioniq6_blindspot_status(3, BlindspotStatus(level, 0))
+          self.assertEqual(rear[1][5], 0)
+          legacy = bytearray(rear[1])
+          legacy[5] = level << 1
+          legacy[:2] = hkg_can_fd_checksum(0x1BA, None, legacy).to_bytes(2, "little")
+          self.assertFalse(self.safety.safety_tx_hook(self.packet((0x1BA, bytes(legacy), 1))))
+          self.assertFalse(self.safety.safety_tx_hook(self.packet(front)))
+          if self.release:
+            self.assertFalse(self.safety.safety_tx_hook(self.packet(rear)))
+            self.assertFalse(self.safety.safety_tx_hook(self.packet(front)))
+          else:
+            self.assertTrue(self.safety.safety_tx_hook(self.packet(rear)))
+            self.assertTrue(self.safety.safety_tx_hook(self.packet(front)))
+
   def test_bsm_valid_crc_cannot_hide_altered_status_body(self):
     if self.release:
       self.skipTest("RELEASE denies all four exact Ioniq 6 LONG profiles")

panda/board/obj/gitversion.h

@@ -1,4 +1,4 @@
 #pragma once
 
 extern const uint8_t gitversion[29];
-const uint8_t gitversion[29] = "DEV-6e45ecc0-Pa5919516-DEBUG";
+const uint8_t gitversion[29] = "DEV-03ca7263-Pa5919516-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-6e45ecc0-Pa5919516-DEBUG
+DEV-03ca7263-Pa5919516-DEBUG

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "cfaabf7b3685cfb3b93666605271972ef753096ae8c1c787a7ae5a42c627fbe2", "schema_version": 1}
+{"protected_inventory_sha256": "e85babf7279be72dc647b70a9128be20822dff6482032814608abff6c091ad2f", "schema_version": 1}