Suppress Dash Faults?

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -18,6 +18,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
 MAX_ANGLE = 85
 MAX_ANGLE_FRAMES = 89
 MAX_ANGLE_CONSECUTIVE_FRAMES = 2
+CANFD_BLINDSPOT_STATUS_STALE_NS = 200_000_000
 
 
 def process_hud_alert(enabled, fingerprint, hud_control):
@@ -138,7 +139,7 @@ class CarController(CarControllerBase):
 
     # *** CAN/CAN FD specific ***
     if self.CP.flags & HyundaiFlags.CANFD:
-      can_sends.extend(self.create_canfd_msgs(apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel,
+      can_sends.extend(self.create_canfd_msgs(now_nanos, apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel,
                                               stopping, hud_control, CS, CC))
     else:
       can_sends.extend(self.create_can_msgs(apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel,
@@ -203,7 +204,7 @@ class CarController(CarControllerBase):
 
     return can_sends
 
-  def create_canfd_msgs(self, apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel, stopping, hud_control, CS, CC):
+  def create_canfd_msgs(self, now_nanos, apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel, stopping, hud_control, CS, CC):
     can_sends = []
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
@@ -231,6 +232,13 @@ class CarController(CarControllerBase):
         can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
       else:
         can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
+      if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.frame % 5 == 0:
+        rear_stale = now_nanos - CS.blindspots_rear_corners_ts > CANFD_BLINDSPOT_STATUS_STALE_NS
+        front_stale = now_nanos - CS.blindspots_front_corner_1_ts > CANFD_BLINDSPOT_STATUS_STALE_NS
+        if CS.blindspots_rear_corners_ts > 0 and CS.blindspots_front_corner_1_ts > 0 and rear_stale and front_stale:
+          can_sends.extend(hyundaicanfd.create_blindspot_status_messages(self.packer, self.CAN,
+                                                                         CS.blindspots_rear_corners,
+                                                                         CS.blindspots_front_corner_1))
       if self.frame % 2 == 0:
         can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                          set_speed_in_units, hud_control))

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -78,6 +78,10 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
 
     self.cruise_info = {}
+    self.blindspots_rear_corners = {}
+    self.blindspots_front_corner_1 = {}
+    self.blindspots_rear_corners_ts = 0
+    self.blindspots_front_corner_1_ts = 0
 
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
     self.cluster_speed = 0
@@ -294,6 +298,12 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
         ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
+    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+      self.blindspots_rear_corners = copy.copy(cp.vl["BLINDSPOTS_REAR_CORNERS"])
+      self.blindspots_front_corner_1 = copy.copy(cp.vl["BLINDSPOTS_FRONT_CORNER_1"])
+      self.blindspots_rear_corners_ts = cp.ts_nanos["BLINDSPOTS_REAR_CORNERS"]["CHECKSUM"]
+      self.blindspots_front_corner_1_ts = cp.ts_nanos["BLINDSPOTS_FRONT_CORNER_1"]["CHECKSUM"]
+
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
     ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -196,6 +196,19 @@ def create_lfahda_cluster(packer, CAN, enabled):
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
+def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values):
+  # Reuse the last known-good payload but regenerate the rolling counter/checksum.
+  rear = {k: v for k, v in rear_values.items() if k not in ("CHECKSUM", "COUNTER")}
+  front = {k: v for k, v in front_corner_values.items() if k not in ("CHECKSUM", "COUNTER")}
+  if "NEW_SIGNAL_3" not in front:
+    front["NEW_SIGNAL_3"] = 1
+
+  return [
+    packer.make_can_msg("BLINDSPOTS_REAR_CORNERS", CAN.ECAN, rear),
+    packer.make_can_msg("BLINDSPOTS_FRONT_CORNER_1", CAN.ECAN, front),
+  ]
+
+
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5
   jn = jerk / 50

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

@@ -3,7 +3,7 @@ from types import SimpleNamespace
 
 import pytest
 
-from opendbc.can import CANPacker
+from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, ButtonType, gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
@@ -232,6 +232,52 @@ class TestHyundaiFingerprint:
     msgs = hyundaicanfd.create_steering_messages(packer, CP, CanBus(CP), True, True, 1.0, 12.3)
     assert [(addr, bus) for addr, _, bus in msgs] == [(0xCB, CanBus(CP).ECAN)]
 
+  def test_ioniq_6_blindspot_status_helper_regenerates_counter_checksum(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("BLINDSPOTS_REAR_CORNERS", 0), ("BLINDSPOTS_FRONT_CORNER_1", 0)], can_bus.ECAN)
+
+    rear = {
+      "CHECKSUM": 1111,
+      "COUNTER": 77,
+      "LEFT_BLOCKED": 0,
+      "LEFT_MB": 0,
+      "MORE_LEFT_PROB": 0,
+      "FL_INDICATOR": 0,
+      "FR_INDICATOR": 0,
+      "RIGHT_BLOCKED": 0,
+      "COLLISION_AVOIDANCE_ACTIVE": 0,
+      "NEW_SIGNAL_2": 0,
+      "FL_INDICATOR_ALT": 0,
+      "FR_INDICATOR_ALT": 0,
+    }
+    front = {
+      "CHECKSUM": 2222,
+      "COUNTER": 88,
+      "REVERSING": 0,
+      "NEW_SIGNAL_5": 0,
+      "NEW_SIGNAL_7": 0,
+      "NEW_SIGNAL_8": 0,
+      "NEW_SIGNAL_9": 0,
+      "NEW_SIGNAL_4": 0,
+      "NEW_SIGNAL_3": 1,
+      "NEW_SIGNAL_2": 0,
+      "NEW_SIGNAL_1": 0,
+    }
+
+    msgs = hyundaicanfd.create_blindspot_status_messages(packer, can_bus, rear, front)
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["COUNTER"] == 0
+    assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["COUNTER"] == 0
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["LEFT_BLOCKED"] == 0
+    assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["NEW_SIGNAL_3"] == 1
+
   def test_sportage_angle_jerk_override_is_scoped(self):
     sportage = CarParams.new_message()
     sportage.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -24,6 +24,10 @@
 #define HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(e_can, longitudinal) \
   {0x1A0, e_can, 32, .check_relay = (longitudinal)},  /* SCC_CONTROL */ \
 
+#define HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(e_can) \
+  {0x1BA, e_can, 24, .check_relay = false},  /* BLINDSPOTS_REAR_CORNERS */ \
+  {0x1E5, e_can, 16, .check_relay = false},  /* BLINDSPOTS_FRONT_CORNER_1 */ \
+
 // *** Addresses checked in rx hook ***
 // EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
 #define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus)                                                                          \
@@ -284,6 +288,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
     HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
     HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
+    HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(1)
     {0x51,  0, 32, .check_relay = false},  // ADRV_0x51
     {0x730, 1,  8, .check_relay = false},  // tester present for ADAS ECU disable
     {0x160, 1, 16, .check_relay = false},  // ADRV_0x160
@@ -304,6 +309,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
     HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
     HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, true)
+    HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(0)
     {0x160, 0, 16, .check_relay = true}, // ADRV_0x160
     {0x7D0, 0, 8, .check_relay = false},  // tester present for radar ECU disable
   };
@@ -343,6 +349,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
 
       static CanMsg hyundai_canfd_lfa_steering_camera_scc_tx_msgs[] = {
         HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
+        HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(0)
       };
 
       if (hyundai_canfd_alt_buttons) {

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -451,7 +451,7 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
 class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):
 
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
-             [0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
+             [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4), 1: (0x1a0,)}  # LKAS, CAM_0x2A4, SCC_CONTROL
 
@@ -480,6 +480,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
 # Tests longitudinal for ICE, hybrid, EV cars with LFA steering
 class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase):
 
+  TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0], [0x1BA, 0], [0x1E5, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0xcb, 0x1e0, 0x1a0, 0x160]}
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0xCB, 0x1E0, 0x1a0, 0x160)}  # LFA, ADAS_CMD_35_10ms, LFAHDA_CLUSTER, SCC_CONTROL, ADRV_0x160

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-031ad898-DEBUG";
+const uint8_t gitversion[19] = "DEV-9f1a9298-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-031ad898-DEBUG
+DEV-9f1a9298-DEBUG