IQ.Pilot Release Commit @ 67fd9c2

artifacts/iqpilot_emac_private/manifest.json

@@ -506,8 +506,8 @@
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   "python/_iqclosure/iqpilot/system/micd.py": {
     "mode": 420,
@@ -536,28 +536,28 @@
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@@ -568,10 +568,10 @@
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 }

artifacts/iqpilot_emac_private/manifest.json.sig

@@ -1 +1 @@
-OSV+ZbTBvP8stU4KDyT4wavo+fGUZEqcuvN7ltBw4LyMopdaMcbz9jYyIimicnQQniA1d4vaGuWRRQmvm0emAg==
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artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/system/hardware/usb.py

@@ -13,6 +13,7 @@ The USB eGPU dock is identified by VID/PID only. comma's internal codename for
 it is deliberately not used here: IQ.Pilot runs these models on several
 backends (eGPU dock, eMac), so the naming stays about the role, not the vendor.
 """
+import subprocess
 from pathlib import Path
 
 # comma's USB eGPU dock, both shipped USB IDs. The ROM ids are the same board
@@ -124,6 +125,26 @@ def get_link_error_count(soc: Path = SOC_PLATFORM_PATH) -> int:
   return sum(link_errors(c) for c in usb_controllers(soc))
 
 
+def host_role_controller(soc: Path = SOC_PLATFORM_PATH, udc_root: Path = UDC_PATH) -> Path | None:
+  ctrl = link_controller(udc_root)
+  return (soc / ctrl / "mode") if ctrl else None
+
+
+def ensure_host_role(mode_path: Path | None = None) -> bool:
+  """A usbpd blip mid-drive can leave the Type-C controller in 'none'/'peripheral', and the
+  dock can never re-enumerate until something puts the port back into host mode."""
+  path = mode_path if mode_path is not None else host_role_controller()
+  if path is None:
+    return False
+  current = read(path)
+  if current == "host":
+    return True
+  if current is None:
+    return False
+  rc = subprocess.run(["sudo", "-n", "sh", "-c", f"echo host > {path}"], check=False, capture_output=True)
+  return rc.returncode == 0 and read(path) == "host"
+
+
 def egpu_dock_present(root: Path = USB_DEVICES_PATH) -> bool:
   """A dock in ROM/bootloader state is deliberately NOT counted as present: it
   enumerates but cannot serve a GPU until vendor firmware is flashed."""

artifacts/iqpilot_navd_private/.source_sha

@@ -1 +0,0 @@
-3184657cdc4d4fc1c69a924491f8a52466f10ec2

artifacts/iqpilot_navd_private/manifest.json

@@ -186,7 +186,7 @@
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@@ -196,107 +196,122 @@
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+    "python/iqpilot_private/navd/__init__.cpython-312-aarch64-linux-gnu.so": "9i3/SfFfCLGyTzyQQYpsSxbA3ASc1OSK7fCYXpIiIMnX+jKB288Qy7TzJnr3uINt+LhRW1wwnMI6hWBXjgv5AA==",
+    "python/iqpilot_private/navd/alpr_matcher.cpython-312-aarch64-linux-gnu.so": "5K4w4dDRtts8QvxBAXL0qrYofb/bg9PV/rKn/GrVmtAVDMd0DhAiKAugoxkhl8n4JviFY8ZmsHwWBrQPIMdkAA==",
+    "python/iqpilot_private/navd/amap_client.cpython-312-aarch64-linux-gnu.so": "X+hzm32FyMwE9fSIaGZH/GQqHn78izqrX8o1FdATb0Fg4+62tcgI9LHe9PIM8VY6+IaryaWyKqFtATaq6BZrDw==",
+    "python/iqpilot_private/navd/event_builder.cpython-312-aarch64-linux-gnu.so": "dQnA8CCeRMXqiARr/Kzf2x736DuaT1/ALC8ZLDZep2/nY2IJ7StZeZ8DwOBuRPRK8KJ5HNU424QMZkVzQcDnBg==",
+    "python/iqpilot_private/navd/helpers.cpython-312-aarch64-linux-gnu.so": "tdLykhS2t9M7R115Rse80M2Urg/8sNQTLaOz3YFyUTTkEzpaBlk3JnbgOQVpzDjrPB7y22y6mNORCkYI3cKfCw==",
+    "python/iqpilot_private/navd/incident_feed.cpython-312-aarch64-linux-gnu.so": "MJ/i1ZvGb3bYBVxKvT/zBk43CM/XT37GZa6la52Tfmqp9mrx6oz98PpvLZMgJ+18J4lSdMf2uGuJ2IHx5wWTAQ==",
+    "python/iqpilot_private/navd/iqmapd.cpython-312-aarch64-linux-gnu.so": "+ULQz9iDSDBtYRYSVVWz63TImB3DizGV2oFER6pmNttfJ6vA4SBVToxKV1YjHAebdMiSrTBrEkgPd5K4unE0Bg==",
+    "python/iqpilot_private/navd/long_decel.cpython-312-aarch64-linux-gnu.so": "PB+q882Oo/cOi+fN0IahlaBP7xEQrjF7BykAnCsxrnK8zJGkFZdrVUcLCS4T5DYjXhwlXbdveb3ZHdG/LoMcBQ==",
+    "python/iqpilot_private/navd/mapbox_client.cpython-312-aarch64-linux-gnu.so": "vqQRU0t5AS/oUs1JWxZlwHC5mrpaaHD10jgQCLzDGUL4Yv1aFHWAoM6KfFdUldmdSG1d4e6VGu+Y2bMdBIwAAw==",
+    "python/iqpilot_private/navd/nav_cameras.cpython-312-aarch64-linux-gnu.so": "OfuUD6/swlx5ggtvLfUVjGqpJbZWf+Ezwia5fE81FXA6RcuR4SMx1t/D38+TaMKDGvaBV31s08TJgh+/hXiiDA==",
+    "python/iqpilot_private/navd/nav_turn_signals.cpython-312-aarch64-linux-gnu.so": "WQOzntcyeraddagnvnxAwH/ciLFMztjfEhg07HFHy+++XJPCSGctdaxlgPWX6xq9kiE7aEkcTsW2CwOwYo3tDw==",
+    "python/iqpilot_private/navd/navd.cpython-312-aarch64-linux-gnu.so": "5c68ZgFSkAXf9m32zKbBDSNHF0rVTwZPVu0puTiIcM7laHyHVtkQJduq6g4SUm+wz634nLK2u5pggaNf+mkhAw==",
+    "python/iqpilot_private/navd/navincidentd.cpython-312-aarch64-linux-gnu.so": "LBV8K1SPj+bN8idsPR/3B24grXQYRNarYsCUbVaRdkfORuib70gRlGz4KtyOyYT/vpCU4iuDhnSRsd4ltH4RAg==",
+    "python/iqpilot_private/navd/navrenderd.cpython-312-aarch64-linux-gnu.so": "ZT4bVD2W2w9w2AdbKkZ7AgfQv+zqTmJH5126ngiDDRFFuW2Bnp+E/4M+6U912uGZsV5xayCw8QmJbM9EeSqgDQ==",
+    "python/iqpilot_private/navd/osm_cameras.cpython-312-aarch64-linux-gnu.so": "jjmBJtLWRVkPsO4n7/N/pDVD9jrC4SCMm0lIT/P8HCzsMhIIAkXhRAMGKdl1kYDxK8VMGRMMF7eoiCKEFPq2AA==",
+    "python/iqpilot_private/navd/reroute.cpython-312-aarch64-linux-gnu.so": "A0FeGUh384rTKZJLOL6wNdX3bLTTsmUX7kF3ysax7WjnyUSlctbms15E+3Ww87qmXwjMGbyPdlTdsnhvpcstAA==",
+    "python/iqpilot_private/navd/road_incidents.cpython-312-aarch64-linux-gnu.so": "J/I+XcODFE7LKvtyImt/Dw8fh2uvQeEhZ1IWx2IHZPH8sXhuVGVQIECVFGQJGfsckjzoUpgZq8AYNReRF62sBw==",
+    "python/iqpilot_private/navd/route_manager.cpython-312-aarch64-linux-gnu.so": "n/RFD32mlinaYGrWvKWGv8ziTTSFP8+qCS/I1ibFXRYU6gtwx/+03eUR+p2jh5hzPteo5RxLUfHDwxFvJMJzDA==",
+    "python/iqpilot_private/navd/runtime_common.cpython-312-aarch64-linux-gnu.so": "/5mYKn9um2aBLipkFsEptfM3sOId3SKkV8AHXGslWdH9Evp2ll8XENvirAX5tV1X35WslGYIybK3Xv3cZ4o8DQ==",
+    "python/iqpilot_private/navd/traffic.cpython-312-aarch64-linux-gnu.so": "kfl1Mm7G3CguQGtUvDutvbd4StDnKr0pW7ojLn6gydVTyxEiD/VAEFfTKBK/CAyUcw3eeX5+U8Qq2+6o0zEUBA==",
+    "python/iqpilot_private/navd/traffic_sources.cpython-312-aarch64-linux-gnu.so": "SzicVJ2/F8aMjcOHVCmEeJ952a+JPL8NLI6wsVkA2f5xiOSKMdynvcf7EgvrvBA4bgTRUGOmtpoqzMiCcNh2AA==",
+    "python/iqpilot_private/navd/traffic_writer.cpython-312-aarch64-linux-gnu.so": "tMmnyV9knGA0eoRq1+bYLaQRAmLLrpSC9KraH9iNWMgleg+xdY3dIpx+uyP77de/oOQ2Bovsp3Vq2MobcDACCQ==",
+    "python/iqpilot_private/navd/turn_desire.cpython-312-aarch64-linux-gnu.so": "kFb5U48pTMYRWee+JbH6CbOpE2je60Xk5ntJZIUCw66KWLTOUGFtQqMcUUcQ1b2/3xnCz7sb3Yt0GdbyyspMDg==",
+    "python/iqpilot_private/navd/valhalla_process.cpython-312-aarch64-linux-gnu.so": "u6o5lRGFT3PA7XPM0IXyr7iEsngyLKqh+kJhHNW7U7+iTI3hH25ag73YFQjnCfIuzPk2NtB4v2JKqcqBaNaQAQ==",
+    "python/iqpilot_private/navd/web_server.cpython-312-aarch64-linux-gnu.so": "4AB7oakyIWLG7OFuGpO+SidZnJzq3rC7/uWemSbhFVn9oOZBMQZ5IWN5Y3WfImyqoZXjZVGqxE9Yf0d8gmWdDA=="
   }
 }

artifacts/iqpilot_navd_private/manifest.json.sig

@@ -1 +1 @@
-Fhs5w4K9yXGTe1Y9xpYpVEnHRHUsq4pJ0opKgllTGam0njHeskbHsYQmlj3n94vPeCJhQw52x9Bd1S2/R37WAg==
+NH/aexXGu1jWh6ks/x7lbVEUX9VZPhETrwkIozXSjmPR2isUyVlaZppveq23NB7BeIQTJuS/+KAuZ/pbL/kaDQ==

artifacts/package_sources/iqdbc/iqdbc/car/toyota/interface.py

@@ -129,6 +129,8 @@ class CarInterface(CarInterfaceBase):
                      car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
     if candidate in UNSUPPORTED_DSU_CAR:
       ret.iqSafetyFlags |= ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU
+    if candidate in TSS2_CAR:
+      ret.iqSafetyFlags |= ToyotaSafetyFlagsIQ.LKAS_HUD
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
     # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs

artifacts/package_sources/iqdbc/iqdbc/car/toyota/tests/test_toyota_iq.py

@@ -1,7 +1,7 @@
 from iqdbc.car import gen_empty_fingerprint, structs
 from iqdbc.car.toyota.interface import CarInterface
 from iqdbc.car.toyota.values import CAR, ToyotaFlags
-from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ, ToyotaSafetyFlagsIQ
 
 
 def test_secoc_toyota_not_dashcam_on_release():
@@ -34,3 +34,11 @@ def test_smart_dsu_clears_disable_radar_on_radar_acc_toyota():
   assert not (cp.flags & ToyotaFlags.DISABLE_RADAR.value)
   assert cp.alphaLongitudinalAvailable
   assert cp.openpilotLongitudinalControl
+
+
+def test_lkas_hud_safety_flag_tracks_tss2():
+  for candidate, expected in ((CAR.TOYOTA_CHR_TSS2, True), (CAR.TOYOTA_PRIUS_V, False)):
+    fingerprint = gen_empty_fingerprint()
+    cp = CarInterface.get_params(candidate, fingerprint, [], False, False, False)
+    cp_iq = CarInterface.get_params_iq(cp, candidate, fingerprint, [], False, False, False)
+    assert bool(cp_iq.iqSafetyFlags & ToyotaSafetyFlagsIQ.LKAS_HUD) is expected

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carstate.py

@@ -679,7 +679,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_03"]["GE_Waehlhebel"], None))
     elif self.CP.transmissionType == TransmissionType.manual:
-      reverse = bool(pt_cp.vl["Gateway_05"]["BCM1_Rueckfahrlicht_Schalter"])
+      reverse = bool(br_cp.vl["Gateway_05"]["BCM1_Rueckfahrlicht_Schalter"])
       ret.gearShifter = GearShifter.reverse if reverse else GearShifter.drive
     else:
       ret.gearShifter = GearShifter.drive

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/interface.py

@@ -8,7 +8,7 @@ from iqdbc.car.volkswagen.carcontroller import CarController
 from iqdbc.car.volkswagen.carstate import CarState
 from iqdbc.car.volkswagen.values import (
   CAR, CanBus, DashcamOnlyReason, MLB_ACC_COORDINATOR_MSGS, MLB_GEARBOX_MSGS, MLB_MSG_ACC_10,
-  MLB_MSG_LH_EPS_03, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
+  MLB_MSG_GATEWAY_05, MLB_MSG_LH_EPS_03, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
   VolkswagenFlags, VolkswagenSafetyFlags, VolkswagenFlagsIQ, get_longitudinal_stopping_speed_override,
 )
 from iqdbc.car.volkswagen.radar_interface import RadarInterface
@@ -115,7 +115,11 @@ class CarInterface(CarInterfaceBase):
       if fingerprinted and MLB_MSG_LH_EPS_03 not in pt_msgs:
         ret.flags |= VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS.value
 
-      if fingerprinted and not any(msg in pt_msgs for msg in MLB_GEARBOX_MSGS):
+      all_msgs = ecan_msgs | fingerprint[1]
+      gearbox_seen = any(msg in all_msgs for msg in MLB_GEARBOX_MSGS)
+      transmission_ecu = any(fw.ecu == structs.CarParams.Ecu.transmission for fw in car_fw)
+      reverse_switch_seen = MLB_MSG_GATEWAY_05 in fingerprint[1]
+      if fingerprinted and not gearbox_seen and not transmission_ecu and reverse_switch_seen:
         ret.transmissionType = TransmissionType.manual
 
     elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py

@@ -9,9 +9,9 @@ from iqdbc.car import Bus, DT_CTRL, structs
 from iqdbc.car.volkswagen.carstate import CarState
 from iqdbc.car.structs import CarParams
 from iqdbc.car.volkswagen.interface import CarInterface
-from iqdbc.car.volkswagen.values import (CAR, FW_QUERY_CONFIG, MLB_ACC_COORDINATOR_MSGS, MLB_MSG_ACC_10,
-                                         MLB_MSG_LH_EPS_03, WMI, VolkswagenFlags, VolkswagenFlagsIQ,
-                                         VolkswagenSafetyFlags)
+from iqdbc.car.volkswagen.values import (CAR, FW_QUERY_CONFIG, MLB_ACC_COORDINATOR_MSGS, MLB_GEARBOX_MSGS, MLB_MSG_ACC_10,
+                                         MLB_MSG_GATEWAY_05, MLB_MSG_GETRIEBE_01, MLB_MSG_LH_EPS_03, WMI, VolkswagenFlags,
+                                         VolkswagenFlagsIQ, VolkswagenSafetyFlags)
 from iqdbc.car.volkswagen.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
@@ -333,6 +333,58 @@ def test_mlb_manual_gear_follows_the_reverse_light_switch():
   assert _run(a4, lambda: _a4_mk4_frames(packer, reverse=False)).gearShifter == structs.CarState.GearShifter.drive
 
 
+def _q5_params(bus0, bus1=(), car_fw=()):
+  fingerprints = _mlb_fingerprint(0, bus0)
+  fingerprints[1] = {msg: 8 for msg in bus1}
+  fingerprints[2] = {msg: 8 for msg in MLB_ECAN_CAMERA}
+  return CarInterface.get_params(CAR.AUDI_Q5_MK1, fingerprints, list(car_fw), alpha_long=False, is_release=False, docs=False)
+
+
+MLB_ECAN_GATEWAY_NO_GEARBOX = tuple(msg for msg in MLB_ECAN_GATEWAY if msg not in MLB_GEARBOX_MSGS)
+
+
+def test_mlb_gearbox_on_the_powertrain_bus_keeps_automatic():
+  params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX, bus1=(MLB_MSG_GETRIEBE_01, MLB_MSG_GATEWAY_05))
+  assert params.transmissionType == CarParams.TransmissionType.automatic
+
+
+def test_mlb_transmission_ecu_firmware_keeps_automatic():
+  transmission = CarParams.CarFw.new_message(ecu=Ecu.transmission, address=0x7e1)
+  params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX, bus1=(MLB_MSG_GATEWAY_05,), car_fw=(transmission,))
+  assert params.transmissionType == CarParams.TransmissionType.automatic
+
+
+def test_mlb_reverse_switch_on_the_extended_can_alone_keeps_automatic():
+  params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX + (MLB_MSG_GATEWAY_05,))
+  assert params.transmissionType == CarParams.TransmissionType.automatic
+
+
+def test_mlb_manual_needs_no_gearbox_anywhere_and_a_reverse_switch_on_the_powertrain_bus():
+  params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX, bus1=(MLB_MSG_GATEWAY_05,))
+  assert params.transmissionType == CarParams.TransmissionType.manual
+
+
+def test_mlb_manual_gateway_car_reads_reverse_from_the_powertrain_bus():
+  fingerprints = _mlb_fingerprint(0, MLB_ECAN_GATEWAY_NO_GEARBOX)
+  fingerprints[1] = {MLB_MSG_GATEWAY_05: 8}
+  fingerprints[2] = {msg: 8 for msg in MLB_ECAN_CAMERA}
+  q5 = _build_mlb_car(CAR.AUDI_Q5_MK1, fingerprints)
+  assert q5.CP.transmissionType == CarParams.TransmissionType.manual
+
+  packer = CANPacker("vw_mlb")
+  frames = lambda reverse: [packer.make_can_msg("Gateway_05", 1, {"BCM1_Rueckfahrlicht_Schalter": int(reverse)})]
+  assert _run(q5, lambda: frames(True)).gearShifter == structs.CarState.GearShifter.reverse
+  assert _run(q5, lambda: frames(False)).gearShifter == structs.CarState.GearShifter.drive
+  assert MLB_MSG_GATEWAY_05 not in q5.can_parsers[Bus.pt].addresses
+
+
+def test_mlb_automatic_never_subscribes_gateway_05():
+  q5 = _q5_mk1_car()
+  q5.update([(int(DT_CTRL * 1e9), [])])
+  assert MLB_MSG_GATEWAY_05 not in q5.can_parsers[Bus.pt].addresses
+  assert MLB_MSG_GATEWAY_05 not in q5.can_parsers[Bus.aux].addresses
+
+
 @pytest.mark.parametrize("button_type", (
   structs.CarState.ButtonEvent.Type.setCruise,
   structs.CarState.ButtonEvent.Type.resumeCruise,

artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/values.py

@@ -348,6 +348,7 @@ MLB_MSG_ACC_01 = 0x109
 MLB_MSG_ACC_05 = 0x10D
 MLB_MSG_ACC_02 = 0x30C
 MLB_MSG_ACC_10 = 0x117
+MLB_MSG_GATEWAY_05 = 0x39C
 
 MLB_ACC_COORDINATOR_MSGS = (MLB_MSG_ACC_01, MLB_MSG_ACC_05, MLB_MSG_ACC_02)
 MLB_GEARBOX_MSGS = (MLB_MSG_GETRIEBE_01, MLB_MSG_GETRIEBE_02, MLB_MSG_GETRIEBE_03, MLB_MSG_GETRIEBE_04)

artifacts/package_sources/iqdbc/iqdbc/lvbs/car/toyota/values.py

@@ -17,5 +17,5 @@ class ToyotaSafetyFlagsIQ:
   DEFAULT = 0
   UNSUPPORTED_DSU = 1
   GAS_INTERCEPTOR = 2
-
+  LKAS_HUD = 4
 

artifacts/package_sources/iqdbc/iqdbc/safety/modes/toyota.h

@@ -39,7 +39,6 @@
 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                       \
   {.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
   {.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}},                           \
-  {.msg = {{0x412, 2, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 1U}, { 0 }, { 0 }}},  \
 
 #define TOYOTA_RX_CHECKS(lta)                                                                                                               \
   TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                              \
@@ -66,6 +65,9 @@
 #define TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK                                                   \
   {.msg = {{0x201, 0, 6, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
 
+#define TOYOTA_LKAS_HUD_ADDR_CHECK                                                                                                         \
+  {.msg = {{0x412, 2, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 1U}, { 0 }, { 0 }}},  \
+
 static bool toyota_secoc = false;
 static bool toyota_alt_brake = false;
 static bool toyota_stock_longitudinal = false;
@@ -433,6 +435,7 @@ static safety_config toyota_init(uint16_t param) {
 
   const uint16_t TOYOTA_PARAM_IQ_UNSUPPORTED_DSU = 1;
   const uint16_t TOYTOA_PARAM_IQ_GAS_INTERCEPTOR = 2;
+  const uint16_t TOYOTA_PARAM_IQ_LKAS_HUD = 4;
 
 #ifdef ALLOW_DEBUG
   const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
@@ -446,6 +449,7 @@ static safety_config toyota_init(uint16_t param) {
 
   const bool toyota_unsupported_dsu = GET_FLAG(current_safety_param_iq, TOYOTA_PARAM_IQ_UNSUPPORTED_DSU);
   enable_gas_interceptor = GET_FLAG(current_safety_param_iq, TOYTOA_PARAM_IQ_GAS_INTERCEPTOR);
+  const bool toyota_lkas_hud = GET_FLAG(current_safety_param_iq, TOYOTA_PARAM_IQ_LKAS_HUD);
 
   // gas interceptor should not be used if openpilot is not controlling longitudinal or is a TSK car
   if (toyota_stock_longitudinal || toyota_secoc) {
@@ -471,6 +475,7 @@ static safety_config toyota_init(uint16_t param) {
     static RxCheck toyota_secoc_rx_checks[] = {
       TOYOTA_SECOC_RX_CHECKS
       TOYOTA_PCM_CRUISE_2_ADDR_CHECK
+      TOYOTA_LKAS_HUD_ADDR_CHECK
     };
 
     SET_RX_CHECKS(toyota_secoc_rx_checks, ret);
@@ -479,6 +484,7 @@ static safety_config toyota_init(uint16_t param) {
     static RxCheck toyota_lta_rx_checks[] = {
       TOYOTA_RX_CHECKS(true)
       TOYOTA_PCM_CRUISE_2_ADDR_CHECK
+      TOYOTA_LKAS_HUD_ADDR_CHECK
     };
 
     SET_RX_CHECKS(toyota_lta_rx_checks, ret);
@@ -486,18 +492,22 @@ static safety_config toyota_init(uint16_t param) {
     static RxCheck toyota_lka_rx_checks[] = {
       TOYOTA_RX_CHECKS(false)
       TOYOTA_PCM_CRUISE_2_ADDR_CHECK
+      TOYOTA_LKAS_HUD_ADDR_CHECK
     };
     static RxCheck toyota_lka_alt_brake_rx_checks[] = {
       TOYOTA_ALT_BRAKE_RX_CHECKS(false)
       TOYOTA_PCM_CRUISE_2_ADDR_CHECK
+      TOYOTA_LKAS_HUD_ADDR_CHECK
     };
     static RxCheck toyota_lka_unsupported_dsu_rx_checks[] = {
       TOYOTA_RX_CHECKS(false)
       TOYOTA_DSU_CRUISE_ADDR_CHECK
+      TOYOTA_LKAS_HUD_ADDR_CHECK
     };
     static RxCheck toyota_lka_alt_brake_unsupported_dsu_rx_checks[] = {
       TOYOTA_ALT_BRAKE_RX_CHECKS(false)
       TOYOTA_DSU_CRUISE_ADDR_CHECK
+      TOYOTA_LKAS_HUD_ADDR_CHECK
     };
 
     if (!toyota_alt_brake) {
@@ -523,6 +533,7 @@ static safety_config toyota_init(uint16_t param) {
         TOYOTA_RX_CHECKS(true)
         TOYOTA_PCM_CRUISE_2_ADDR_CHECK
         TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+        TOYOTA_LKAS_HUD_ADDR_CHECK
       };
 
       SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret);
@@ -531,21 +542,25 @@ static safety_config toyota_init(uint16_t param) {
         TOYOTA_RX_CHECKS(false)
         TOYOTA_PCM_CRUISE_2_ADDR_CHECK
         TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+        TOYOTA_LKAS_HUD_ADDR_CHECK
       };
       static RxCheck toyota_lka_alt_brake_interceptor_rx_checks[] = {
         TOYOTA_ALT_BRAKE_RX_CHECKS(false)
         TOYOTA_PCM_CRUISE_2_ADDR_CHECK
         TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+        TOYOTA_LKAS_HUD_ADDR_CHECK
       };
       static RxCheck toyota_lka_unsupported_dsu_interceptor_rx_checks[] = {
         TOYOTA_RX_CHECKS(false)
         TOYOTA_DSU_CRUISE_ADDR_CHECK
         TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+        TOYOTA_LKAS_HUD_ADDR_CHECK
       };
       static RxCheck toyota_lka_alt_brake_unsupported_dsu_interceptor_rx_checks[] = {
         TOYOTA_ALT_BRAKE_RX_CHECKS(false)
         TOYOTA_DSU_CRUISE_ADDR_CHECK
         TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+        TOYOTA_LKAS_HUD_ADDR_CHECK
       };
 
       if (!toyota_alt_brake) {
@@ -564,6 +579,10 @@ static safety_config toyota_init(uint16_t param) {
     }
   }
 
+  if (!toyota_lkas_hud) {
+    ret.rx_checks_len -= 1;
+  }
+
   return ret;
 }
 

artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_toyota.py

@@ -21,8 +21,8 @@ TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0
 GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]]
 
 UNSUPPORTED_DSU = [
-  {"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.DEFAULT},
-  {"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU},
+  {"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.LKAS_HUD},
+  {"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU | ToyotaSafetyFlagsIQ.LKAS_HUD},
 ]
 
 
@@ -33,7 +33,7 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
   EPS_SCALE = 73
 
-  SAFETY_PARAM_IQ: int = 0
+  SAFETY_PARAM_IQ: int = ToyotaSafetyFlagsIQ.LKAS_HUD
 
   packer: CANPackerSafety
   safety: libsafety_py.LibSafety
@@ -96,6 +96,9 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
     return self.packer.make_can_msg_safety("LKAS_HUD", 2, values)
 
   def test_enable_control_allowed_with_aol_button(self):
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ | ToyotaSafetyFlagsIQ.LKAS_HUD)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param())
+    self.safety.init_tests()
     for enable_aol in (True, False):
       with self.subTest("enable_aol", aol_enabled=enable_aol):
         self.safety.set_aol_params(enable_aol, False, False)
@@ -120,6 +123,16 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
         self.safety.set_controls_allowed_lat(False)
         self.safety.set_aol_params(False, False, False)
 
+  def test_lkas_button_requires_lkas_hud(self):
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ & ~ToyotaSafetyFlagsIQ.LKAS_HUD)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param())
+    self.safety.init_tests()
+    self.safety.set_aol_params(True, False, False)
+    button_state = self.safety.get_aol_button_press()
+    self._rx(self._lkas_button_msg(True))
+    self.assertEqual(button_state, self.safety.get_aol_button_press())
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
   def test_diagnostics(self, stock_longitudinal: bool = False, ecu_disabled: bool = True):
     for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"),  # fwdCamera tester present
                            (False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"),  # non-tester present
@@ -250,6 +263,7 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
   def setUp(self):
     self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
     self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
     self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.LTA)
     self.safety.init_tests()
 
@@ -431,6 +445,7 @@ class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyo
   def setUp(self):
     self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
     self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
     self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
                                  self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.LTA)
     self.safety.init_tests()
@@ -445,6 +460,7 @@ class TestToyotaSecOcSafetyBase(TestToyotaSafetyBase):
   def setUp(self):
     self.packer = CANPackerSafety("toyota_secoc_pt_generated")
     self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
     self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
                                  self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
     self.safety.init_tests()
@@ -485,6 +501,7 @@ class TestToyotaSecOcSafetyStockLongitudinal(TestToyotaSecOcSafetyBase, TestToyo
   def setUp(self):
     self.packer = CANPackerSafety("toyota_secoc_pt_generated")
     self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
     self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
                                  self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.SECOC)
     self.safety.init_tests()
@@ -498,6 +515,7 @@ class TestToyotaSecOcSafety(TestToyotaSecOcSafetyBase):
   def setUp(self):
     self.packer = CANPackerSafety("toyota_secoc_pt_generated")
     self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
     self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
     self.safety.init_tests()