Revert "from commaai#1964"

This reverts commit c325de2.

Author: sunnyhaibin

opendbc/safety/safety/safety_hyundai.h

@@ -53,6 +53,8 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
   HYUNDAI_COMMON_TX_MSGS(0)
 };
 
+static bool hyundai_legacy = false;
+
 static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
@@ -286,8 +288,6 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config hyundai_init(uint16_t param) {
-  hyundai_flags(param);
-
   static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
     HYUNDAI_LONG_COMMON_TX_MSGS(0)
     {0x38D, 0, 8}, // FCA11 Bus 0
@@ -303,6 +303,9 @@ static safety_config hyundai_init(uint16_t param) {
     HYUNDAI_LONG_COMMON_TX_MSGS(2)
   };
 
+  hyundai_common_init(param);
+  hyundai_legacy = false;
+
   safety_config ret;
   if (hyundai_longitudinal) {
     static RxCheck hyundai_long_rx_checks[] = {
@@ -332,14 +335,16 @@ static safety_config hyundai_init(uint16_t param) {
 }
 
 static safety_config hyundai_legacy_init(uint16_t param) {
-  hyundai_flags(param);
-
   // older hyundai models have less checks due to missing counters and checksums
   static RxCheck hyundai_legacy_rx_checks[] = {
     HYUNDAI_COMMON_RX_CHECKS(true)
     HYUNDAI_SCC12_ADDR_CHECK(0)
   };
 
+  hyundai_common_init(param);
+  hyundai_legacy = true;
+  hyundai_longitudinal = false;
+  hyundai_camera_scc = false;
   return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
 }
 

opendbc/safety/safety/safety_hyundai_canfd.h

@@ -39,6 +39,9 @@
 #define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus)                                               \
   {.msg = {{0x1a0, (scc_bus), 32, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},  \
 
+static bool hyundai_canfd_alt_buttons = false;
+static bool hyundai_canfd_lka_steering_alt = false;
+
 static int hyundai_canfd_get_lka_addr(void) {
   return hyundai_canfd_lka_steering_alt ? 0x110 : 0x50;
 }
@@ -247,8 +250,8 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config hyundai_canfd_init(uint16_t param) {
-  hyundai_canfd_flags(param);
-  gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
+  const int HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
+  const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
 
   static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
     HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
@@ -292,6 +295,12 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     {0x160, 0, 16}, // ADRV_0x160
   };
 
+  hyundai_common_init(param);
+
+  gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
+  hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
+  hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
+
   safety_config ret;
   if (hyundai_longitudinal) {
     if (hyundai_canfd_lka_steering) {

opendbc/safety/safety/safety_hyundai_common.h

@@ -1,13 +1,12 @@
 #pragma once
 
 #include "safety_declarations.h"
-#include "safety_hyundai_flags.h"
 
 extern uint16_t hyundai_canfd_crc_lut[256];
 uint16_t hyundai_canfd_crc_lut[256];
 
 static const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8;  // roughly 160 ms
-
+                                                       //
 extern const uint32_t HYUNDAI_STANDSTILL_THRSLD;
 const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12;  // 0.375 kph
 
@@ -18,8 +17,59 @@ enum {
   HYUNDAI_BTN_CANCEL = 4,
 };
 
-extern uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
-uint8_t hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
+// common state
+extern bool hyundai_ev_gas_signal;
+bool hyundai_ev_gas_signal = false;
+
+extern bool hyundai_hybrid_gas_signal;
+bool hyundai_hybrid_gas_signal = false;
+
+extern bool hyundai_longitudinal;
+bool hyundai_longitudinal = false;
+
+extern bool hyundai_camera_scc;
+bool hyundai_camera_scc = false;
+
+extern bool hyundai_canfd_lka_steering;
+bool hyundai_canfd_lka_steering = false;
+
+extern bool hyundai_alt_limits;
+bool hyundai_alt_limits = false;
+
+extern bool hyundai_fcev_gas_signal;
+bool hyundai_fcev_gas_signal = false;
+
+extern bool hyundai_alt_limits_2;
+bool hyundai_alt_limits_2 = false;
+
+static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
+
+void hyundai_common_init(uint16_t param) {
+  const int HYUNDAI_PARAM_EV_GAS = 1;
+  const int HYUNDAI_PARAM_HYBRID_GAS = 2;
+  const int HYUNDAI_PARAM_CAMERA_SCC = 8;
+  const int HYUNDAI_PARAM_CANFD_LKA_STEERING = 16;
+  const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
+  const int HYUNDAI_PARAM_FCEV_GAS = 256;
+  const int HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
+
+  hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
+  hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
+  hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
+  hyundai_canfd_lka_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING);
+  hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
+  hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
+  hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
+
+  hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
+
+#ifdef ALLOW_DEBUG
+  const int HYUNDAI_PARAM_LONGITUDINAL = 4;
+  hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
+#else
+  hyundai_longitudinal = false;
+#endif
+}
 
 void hyundai_common_cruise_state_check(const bool cruise_engaged) {
   // some newer HKG models can re-enable after spamming cancel button,

opendbc/safety/safety/safety_hyundai_flags.h

@@ -173,7 +173,7 @@ class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
     self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.EV_GAS)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, 1)
     self.safety.init_tests()
 
   def _user_gas_msg(self, gas):
@@ -185,7 +185,7 @@ class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
     self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.HYBRID_GAS)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, 2)
     self.safety.init_tests()
 
   def _user_gas_msg(self, gas):