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Hyundai CAN-FD: Refactor HDA2 with available steering types (#1782)

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* Hyundai CAN-FD: Refactor HDA2 with available steering types

* add comments
This commit is contained in:
Jason Wen
2025-02-22 01:07:42 -08:00
committed by GitHub
parent 3b7204b9ff
commit fe1690d48d
11 changed files with 126 additions and 121 deletions
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20
opendbc/car/hyundai/carcontroller.py
View File

@@ -93,7 +93,7 @@ class CarController(CarControllerBase):
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
# for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
addr, bus = 0x730, self.CAN.ECAN
can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
@@ -103,27 +103,27 @@ class CarController(CarControllerBase):
# CAN-FD platforms
if self.CP.flags & HyundaiFlags.CANFD:
hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and hda2:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and lka_steering:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
if self.CP.openpilotLongitudinalControl:
if hda2:
if lka_steering:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
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,

8
opendbc/car/hyundai/carstate.py
View File

@@ -269,8 +269,8 @@ class CarState(CarStateBase):
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
else cp_cam.vl["CAM_0x2a4"])
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
@@ -317,8 +317,8 @@ class CarState(CarStateBase):
]
cam_messages = []
if CP.flags & HyundaiFlags.CANFD_HDA2:
block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "CAM_0x2a4"
cam_messages += [(block_lfa_msg, 20)]
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
cam_messages += [

30
opendbc/car/hyundai/hyundaicanfd.py
View File

@@ -4,17 +4,17 @@ from opendbc.car.hyundai.values import HyundaiFlags
class CanBus(CanBusBase):
def __init__(self, CP, fingerprint=None, hda2=None) -> None:
def __init__(self, CP, fingerprint=None, lka_steering=None) -> None:
super().__init__(CP, fingerprint)
if hda2 is None:
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value if CP is not None else False
if lka_steering is None:
lka_steering = CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value if CP is not None else False
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. LKA steering cars
# have a different harness than the LFA steering variants in order to split
# a different bus, since the steering is done by different ECUs.
self._a, self._e = 1, 0
if hda2:
if lka_steering:
self._a, self._e = 0, 1
self._a += self.offset
@@ -50,22 +50,22 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
"NEW_SIGNAL_2": 0,
}
if CP.flags & HyundaiFlags.CANFD_HDA2:
hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, values))
else:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret
def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
msg_bytes = 32 if hda2_alt_steering else 24
def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
suppress_msg = "CAM_0x362" if lka_steering_alt else "CAM_0x2a4"
msg_bytes = 32 if lka_steering_alt else 24
values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
values = {f"BYTE{i}": lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
values["COUNTER"] = lfa_block_msg["COUNTER"]
values["SET_ME_0"] = 0
values["SET_ME_0_2"] = 0
values["LEFT_LANE_LINE"] = 0
@@ -79,7 +79,7 @@ def create_buttons(packer, CP, CAN, cnt, btn):
"CRUISE_BUTTONS": btn,
}
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):

26
opendbc/car/hyundai/interface.py
View File

@@ -20,8 +20,8 @@ class CarInterface(CarInterfaceBase):
ret.brand = "hyundai"
cam_can = CanBus(None, fingerprint).CAM
hda2 = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
CAN = CanBus(None, fingerprint, hda2)
lka_steering = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
CAN = CanBus(None, fingerprint, lka_steering)
if ret.flags & HyundaiFlags.CANFD:
# Shared configuration for CAN-FD cars
@@ -31,19 +31,19 @@ class CarInterface(CarInterfaceBase):
if 0x105 in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.HYBRID.value
# detect HDA2 with ADAS Driving ECU
if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
if lka_steering:
# detect LKA steering
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING.value
if 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING_ALT.value
else:
# non-HDA2
# no LKA steering
if 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
if not ret.flags & HyundaiFlags.RADAR_SCC:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
# Some HDA2 cars have alternative messages for gear checks
# Some LKA steering cars have alternative messages for gear checks
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[CAN.ECAN]:
@@ -56,10 +56,10 @@ class CarInterface(CarInterfaceBase):
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
if ret.flags & HyundaiFlags.CANFD_HDA2:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_HDA2.value
if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_HDA2_ALT_STEERING.value
if ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING.value
if ret.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT.value
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
@@ -133,7 +133,7 @@ class CarInterface(CarInterfaceBase):
def init(CP, can_recv, can_send):
if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
addr, bus = 0x730, CanBus(CP).ECAN
disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')

10
opendbc/car/hyundai/tests/test_hyundai.py
View File

@@ -44,14 +44,14 @@ CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
class TestHyundaiFingerprint:
def test_feature_detection(self):
# HDA2
for hda2 in (True, False):
# LKA steering
for lka_steering in (True, False):
fingerprint = gen_empty_fingerprint()
if hda2:
if lka_steering:
cam_can = CanBus(None, fingerprint).CAM
fingerprint[cam_can] = [0x50, 0x110] # HDA2 steering messages
fingerprint[cam_can] = [0x50, 0x110] # LKA steering messages
CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False)
assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == hda2
assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
# radar available
for radar in (True, False):

17
opendbc/car/hyundai/values.py
View File

@@ -55,15 +55,20 @@ class HyundaiSafetyFlags(IntFlag):
HYBRID_GAS = 2
LONG = 4
CAMERA_SCC = 8
CANFD_HDA2 = 16
CANFD_LKA_STEERING = 16
CANFD_ALT_BUTTONS = 32
ALT_LIMITS = 64
CANFD_HDA2_ALT_STEERING = 128
CANFD_LKA_STEERING_ALT = 128
class HyundaiFlags(IntFlag):
# Dynamic Flags
CANFD_HDA2 = 1
# Default assumption: all cars use LFA (ADAS) steering from the camera.
# CANFD_LKA_STEERING/CANFD_LKA_STEERING_ALT cars typically have both LKA (camera) and LFA (ADAS) steering messages,
# with LKA commands forwarded to the ADAS DRV ECU.
# Most HDA2 trims are assumed to be equipped with the ADAS DRV ECU, though some variants may not be equipped with one.
CANFD_LKA_STEERING = 1
CANFD_ALT_BUTTONS = 2
CANFD_ALT_GEARS = 2 ** 2
CANFD_CAMERA_SCC = 2 ** 3
@@ -73,7 +78,7 @@ class HyundaiFlags(IntFlag):
CANFD_ALT_GEARS_2 = 2 ** 6
SEND_LFA = 2 ** 7
USE_FCA = 2 ** 8
CANFD_HDA2_ALT_STEERING = 2 ** 9
CANFD_LKA_STEERING_ALT = 2 ** 9
# these cars use a different gas signal
HYBRID = 2 ** 10
@@ -703,7 +708,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
),
# CAN & CAN FD query to understand the three digit date code
# HDA2 cars usually use 6 digit date codes, so skip bus 1
# LKA steering cars usually use 6 digit date codes, so skip bus 1
Request(
[HYUNDAI_ECU_MANUFACTURING_DATE],
[HYUNDAI_VERSION_RESPONSE],
@@ -737,7 +742,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
CAR.KIA_CEED, CAR.KIA_SELTOS],
},
extra_ecus=[
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
(Ecu.adas, 0x730, None), # ADAS Driving ECU on platforms with LKA steering
(Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms)
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
(Ecu.cornerRadar, 0x7b7, None),

10
opendbc/car/tests/routes.py
View File

@@ -117,7 +117,7 @@ routes = [
CarTestRoute("afe09b9f5d3f3548/00000011--15fefe1c50", HYUNDAI.GENESIS_GV70_ELECTRIFIED_1ST_GEN),
CarTestRoute("afe09b9f5d3f3548/0000001b--a1129a4a15", HYUNDAI.GENESIS_GV70_ELECTRIFIED_1ST_GEN), # openpilot longitudinal enabled
CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL), # HDA2
CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL), # LKA steering
CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
@@ -143,8 +143,8 @@ routes = [
CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN), # plug-in hybrid
CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5), # HDA2
CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6), # HDA2
CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5), # LKA steering
CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6), # LKA steering
CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV), # openpilot longitudinal enabled
@@ -162,8 +162,8 @@ routes = [
CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),
CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2
CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1
CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # LKA steering
CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # LFA steering
CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),

86
opendbc/safety/safety/safety_hyundai_canfd.h
View File

@@ -24,10 +24,10 @@
{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
static bool hyundai_canfd_alt_buttons = false;
static bool hyundai_canfd_hda2_alt_steering = false;
static bool hyundai_canfd_lka_steering_alt = false;
static int hyundai_canfd_hda2_get_lkas_addr(void) {
return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
static int hyundai_canfd_get_lka_addr(void) {
return hyundai_canfd_lka_steering_alt ? 0x110 : 0x50;
}
static uint8_t hyundai_canfd_get_counter(const CANPacket_t *to_push) {
@@ -49,7 +49,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
const int pt_bus = hyundai_canfd_lka_steering ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
if (bus == pt_bus) {
@@ -108,12 +108,12 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
}
}
const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
const int steer_addr = hyundai_canfd_lka_steering ? hyundai_canfd_get_lka_addr() : 0x12a;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
if (hyundai_longitudinal) {
// on HDA2, ensure ADRV ECU is still knocked out
// on LKA steering cars, ensure ADRV ECU is still knocked out
// on others, ensure accel msg is blocked from camera
const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
const int stock_scc_bus = hyundai_canfd_lka_steering ? 1 : 0;
stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
}
generic_rx_checks(stock_ecu_detected);
@@ -143,7 +143,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
int addr = GET_ADDR(to_send);
// steering
const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
const int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12a;
if (addr == steer_addr) {
int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
bool steer_req = GET_BIT(to_send, 52U);
@@ -166,7 +166,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
}
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if ((addr == 0x730) && hyundai_canfd_hda2) {
if ((addr == 0x730) && hyundai_canfd_lka_steering) {
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
tx = false;
}
@@ -204,18 +204,18 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
bus_fwd = 2;
}
if (bus_num == 2) {
// LKAS for HDA2, LFA for HDA1
int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;
bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2;
bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
// LKAS for cars with LKAS and LFA messages, LFA for cars with no LKAS messages
int lfa_block_addr = hyundai_canfd_lka_steering_alt ? 0x362 : 0x2a4;
bool is_lka_msg = ((addr == hyundai_canfd_get_lka_addr()) || (addr == lfa_block_addr)) && hyundai_canfd_lka_steering;
bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_lka_steering);
// HUD icons
bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_lka_steering);
// CRUISE_INFO for non-HDA2, we send our own longitudinal commands
bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
// SCC_CONTROL for camera SCC cars, we send our own longitudinal commands
bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_lka_steering);
bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
bool block_msg = is_lka_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
if (!block_msg) {
bus_fwd = 0;
}
@@ -225,22 +225,22 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
}
static safety_config hyundai_canfd_init(uint16_t param) {
const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
const int HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
static const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x2A4, 0, 24}, // CAM_0x2A4
};
static const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x362, 0, 32}, // CAM_0x362
};
static const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
static const CanMsg HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x2A4, 0, 24}, // CAM_0x2A4
@@ -256,7 +256,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
{0x1DA, 1, 32}, // ADRV_0x1da
};
static const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = {
{0x12A, 0, 16}, // LFA
{0x1A0, 0, 32}, // CRUISE_INFO
{0x1CF, 2, 8}, // CRUISE_BUTTON
@@ -268,50 +268,50 @@ static safety_config hyundai_canfd_init(uint16_t 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_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);
hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
// no long for radar-SCC HDA1 yet
if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
// no long for radar-SCC with LFA steering yet
if (!hyundai_canfd_lka_steering && !hyundai_camera_scc) {
hyundai_longitudinal = false;
}
safety_config ret;
if (hyundai_longitudinal) {
if (hyundai_canfd_hda2) {
static RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
if (hyundai_canfd_lka_steering) {
static RxCheck hyundai_canfd_lka_steering_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
};
ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
ret = BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_long_rx_checks, HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS);
} else {
static RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
};
// Longitudinal checks for HDA1
// Longitudinal checks for LFA steering
static RxCheck hyundai_canfd_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
};
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS);
}
} else {
if (hyundai_canfd_hda2) {
// *** HDA2 checks ***
// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
if (hyundai_canfd_lka_steering) {
// *** LKA steering checks ***
// E-CAN is on bus 1, SCC messages are sent on cars with ADRV ECU.
// Does not use the alt buttons message
static RxCheck hyundai_canfd_hda2_rx_checks[] = {
static RxCheck hyundai_canfd_lka_steering_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
ret = hyundai_canfd_lka_steering_alt ? BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_TX_MSGS);
} else if (!hyundai_camera_scc) {
static RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
@@ -326,17 +326,17 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS);
} else {
// *** Non-HDA2 checks ***
// *** LFA steering checks ***
static RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
// Camera sends SCC messages on HDA1.
// Camera sends SCC messages on LFA steering cars.
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
static RxCheck hyundai_canfd_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
@@ -344,8 +344,8 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS);
}
}

8
opendbc/safety/safety/safety_hyundai_common.h
View File

@@ -30,8 +30,8 @@ bool hyundai_longitudinal = false;
extern bool hyundai_camera_scc;
bool hyundai_camera_scc = false;
extern bool hyundai_canfd_hda2;
bool hyundai_canfd_hda2 = false;
extern bool hyundai_canfd_lka_steering;
bool hyundai_canfd_lka_steering = false;
extern bool hyundai_alt_limits;
bool hyundai_alt_limits = false;
@@ -42,13 +42,13 @@ 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_HDA2 = 16;
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
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_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
hyundai_canfd_lka_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING);
hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;

2
opendbc/safety/tests/common.py
View File

@@ -773,7 +773,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
continue
# overlapping TX addrs, but they're not actuating messages for either car
if attr == 'TestHyundaiCanfdHDA2LongEV' and current_test.startswith('TestToyota'):
if attr == 'TestHyundaiCanfdLKASteeringLongEV' and current_test.startswith('TestToyota'):
tx = list(filter(lambda m: m[0] not in [0x160, ], tx))
# Volkswagen MQB longitudinal actuating message overlaps with the Subaru lateral actuating message

30
opendbc/safety/tests/test_hyundai_canfd.py
View File

@@ -81,7 +81,7 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.
return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values)
class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):
TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x12A,)} # LFA
@@ -95,7 +95,7 @@ class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
@classmethod
def setUpClass(cls):
super().setUpClass()
if cls.__name__ in ("TestHyundaiCanfdHDA1", "TestHyundaiCanfdHDA1AltButtons"):
if cls.__name__ in ("TestHyundaiCanfdLFASteering", "TestHyundaiCanfdLFASteeringAltButtons"):
cls.packer = None
cls.safety = None
raise unittest.SkipTest
@@ -121,7 +121,7 @@ class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS |
HyundaiSafetyFlags.CAMERA_SCC},
])
class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
class TestHyundaiCanfdLFASteering(TestHyundaiCanfdLFASteeringBase):
pass
@@ -139,7 +139,7 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS |
HyundaiSafetyFlags.CAMERA_SCC},
])
class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringBase):
SAFETY_PARAM: int
@@ -166,7 +166,7 @@ class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
self.assertFalse(self._tx(self._button_msg(btn)))
class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x50,)} # LKAS
@@ -181,12 +181,12 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_HDA2 | HyundaiSafetyFlags.EV_GAS)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.EV_GAS)
self.safety.init_tests()
# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} # LKAS_ALT
@@ -201,12 +201,12 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_HDA2 | HyundaiSafetyFlags.EV_GAS |
HyundaiSafetyFlags.CANFD_HDA2_ALT_STEERING)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.EV_GAS |
HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT)
self.safety.init_tests()
class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):
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]]
@@ -223,7 +223,7 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_HDA2 |
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING |
HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS)
self.safety.init_tests()
@@ -235,14 +235,14 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
return self.packer.make_can_msg_panda("SCC_CONTROL", 1, values)
# Tests HDA1 longitudinal for ICE, hybrid, EV
# Tests longitudinal for ICE, hybrid, EV cars with LFA steering
@parameterized_class([
# Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
# Camera SCC is the only supported configuration for LFA steering cars, TODO: allow radar SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiSafetyFlags.LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.HYBRID_GAS},
])
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
class TestHyundaiCanfdLFASteeringLong(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase):
FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
@@ -257,7 +257,7 @@ class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestHyundaiCanfdHDA1Long":
if cls.__name__ == "TestHyundaiCanfdLFASteeringLong":
cls.safety = None
raise unittest.SkipTest