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Hyundai: longitudinal support for all CAN-FD EV + Hybrid (#1128)

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* Update safety_hyundai_canfd.h

* Update safety_hyundai_canfd.h

* Update safety_hyundai_canfd.h

* cleanup

* add test

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
hoomoose
2022-11-15 15:48:45 -07:00
committed by GitHub
parent e7131fcee0
commit 5dc5cd8e20
2 changed files with 44 additions and 5 deletions
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16
board/safety/safety_hyundai_canfd.h
View File

@@ -216,8 +216,10 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
const int steer_addr = hyundai_canfd_hda2 ? 0x50 : 0x12a;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
if (hyundai_longitudinal) {
// ensure ADRV ECU is still knocked out
stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == 1));
// on HDA2, 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;
stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
}
generic_rx_checks(stock_ecu_detected);
@@ -262,7 +264,7 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed
}
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 0x730) {
if ((addr == 0x730) && hyundai_canfd_hda2) {
if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
tx = 0;
}
@@ -313,7 +315,10 @@ static int hyundai_canfd_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
// HUD icons
int is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
int block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg;
// CRUISE_INFO for non-HDA2, we send our own longitudinal commands
int is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
int block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
if (!block_msg) {
bus_fwd = 0;
}
@@ -329,7 +334,8 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
if (!hyundai_canfd_hda2) {
// no long for ICE yet
if (!hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
hyundai_longitudinal = false;
}

33
tests/safety/test_hyundai_canfd.py
View File

@@ -7,6 +7,8 @@ import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
from panda.tests.safety.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase
class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
@@ -188,6 +190,7 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
STEER_BUS = 1
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpandasafety_py.libpandasafety
@@ -202,5 +205,35 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
return self.packer.make_can_msg_panda("SCC_CONTROL", 1, values)
class TestHyundaiCanfdHDALongHybrid(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
DISABLED_ECU_UDS_MSG = (0x730, 1)
DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)
STEER_MSG = "LFA"
GAS_MSG = ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL")
STEER_BUS = 0
SCC_BUS = 2
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
values = {
"aReqRaw": accel,
"aReqValue": accel,
}
return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values)
# no knockout
def test_tester_present_allowed(self):
pass
if __name__ == "__main__":
unittest.main()