Hyundai CAN-FD: Tucson Hybrid 2022 support (#999)

* Hyundai: Car Port for Tucson Hybrid 2022 * Remove test comments * Fix fwd_hook * Allow tx on 0x1a0 * Fix byte counts * Send LFA and HDA icons based on engageability * Add FLAG_HYUNDAI_CANFD_HDA2 flag * Update __init__.py * Allow tx with CRUISE_INACTIVE * Panda safety cleanup * Include bus 0 in rx checks * Missed one * Remove redundant check * Add comments * start cleanup * little more * more cleanup * tests * one more test case * rename Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2026-02-18 17:23:52 +08:00 · 2022-08-19 22:43:58 -04:00
parent abaa9f8968
commit 9d6496ece8
6 changed files with 170 additions and 40 deletions
--- a/Dockerfile.panda
+++ b/Dockerfile.panda
@@ -48,7 +48,7 @@ ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"

 ENV PANDA_PATH=/tmp/openpilot/panda
 ENV OPENPILOT_REF="96e8d5c9fe1a8084dfa5d97c78d4ea2037272420"
-ENV OPENDBC_REF="488568517162194fbb2aa45d3dba4c6af663a883"
+ENV OPENDBC_REF="3270c931c07bd3a47839a1a84c109eb2a7d295a6"

 COPY requirements.txt /tmp/
 RUN pyenv install 3.8.10 && \
--- a/board/safety/safety_hyundai_canfd.h
+++ b/board/safety/safety_hyundai_canfd.h
@@ -11,19 +11,33 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {

 const uint32_t HYUNDAI_CANFD_STANDSTILL_THRSLD = 30;  // ~1kph

-const CanMsg HYUNDAI_CANFD_TX_MSGS[] = {
-  {0x50, 0, 16},
-  {0x1CF, 1, 8},
-  {0x2A4, 0, 24},
+const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
+  {0x50, 0, 16},  // LKAS
+  {0x1CF, 1, 8},  // CRUISE_BUTTON
+  {0x2A4, 0, 24}, // CAM_0x2A4
+};
+
+const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
+  {0x12A, 0, 16}, // LFA
+  {0x1A0, 0, 32}, // CRUISE_INFO
+  {0x1CF, 0, 8},  // CRUISE_BUTTON
+  {0x1E0, 0, 16}, // LFAHDA_CLUSTER
 };

 AddrCheckStruct hyundai_canfd_addr_checks[] = {
-  {.msg = {{0x35, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x65, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0xa0, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0xea, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x175, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x1cf, 1, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{0x35, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
+           {0x105, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{0x65, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
+           {0x65, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{0xa0, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
+           {0xa0, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{0xea, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
+           {0xea, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{0x175, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
+           {0x175, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
+  {.msg = {{0x1cf, 1, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
+           {0x1cf, 0, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
+           {0x1aa, 0, 16, .check_checksum = false, .max_counter = 0xffU, .expected_timestep = 20000U}}},
 };
 #define HYUNDAI_CANFD_ADDR_CHECK_LEN (sizeof(hyundai_canfd_addr_checks) / sizeof(hyundai_canfd_addr_checks[0]))

@@ -32,6 +46,13 @@ addr_checks hyundai_canfd_rx_checks = {hyundai_canfd_addr_checks, HYUNDAI_CANFD_

 uint16_t hyundai_canfd_crc_lut[256];

+
+const int HYUNDAI_PARAM_CANFD_HDA2 = 1;
+const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 2;
+bool hyundai_canfd_hda2 = false;
+bool hyundai_canfd_alt_buttons = false;
+
+
 static uint8_t hyundai_canfd_get_counter(CANPacket_t *to_push) {
  uint8_t ret = 0;
  if (GET_LEN(to_push) == 8U) {
@@ -84,8 +105,9 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

-  if (valid && (bus == 1)) {
+  const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;

+  if (valid && (bus == pt_bus)) {
    // driver torque
    if (addr == 0xea) {
      int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
@@ -94,9 +116,17 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
    }

    // cruise buttons
-    if (addr == 0x1cf) {
-      int cruise_button = GET_BYTE(to_push, 2) & 0x7U;
-      int main_button = GET_BIT(to_push, 19U);
+    const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
+    if (addr == button_addr) {
+      int main_button = 0;
+      int cruise_button = 0;
+      if (addr == 0x1cf) {
+        cruise_button = GET_BYTE(to_push, 2) & 0x7U;
+        main_button = GET_BIT(to_push, 19U);
+      } else {
+        cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
+        main_button = GET_BIT(to_push, 34U);
+      }

      if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || (main_button != 0)) {
        hyundai_last_button_interaction = 0U;
@@ -119,8 +149,11 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
    }

    // gas press
-    if (addr == 0x35) {
+    if ((addr == 0x35) && hyundai_canfd_hda2) {
      gas_pressed = GET_BYTE(to_push, 5) != 0U;
+    } else if ((addr == 0x105) && !hyundai_canfd_hda2) {
+      gas_pressed = (GET_BIT(to_push, 103U) != 0U) || (GET_BYTE(to_push, 13) != 0U) || (GET_BIT(to_push, 112U) != 0U);
+    } else {
    }

    // brake press
@@ -138,7 +171,8 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
    }
  }

-  generic_rx_checks((addr == 0x50) && (bus == 0));
+  const int steer_addr = hyundai_canfd_hda2 ? 0x50 : 0x12a;
+  generic_rx_checks((addr == steer_addr) && (bus == 0));

  return valid;
 }
@@ -146,12 +180,19 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
 static int hyundai_canfd_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
  UNUSED(longitudinal_allowed);

-  int tx = msg_allowed(to_send, HYUNDAI_CANFD_TX_MSGS, sizeof(HYUNDAI_CANFD_TX_MSGS)/sizeof(HYUNDAI_CANFD_TX_MSGS[0]));
+  int tx = 0;
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

+  if (hyundai_canfd_hda2) {
+    tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS[0]));
+  } else {
+    tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA1_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA1_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA1_TX_MSGS[0]));
+  }
+
  // steering
-  if ((addr == 0x50) && (bus == 0)) {
+  const int steer_addr = hyundai_canfd_hda2 ? 0x50 : 0x12a;
+  if ((addr == steer_addr) && (bus == 0)) {
    int desired_torque = ((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U);
    desired_torque -= 1024;

@@ -161,9 +202,12 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed
  }

  // cruise buttons check
-  if ((addr == 0x1cf) && (bus == 1)) {
-    bool is_cancel = GET_BYTE(to_send, 2) == 4U;
-    bool is_resume = GET_BYTE(to_send, 2) == 1U;
+  const int buttons_bus = hyundai_canfd_hda2 ? 1 : 0;
+  if ((addr == 0x1cf) && (bus == buttons_bus)) {
+    int button = GET_BYTE(to_send, 2) & 0x7U;
+    bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
+    bool is_resume = (button == HYUNDAI_BTN_RESUME);
+
    bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
    if (!allowed) {
      tx = 0;
@@ -181,17 +225,29 @@ static int hyundai_canfd_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
  if (bus_num == 0) {
    bus_fwd = 2;
  }
-  if ((bus_num == 2) && (addr != 0x50) && (addr != 0x2a4)) {
-    bus_fwd = 0;
+  if (bus_num == 2) {
+    // LKAS for HDA2, LFA for HDA1
+    int is_lkas_msg = (((addr == 0x50) || (addr == 0x2a4)) && hyundai_canfd_hda2);
+    int is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
+
+    // HUD icons
+    int is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
+
+    int block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg;
+    if (!block_msg) {
+      bus_fwd = 0;
+    }
  }

  return bus_fwd;
 }

 static const addr_checks* hyundai_canfd_init(uint16_t param) {
-  UNUSED(param);
  gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
  hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
+  hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
+  hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
+
  return &hyundai_canfd_rx_checks;
 }

--- a/python/init.py
+++ b/python/init.py
@@ -197,6 +197,9 @@ class Panda:
  FLAG_HYUNDAI_LONG = 4
  FLAG_HYUNDAI_CAMERA_SCC = 8

+  FLAG_HYUNDAI_CANFD_HDA2 = 1
+  FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 2
+
  FLAG_TESLA_POWERTRAIN = 1
  FLAG_TESLA_LONG_CONTROL = 2

--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -568,6 +568,8 @@ class PandaSafetyTest(PandaSafetyTestBase):
              continue
            if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
              continue
+            if attr.startswith('TestHyundaiCanfd') and current_test.startswith('TestHyundaiCanfd'):
+              continue
            # TODO: Temporary, should be fixed in panda firmware, safety_honda.h
            if attr.startswith('TestHonda'):
              # exceptions for common msgs across different hondas
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -61,7 +61,7 @@ class HyundaiButtonBase: #(common.PandaSafetyTest):
  BUTTONS_BUS = 0  # tx on this bus, rx on 0. added to all `self._tx(self._button_msg(...))`
  SCC_BUS = 0  # rx on this bus

-  def test_buttons(self):
+  def test_button_sends(self):
    """
      Only RES and CANCEL buttons are allowed
      - RES allowed while controls allowed
@@ -259,7 +259,7 @@ class TestHyundaiLongitudinalSafety(TestHyundaiSafety):
  def test_cruise_engaged_prev(self):
    pass

-  def test_buttons(self):
+  def test_button_sends(self):
    pass

  def _pcm_status_msg(self, enable):
--- a/tests/safety/test_hyundai_canfd.py
+++ b/tests/safety/test_hyundai_canfd.py
@@ -6,7 +6,7 @@ import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda
 from panda.tests.safety.test_hyundai import HyundaiButtonBase

-class TestHyundaiCanfd(HyundaiButtonBase, common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
+class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):

  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
  STANDSTILL_THRESHOLD = 30  # ~1kph
@@ -25,42 +25,111 @@ class TestHyundaiCanfd(HyundaiButtonBase, common.PandaSafetyTest, common.DriverT
  DRIVER_TORQUE_ALLOWANCE = 250
  DRIVER_TORQUE_FACTOR = 2

-  def setUp(self):
-    self.packer = CANPackerPanda("kia_ev6")
-    self.safety = libpandasafety_py.libpandasafety
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, 0)
-    self.safety.init_tests()
+  PT_BUS = 0
+  STEER_MSG = ""
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestHyundaiCanfdBase":
+      cls.packer = None
+      cls.safety = None
+      raise unittest.SkipTest

  def _torque_driver_msg(self, torque):
    values = {"STEERING_COL_TORQUE": torque}
-    return self.packer.make_can_msg_panda("MDPS", 1, values)
+    return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values)

  def _torque_cmd_msg(self, torque, steer_req=1):
    values = {"TORQUE_REQUEST": torque}
-    return self.packer.make_can_msg_panda("LKAS", 0, values)
+    return self.packer.make_can_msg_panda(self.STEER_MSG, 0, values)

  def _speed_msg(self, speed):
    values = {f"WHEEL_SPEED_{i}": speed * 0.03125 for i in range(1, 5)}
-    return self.packer.make_can_msg_panda("WHEEL_SPEEDS", 1, values)
+    return self.packer.make_can_msg_panda("WHEEL_SPEEDS", self.PT_BUS, values)

  def _user_brake_msg(self, brake):
    values = {"BRAKE_PRESSED": brake}
-    return self.packer.make_can_msg_panda("BRAKE", 1, values)
+    return self.packer.make_can_msg_panda("BRAKE", self.PT_BUS, values)

  def _user_gas_msg(self, gas):
    values = {"ACCELERATOR_PEDAL": gas}
-    return self.packer.make_can_msg_panda("ACCELERATOR", 1, values)
+    return self.packer.make_can_msg_panda("ACCELERATOR", self.PT_BUS, values)

  def _pcm_status_msg(self, enable):
    values = {"CRUISE_ACTIVE": enable}
-    return self.packer.make_can_msg_panda("SCC1", 1, values)
+    return self.packer.make_can_msg_panda("SCC1", self.PT_BUS, values)

  def _button_msg(self, buttons, main_button=0, bus=1):
    values = {
      "CRUISE_BUTTONS": buttons,
      "ADAPTIVE_CRUISE_MAIN_BTN": main_button,
    }
-    return self.packer.make_can_msg_panda("CRUISE_BUTTONS", 1, values)
+    return self.packer.make_can_msg_panda("CRUISE_BUTTONS", self.PT_BUS, values)
+
+
+class TestHyundaiCanfdHDA1(TestHyundaiCanfdBase):
+
+  TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
+  RELAY_MALFUNCTION_ADDR = 0x12A
+  RELAY_MALFUNCTION_BUS = 0
+  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  STEER_MSG = "LFA"
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_canfd")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, 0)
+    self.safety.init_tests()
+
+  def _user_gas_msg(self, gas):
+    values = {"ACCELERATOR_PEDAL": gas}
+    return self.packer.make_can_msg_panda("ACCELERATOR_ALT", self.PT_BUS, values)
+
+class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1):
+
+  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_CANFD_ALT_BUTTONS)
+    self.safety.init_tests()
+
+  def _button_msg(self, buttons, main_button=0, bus=1):
+    values = {
+      "CRUISE_BUTTONS": buttons,
+      "ADAPTIVE_CRUISE_MAIN_BTN": main_button,
+    }
+    return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values)
+
+  def test_button_sends(self):
+    """
+      No button send allowed with alt buttons.
+    """
+    for enabled in (True, False):
+      for btn in range(8):
+        self.safety.set_controls_allowed(enabled)
+        self.assertFalse(self._tx(self._button_msg(btn)))
+
+
+class TestHyundaiCanfdHDA2(TestHyundaiCanfdBase):
+
+  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
+  RELAY_MALFUNCTION_ADDR = 0x50
+  RELAY_MALFUNCTION_BUS = 0
+  FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  PT_BUS = 1
+  STEER_MSG = "LKAS"
+
+  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_CANFD_HDA2)
+    self.safety.init_tests()
+
+


 if __name__ == "__main__":