Hyundai: support 90deg angle limit bypass (#1091)

* h90d safety

* quicker rate

* update comment

* support multi frames?

* stash

* stash

* might work?

* stash

* clean up

* revert that

* add test

* fixup tests

* clean up

* remove test

* try to combine tests

* Revert "try to combine tests"

This reverts commit f147955b94119eca0abd1b605844ab5002fb0305.

* seems simpler

* more explicit

* shouldn't be needed

* comment

* fix that test

board/safety/safety_hyundai.h

@@ -9,6 +9,13 @@ const SteeringLimits HYUNDAI_STEERING_LIMITS = {
   .driver_torque_allowance = 50,
   .driver_torque_factor = 2,
   .type = TorqueDriverLimited,
+
+  // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
+  // we allow setting CF_Lkas_ActToi bit to 0 while maintaining the requested torque value for two consecutive frames
+  .min_valid_request_frames = 89,
+  .max_invalid_request_frames = 2,
+  .min_valid_request_rt_interval = 810000,  // 810ms; a ~10% buffer on cutting every 90 frames
+  .has_steer_req_tolerance = true,
 };
 
 const int HYUNDAI_MAX_ACCEL = 200;  // 1/100 m/s2

tests/safety/common.py

@@ -245,10 +245,12 @@ class TorqueSteeringSafetyTestBase(PandaSafetyTestBase):
         self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
 
       # Send partial amount of allowed invalid frames
-      for _ in range(max_invalid_steer_frames):
-        self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
+      for idx in range(max_invalid_steer_frames):
+        should_tx = idx < self.MAX_INVALID_STEERING_FRAMES
+        self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
 
       # Send one valid frame, and subsequent invalid should now be blocked
+      self._set_prev_torque(self.MAX_TORQUE)
       self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
       for _ in range(self.MIN_VALID_STEERING_FRAMES + 1):
         self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))

tests/safety/test_hyundai.py

@@ -76,6 +76,11 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaSafetyTest, common.Driver
   DRIVER_TORQUE_ALLOWANCE = 50
   DRIVER_TORQUE_FACTOR = 2
 
+  # Safety around steering req bit
+  MIN_VALID_STEERING_FRAMES = 89
+  MAX_INVALID_STEERING_FRAMES = 2
+  MIN_VALID_STEERING_RT_INTERVAL = 810000  # a ~10% buffer, can send steer up to 110Hz
+
   cnt_gas = 0
   cnt_speed = 0
   cnt_brake = 0
@@ -125,22 +130,6 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaSafetyTest, common.Driver
     values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req}
     return self.packer.make_can_msg_panda("LKAS11", 0, values)
 
-  def test_steer_req_bit(self):
-    """
-      On Hyundai, you can ramp up torque and then set the CF_Lkas_ActToi bit and the
-      EPS will ramp up faster than the effective panda safety limits. This tests:
-        - Nothing is sent when cutting torque
-        - Nothing is blocked when sending torque normally
-    """
-    self.safety.set_controls_allowed(True)
-    for _ in range(100):
-      self._set_prev_torque(self.MAX_TORQUE)
-      self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
-
-    self._set_prev_torque(self.MAX_TORQUE)
-    for _ in range(100):
-      self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
-
 
 class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
   BUTTONS_BUS = 2  # tx on 2, rx on 0