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Hyundai: use GET_BIT and fix safety on incorrect bit (#933) 

* use GET_BIT where possible

* fix test to catch this
This commit is contained in:
Shane Smiskol 2022-05-11 22:36:53 -07:00 committed by GitHub
parent e8adf57a0c
commit 1d2127876d
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 9 additions and 8 deletions
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8
board/safety/safety_hyundai.h
View File

@ -230,7 +230,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
}
if (addr == 916) {
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0U;
brake_pressed = GET_BIT(to_push, 55U) != 0U;
}
bool stock_ecu_detected = (addr == 832);
@ -259,8 +259,8 @@ static int hyundai_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
// FCA11: Block any potential actuation
if (addr == 909) {
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1U;
int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1U;
int FCA_CmdAct = GET_BIT(to_send, 20U);
int CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
tx = 0;
@ -273,7 +273,7 @@ static int hyundai_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
int aeb_decel_cmd = GET_BYTE(to_send, 2);
int aeb_req = (GET_BYTE(to_send, 6) >> 6) & 1U;
int aeb_req = GET_BIT(to_send, 54U);
bool violation = 0;

9
tests/safety/test_hyundai.py
View File

@ -329,20 +329,21 @@ class TestHyundaiLongitudinalSafety(TestHyundaiSafety):
}
return self.packer.make_can_msg_panda("SCC12", 0, values)
def _send_fca11_msg(self, idx=0, aeb_req=False, aeb_decel=0):
def _send_fca11_msg(self, idx=0, vsm_aeb_req=False, fca_aeb_req=False, aeb_decel=0):
values = {
"CR_FCA_Alive": ((-((idx % 0xF) + 2) % 4) << 2) + 1,
"Supplemental_Counter": idx % 0xF,
"FCA_Status": 2,
"CR_VSM_DecCmd": aeb_decel,
"CF_VSM_DecCmdAct": int(aeb_req),
"FCA_CmdAct": int(aeb_req),
"CF_VSM_DecCmdAct": int(vsm_aeb_req),
"FCA_CmdAct": int(fca_aeb_req),
}
return self.packer.make_can_msg_panda("FCA11", 0, values)
def test_no_aeb_fca11(self):
self.assertTrue(self._tx(self._send_fca11_msg()))
self.assertFalse(self._tx(self._send_fca11_msg(aeb_req=True)))
self.assertFalse(self._tx(self._send_fca11_msg(vsm_aeb_req=True)))
self.assertFalse(self._tx(self._send_fca11_msg(fca_aeb_req=True)))
self.assertFalse(self._tx(self._send_fca11_msg(aeb_decel=1.0)))
def test_no_aeb_scc12(self):