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Hyundai CAN-FD: Alternate `LKAS` steering message (#1504) 

* new steering message!

* fix

* check tx

* fix var

* allow all tx to test LFA suppression

* Attempt to block laneline information to suppress LFA

* Try 0x364

* Block all bus 2/6 messages

* Final test to block LFA

* Fix tx

* in another PR

* cleanup

* lint

* Add new tx to unit test

* linter

* Apply suggestions

* Revert to this

* Unnecessary

* clean up

* rename to hda2

* prototype

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Wen 2023-08-30 02:40:14 -04:00 committed by GitHub
parent 48632d9e0b
commit e6c1648835
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 45 additions and 4 deletions
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26
board/safety/safety_hyundai_canfd.h
View File

@ -24,6 +24,12 @@ const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
{0x2A4, 0, 24}, // CAM_0x2A4
};
const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x362, 0, 32}, // CAM_0x362
};
const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
@ -116,10 +122,16 @@ uint16_t hyundai_canfd_crc_lut[256];
const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
bool hyundai_canfd_hda2 = false;
bool hyundai_canfd_alt_buttons = false;
bool hyundai_canfd_hda2_alt_steering = false;
int hyundai_canfd_hda2_get_lkas_addr(void) {
return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
}
static uint8_t hyundai_canfd_get_counter(CANPacket_t *to_push) {
uint8_t ret = 0;
if (GET_LEN(to_push) == 8U) {
@ -231,7 +243,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
}
}
const int steer_addr = hyundai_canfd_hda2 ? 0x50 : 0x12a;
const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
if (hyundai_longitudinal) {
// on HDA2, ensure ADRV ECU is still knocked out
@ -250,7 +262,11 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send) {
int addr = GET_ADDR(to_send);
if (hyundai_canfd_hda2 && !hyundai_longitudinal) {
tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS[0]));
if (hyundai_canfd_hda2_alt_steering) {
tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[0]));
} else {
tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS[0]));
}
} else if (hyundai_canfd_hda2 && hyundai_longitudinal) {
tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_LONG_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[0]));
} else {
@ -258,7 +274,7 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send) {
}
// steering
const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? 0x50 : 0x12a;
const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_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) != 0U;
@ -320,7 +336,8 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
}
if (bus_num == 2) {
// LKAS for HDA2, LFA for HDA1
bool is_lkas_msg = (((addr == 0x50) || (addr == 0x2a4)) && hyundai_canfd_hda2);
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);
// HUD icons
@ -344,6 +361,7 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
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);
// no long for ICE yet
if (!hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {

1
python/__init__.py
View File

@ -238,6 +238,7 @@ class Panda:
FLAG_HYUNDAI_CANFD_HDA2 = 16
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
FLAG_HYUNDAI_ALT_LIMITS = 64
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2

22
tests/safety/test_hyundai_canfd.py
View File

@ -180,6 +180,28 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
self.safety.init_tests()
# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDR = 0x110
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
PT_BUS = 1
SCC_BUS = 1
STEER_MSG = "LKAS_ALT"
GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
self.safety.init_tests()
class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],