120 lines
3.8 KiB
C
120 lines
3.8 KiB
C
#ifndef SAFETY_HYUNDAI_COMMON_H
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#define SAFETY_HYUNDAI_COMMON_H
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const int HYUNDAI_PARAM_EV_GAS = 1;
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const int HYUNDAI_PARAM_HYBRID_GAS = 2;
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const int HYUNDAI_PARAM_LONGITUDINAL = 4;
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const int HYUNDAI_PARAM_CAMERA_SCC = 8;
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const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
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const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
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const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms
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const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12; // 0.375 kph
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enum {
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HYUNDAI_BTN_NONE = 0,
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HYUNDAI_BTN_RESUME = 1,
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HYUNDAI_BTN_SET = 2,
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HYUNDAI_BTN_CANCEL = 4,
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};
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// common state
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bool hyundai_ev_gas_signal = false;
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bool hyundai_hybrid_gas_signal = false;
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bool hyundai_longitudinal = false;
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bool hyundai_camera_scc = false;
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bool hyundai_canfd_hda2 = false;
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bool hyundai_alt_limits = false;
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uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
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uint16_t hyundai_canfd_crc_lut[256];
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void hyundai_common_init(uint16_t param) {
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hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
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hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
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hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
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hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
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hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
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hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
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#ifdef ALLOW_DEBUG
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hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
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#else
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hyundai_longitudinal = false;
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#endif
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}
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void hyundai_common_cruise_state_check(const int cruise_engaged) {
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// some newer HKG models can re-enable after spamming cancel button,
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// so keep track of user button presses to deny engagement if no interaction
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// enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
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if (!hyundai_longitudinal) {
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if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
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controls_allowed = true;
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}
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if (!cruise_engaged) {
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controls_allowed = false;
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}
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cruise_engaged_prev = cruise_engaged;
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}
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}
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void hyundai_common_cruise_buttons_check(const int cruise_button, const int main_button) {
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if (main_button != 0 && main_button != cruise_main_prev) {
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acc_main_on = !acc_main_on;
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}
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cruise_main_prev = main_button;
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if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
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(main_button != 0)) {
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hyundai_last_button_interaction = 0U;
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} else {
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hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
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}
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if (hyundai_longitudinal) {
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// enter controls on falling edge of resume or set
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bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
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bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
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if (set || res) {
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controls_allowed = true;
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}
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// exit controls on cancel press
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if (cruise_button == HYUNDAI_BTN_CANCEL) {
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controls_allowed = false;
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}
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cruise_button_prev = cruise_button;
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}
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}
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uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
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int len = GET_LEN(to_push);
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uint32_t address = GET_ADDR(to_push);
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uint16_t crc = 0;
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for (int i = 2; i < len; i++) {
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crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
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}
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// Add address to crc
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crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
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crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
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if (len == 24) {
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crc ^= 0x819dU;
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} else if (len == 32) {
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crc ^= 0x9f5bU;
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} else {
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}
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return crc;
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}
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#endif
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