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Hyundai: steering fault bit safety (#1095) 

comment

smaller comment

simpler test

check controls allowed

more classical

more like the buttons

revert

flip
This commit is contained in:
Shane Smiskol 2022-10-10 21:56:22 -07:00 committed by GitHub
parent aaa70b10be
commit 2334a413bc
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2 changed files with 14 additions and 2 deletions
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4
board/safety/safety_hyundai.h
View File

@ -324,6 +324,10 @@ static int hyundai_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
if (addr == 832) {
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ffU) - 1024U;
bool steer_req = GET_BIT(to_send, 27U) != 0U;
bool toi_flt = GET_BIT(to_send, 28U) != 0U;
if (toi_flt && !controls_allowed) {
tx = 0;
}
if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_STEERING_LIMITS)) {
tx = 0;

12
tests/safety/test_hyundai.py
View File

@ -174,8 +174,8 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaSafetyTest, common.Driver
values = {"CR_Mdps_StrColTq": torque}
return self.packer.make_can_msg_panda("MDPS12", 0, values)
def _torque_cmd_msg(self, torque, steer_req=1):
values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req}
def _torque_cmd_msg(self, torque, steer_req=1, toi_flt=0):
values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req, "CF_Lkas_ToiFlt": toi_flt}
return self.packer.make_can_msg_panda("LKAS11", 0, values)
def test_steer_req_bit(self):
@ -194,6 +194,14 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaSafetyTest, common.Driver
for _ in range(100):
self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
def test_toi_flt_bit(self):
# No actuation of fault bit while controls are not allowed
for controls_allowed in [True, False]:
for toi_flt in [0, 1]:
self.safety.set_controls_allowed(controls_allowed)
should_tx = toi_flt == 0 or controls_allowed
self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(0, toi_flt=toi_flt)))
class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
BUTTONS_BUS = 2 # tx on 2, rx on 0