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2024-05-14 03:17:23 -05:00
parent 9404ae4f1f
commit 6efe858dfc
28 changed files with 601 additions and 32 deletions
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160
panda/board/safety/safety_hyundai_canfd.h
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@@ -21,18 +21,21 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTONS_ALT
{0x2A4, 0, 24}, // CAM_0x2A4
};
const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTONS_ALT
{0x362, 0, 32}, // CAM_0x362
};
const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{426, 1, 16}, // CRUISE_BUTTONS_ALT
{0x2A4, 0, 24}, // CAM_0x2A4
{0x51, 0, 32}, // ADRV_0x51
{0x730, 1, 8}, // tester present for ADAS ECU disable
@@ -70,6 +73,9 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
// SCC_CONTROL (from ADAS unit or camera)
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
@@ -159,6 +165,74 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
// Todo: test:
// BO_ 1345 CGW1: 8 BCM
// SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX
// BO_ 68 DATC11: 8 DATC
// SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM
// SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU
// SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU
// BO_ 64 DATC14: 8 DATC
// SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU
// SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
// VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
// BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
// SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
// SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
// SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
// SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
// SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
// SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
// SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
// SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
// SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
// SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
// SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
// BO_ 304 GEAR_SHIFTER: 16 XXX
// SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
// SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
// SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
// SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
// SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
// BO_ 1322 CLU15: 8 CLU
// SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM
// SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
// SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD
// SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD
// SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
// SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS
// SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC
// SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
// BO_ 1292 CLU13: 8 CLU
// SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX
// SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX
// SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX
// SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC
// SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX
// SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU
// SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX
// SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS
// SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC
// SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC
// SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS
// SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU
// SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX
// SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS
// SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS
// SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS
// SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS
if (bus == pt_bus) {
// driver torque
if (addr == 0xea) {
@@ -168,6 +242,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
}
// cruise buttons
// todo: allow paddle shifter presses through
const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
if (addr == button_addr) {
bool main_button = false;
@@ -243,16 +318,83 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
}
// cruise buttons check
if (addr == 0x1cf) {
int button = GET_BYTE(to_send, 2) & 0x7U;
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
bool is_resume = (button == HYUNDAI_BTN_RESUME);
/*
BO_ 463 CRUISE_BUTTONS: 8 XXX
SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
*/
bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
if (!allowed) {
tx = false;
}
}
// Pass all desired buttons for now
// if (addr == 0x1cf) {
// int button = GET_BYTE(to_send, 2) & 0x7U;
// bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
// bool is_resume = (button == HYUNDAI_BTN_RESUME);
// bool is_set = (button == HYUNDAI_BTN_SET);
// bool allowed =
// (is_cancel && cruise_engaged_prev) ||
// (is_resume && controls_allowed);
// (is_set && controls_allowed)
// ;
// if (!allowed) {
// tx = false;
// }
// }
// 'alt' buttons check
/*
BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX
SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
*/
// HVAC
/*
BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
*/
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if ((addr == 0x730) && hyundai_canfd_hda2) {