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2024-05-04 02:57:01 -05:00
parent 481d9cf29e
commit b2a7de49e4
2 changed files with 2 additions and 35 deletions
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37
panda/board/safety/safety_hyundai_canfd.h
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@@ -21,14 +21,12 @@ 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_BUTTON_ALT (clearpilot)
{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 (clearpilot)
{0x362, 0, 32}, // CAM_0x362
};
@@ -46,7 +44,6 @@ const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
{0x200, 1, 8}, // ADRV_0x200
{0x345, 1, 8}, // ADRV_0x345
{0x1DA, 1, 32}, // ADRV_0x1da
};
const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
@@ -246,47 +243,17 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
}
// cruise buttons check
// CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
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_decel = (button == HYUNDAI_BTN_SET);
// bool allowed = (is_cancel && cruise_engaged_prev)
// Todo: allow is_cancel anytime speed > 0 on cruiseState
bool allowed = (is_cancel)
|| (is_resume && controls_allowed)
|| (is_set_decel && controls_allowed);
bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
if (!allowed) {
tx = false;
}
}
// CRUISE_BUTTONS_ALT
// if (addr == 426) {
// // this gets bit 16 we want bit 36
// int button = GET_BYTE(to_send, 2) & 0x7byteU;
// bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
// bool is_resume = (button == HYUNDAI_BTN_RESUME);
// bool is_set_decel = (button == HYUNDAI_BTN_SET);
// // Canfd doc says there is a value 4 button allowed for canfd too, which one is it?
// // bool allowed = (is_cancel && cruise_engaged_prev)
// // Todo: allow is_cancel anytime speed > 0 on cruiseState
// bool allowed = (is_cancel)
// || (is_resume && controls_allowed)
// || (is_set_decel && controls_allowed);
// if (!allowed) {
// tx = false;
// }
// }
// CLEARPILOT - Allow DRIVE_MODE2
// if (addr == 1144) {
// }
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if ((addr == 0x730) && hyundai_canfd_hda2) {
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
@@ -390,4 +357,4 @@ const safety_hooks hyundai_canfd_hooks = {
.get_counter = hyundai_canfd_get_counter,
.get_checksum = hyundai_canfd_get_checksum,
.compute_checksum = hyundai_common_canfd_compute_checksum,
};
};