505 lines
20 KiB
C
Executable File
505 lines
20 KiB
C
Executable File
#include "safety_hyundai_common.h"
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const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
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.max_steer = 270,
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.max_rt_delta = 112,
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.max_rt_interval = 250000,
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.max_rate_up = 2,
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.max_rate_down = 3,
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.driver_torque_allowance = 250,
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.driver_torque_factor = 2,
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.type = TorqueDriverLimited,
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// the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
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// we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
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.min_valid_request_frames = 89,
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.max_invalid_request_frames = 2,
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.min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames
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.has_steer_req_tolerance = true,
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};
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const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
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{0x50, 0, 16}, // LKAS
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{0x1CF, 1, 8}, // CRUISE_BUTTON
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{0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
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{0x1A0, 1, 32}, // CRUISE_INFO
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{0x2A4, 0, 24}, // CAM_0x2A4
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};
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const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
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{0x110, 0, 32}, // LKAS_ALT
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{0x1CF, 1, 8}, // CRUISE_BUTTON
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{0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
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{0x1A0, 1, 32}, // CRUISE_INFO
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{0x362, 0, 32}, // CAM_0x362
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};
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const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
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{0x50, 0, 16}, // LKAS
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{0x1CF, 1, 8}, // CRUISE_BUTTON
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{0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
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{0x2A4, 0, 24}, // CAM_0x2A4
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{0x51, 0, 32}, // ADRV_0x51
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{0x730, 1, 8}, // tester present for ADAS ECU disable
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{0x12A, 1, 16}, // LFA
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{0x160, 1, 16}, // ADRV_0x160
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{0x1E0, 1, 16}, // LFAHDA_CLUSTER
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{0x1A0, 1, 32}, // CRUISE_INFO
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{0x1EA, 1, 32}, // ADRV_0x1ea
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{0x200, 1, 8}, // ADRV_0x200
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{0x345, 1, 8}, // ADRV_0x345
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{0x1DA, 1, 32}, // ADRV_0x1da
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};
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const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
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{0x12A, 0, 16}, // LFA
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{0x1A0, 0, 32}, // CRUISE_INFO
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{0x1CF, 2, 8}, // CRUISE_BUTTON
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{0x1E0, 0, 16}, // LFAHDA_CLUSTER
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};
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// *** Addresses checked in rx hook ***
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// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
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#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
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{.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
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{0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
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{0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}}, \
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{.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
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{.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
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{.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
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#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus) \
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{.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, { 0 }, { 0 }}}, \
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#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
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{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
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// SCC_CONTROL (from ADAS unit or camera)
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#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
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{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
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// *** Non-HDA2 checks ***
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// Camera sends SCC messages on HDA1.
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// Both button messages exist on some platforms, so we ensure we track the correct one using flag
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RxCheck hyundai_canfd_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
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HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
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HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
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};
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RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
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HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
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HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
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};
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// Longitudinal checks for HDA1
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RxCheck hyundai_canfd_long_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
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HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
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};
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RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
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HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
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};
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// Radar sends SCC messages on these cars instead of camera
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RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
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HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
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HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
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};
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RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
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HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
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HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
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};
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// *** HDA2 checks ***
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// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
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// Does not use the alt buttons message
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RxCheck hyundai_canfd_hda2_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
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HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
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HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
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};
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RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
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HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
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HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
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};
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const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
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const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
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bool hyundai_canfd_alt_buttons = false;
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bool hyundai_canfd_hda2_alt_steering = false;
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int hyundai_canfd_hda2_get_lkas_addr(void) {
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return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
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}
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static uint8_t hyundai_canfd_get_counter(const CANPacket_t *to_push) {
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uint8_t ret = 0;
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if (GET_LEN(to_push) == 8U) {
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ret = GET_BYTE(to_push, 1) >> 4;
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} else {
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ret = GET_BYTE(to_push, 2);
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}
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return ret;
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}
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static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) {
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uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8);
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return chksum;
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}
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static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
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int bus = GET_BUS(to_push);
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int addr = GET_ADDR(to_push);
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const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
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const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
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// Todo: test:
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// BO_ 1345 CGW1: 8 BCM
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// SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX
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// BO_ 68 DATC11: 8 DATC
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// SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM
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// SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU
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// SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU
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// BO_ 64 DATC14: 8 DATC
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// SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU
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// SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
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// VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
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// BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
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// SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
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// SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
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// SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
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// SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
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// SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
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// SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
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// SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
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// SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
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// SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
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// SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
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// SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
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// BO_ 304 GEAR_SHIFTER: 16 XXX
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// SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
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// SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
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// SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
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// SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
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// SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
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// BO_ 1322 CLU15: 8 CLU
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// SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM
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// SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
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// SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD
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// SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
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// SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
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// SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
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// SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
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// SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
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// SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD
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// SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
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// SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS
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// SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC
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// SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
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// BO_ 1292 CLU13: 8 CLU
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// SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX
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// SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX
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// SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX
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// SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC
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// SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX
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// SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU
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// SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX
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// SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS
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// SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC
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// SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC
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// SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS
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// SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU
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// SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX
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// SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS
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// SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS
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// SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS
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// SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS
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if (bus == pt_bus) {
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// driver torque
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if (addr == 0xea) {
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int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
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torque_driver_new -= 4095;
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update_sample(&torque_driver, torque_driver_new);
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}
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// cruise buttons
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// todo: allow paddle shifter presses through
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const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
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if (addr == button_addr) {
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bool main_button = false;
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int cruise_button = 0;
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if (addr == 0x1cf) {
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cruise_button = GET_BYTE(to_push, 2) & 0x7U;
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main_button = GET_BIT(to_push, 19U);
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} else {
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cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
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main_button = GET_BIT(to_push, 34U);
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}
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hyundai_common_cruise_buttons_check(cruise_button, main_button);
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}
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// gas press, different for EV, hybrid, and ICE models
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if ((addr == 0x35) && hyundai_ev_gas_signal) {
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gas_pressed = GET_BYTE(to_push, 5) != 0U;
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} else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
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gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U);
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} else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
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gas_pressed = GET_BIT(to_push, 176U);
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} else {
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}
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// brake press
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if (addr == 0x175) {
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brake_pressed = GET_BIT(to_push, 81U);
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}
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// vehicle moving
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if (addr == 0xa0) {
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uint32_t front_left_speed = GET_BYTES(to_push, 8, 2);
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uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2);
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vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
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}
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}
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if (bus == scc_bus) {
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// cruise state
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if ((addr == 0x1a0) && !hyundai_longitudinal) {
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// 1=enabled, 2=driver override
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int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U);
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bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
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hyundai_common_cruise_state_check(cruise_engaged);
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}
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}
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const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
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bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
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if (hyundai_longitudinal) {
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// on HDA2, ensure ADRV ECU is still knocked out
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// on others, ensure accel msg is blocked from camera
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const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
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stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
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}
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generic_rx_checks(stock_ecu_detected);
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}
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static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
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bool tx = true;
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int addr = GET_ADDR(to_send);
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// steering
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const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
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if (addr == steer_addr) {
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int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
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bool steer_req = GET_BIT(to_send, 52U);
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if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// cruise buttons check
|
|
/*
|
|
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
|
|
*/
|
|
|
|
// 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) {
|
|
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// ACCEL: safety check
|
|
// if (addr == 0x1a0) {
|
|
// int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U;
|
|
// int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U;
|
|
|
|
// bool violation = false;
|
|
|
|
// if (hyundai_longitudinal) {
|
|
// violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
|
|
// violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
|
|
// } else {
|
|
// // only used to cancel on here
|
|
// if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
|
|
// violation = true;
|
|
// }
|
|
// }
|
|
|
|
// if (violation) {
|
|
// tx = false;
|
|
// }
|
|
// }
|
|
|
|
return tx;
|
|
}
|
|
|
|
static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
|
|
int bus_fwd = -1;
|
|
|
|
if (bus_num == 0) {
|
|
bus_fwd = 2;
|
|
}
|
|
if (bus_num == 2) {
|
|
// LKAS for HDA2, LFA for HDA1
|
|
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
|
|
bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
|
|
|
|
// Cruise Alt Buttons
|
|
bool is_cruise_alt_buttons = (addr == 0x1aa); // && hyundai_canfd_hda2);
|
|
|
|
// CRUISE_INFO for non-HDA2, we send our own longitudinal commands
|
|
bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
|
|
|
|
bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg
|
|
|| is_cruise_alt_buttons;
|
|
if (!block_msg) {
|
|
bus_fwd = 0;
|
|
}
|
|
}
|
|
|
|
return bus_fwd;
|
|
}
|
|
|
|
static safety_config hyundai_canfd_init(uint16_t param) {
|
|
hyundai_common_init(param);
|
|
|
|
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
|
|
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 radar-SCC HDA1 yet
|
|
if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
|
|
hyundai_longitudinal = false;
|
|
}
|
|
|
|
safety_config ret;
|
|
if (hyundai_longitudinal) {
|
|
if (hyundai_canfd_hda2) {
|
|
ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
|
|
} else {
|
|
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
|
|
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
|
|
}
|
|
} else {
|
|
if (hyundai_canfd_hda2) {
|
|
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
|
|
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
|
|
} else if (!hyundai_camera_scc) {
|
|
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
|
|
BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
|
|
} else {
|
|
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
|
|
BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
const safety_hooks hyundai_canfd_hooks = {
|
|
.init = hyundai_canfd_init,
|
|
.rx = hyundai_canfd_rx_hook,
|
|
.tx = hyundai_canfd_tx_hook,
|
|
.fwd = hyundai_canfd_fwd_hook,
|
|
.get_counter = hyundai_canfd_get_counter,
|
|
.get_checksum = hyundai_canfd_get_checksum,
|
|
.compute_checksum = hyundai_common_canfd_compute_checksum,
|
|
}; |