openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/safety/safety_hyundai_common.h

@@ -0,0 +1,115 @@
+#ifndef SAFETY_HYUNDAI_COMMON_H
+#define SAFETY_HYUNDAI_COMMON_H
+
+const int HYUNDAI_PARAM_EV_GAS = 1;
+const int HYUNDAI_PARAM_HYBRID_GAS = 2;
+const int HYUNDAI_PARAM_LONGITUDINAL = 4;
+const int HYUNDAI_PARAM_CAMERA_SCC = 8;
+const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
+const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
+
+const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8;  // roughly 160 ms
+const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12;  // 0.375 kph
+
+enum {
+  HYUNDAI_BTN_NONE = 0,
+  HYUNDAI_BTN_RESUME = 1,
+  HYUNDAI_BTN_SET = 2,
+  HYUNDAI_BTN_CANCEL = 4,
+};
+
+// common state
+bool hyundai_ev_gas_signal = false;
+bool hyundai_hybrid_gas_signal = false;
+bool hyundai_longitudinal = false;
+bool hyundai_camera_scc = false;
+bool hyundai_canfd_hda2 = false;
+bool hyundai_alt_limits = false;
+uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
+
+uint16_t hyundai_canfd_crc_lut[256];
+
+void hyundai_common_init(uint16_t param) {
+  hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
+  hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
+  hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
+  hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
+  hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
+
+  hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
+
+#ifdef ALLOW_DEBUG
+  hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
+#else
+  hyundai_longitudinal = false;
+#endif
+}
+
+void hyundai_common_cruise_state_check(const int cruise_engaged) {
+  // some newer HKG models can re-enable after spamming cancel button,
+  // so keep track of user button presses to deny engagement if no interaction
+
+  // enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
+  if (!hyundai_longitudinal) {
+    if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
+      controls_allowed = true;
+    }
+
+    if (!cruise_engaged) {
+      controls_allowed = false;
+    }
+    cruise_engaged_prev = cruise_engaged;
+  }
+}
+
+void hyundai_common_cruise_buttons_check(const int cruise_button, const int main_button) {
+  if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
+      (main_button != 0)) {
+    hyundai_last_button_interaction = 0U;
+  } else {
+    hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
+  }
+
+  if (hyundai_longitudinal) {
+    // enter controls on falling edge of resume or set
+    bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
+    bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
+    if (set || res) {
+      controls_allowed = true;
+    }
+
+    // exit controls on cancel press
+    if (cruise_button == HYUNDAI_BTN_CANCEL) {
+      controls_allowed = false;
+    }
+
+    cruise_button_prev = cruise_button;
+  }
+}
+
+uint32_t hyundai_common_canfd_compute_checksum(CANPacket_t *to_push) {
+  int len = GET_LEN(to_push);
+  uint32_t address = GET_ADDR(to_push);
+
+  uint16_t crc = 0;
+
+  for (int i = 2; i < len; i++) {
+    crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
+  }
+
+  // Add address to crc
+  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
+  crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
+
+  if (len == 24) {
+    crc ^= 0x819dU;
+  } else if (len == 32) {
+    crc ^= 0x9f5bU;
+  } else {
+
+  }
+
+  return crc;
+}
+
+#endif