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Hyundai CAN FD safety: more clear what is common #1986

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merged 2 commits into from
Mar 12, 2025
Merged

Hyundai CAN FD safety: more clear what is common #1986

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5c95b89
more clear what is common
sshane Mar 12, 2025
4951711
here too
sshane Mar 12, 2025
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20 changes: 16 additions & 4 deletions opendbc/safety/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -293,6 +293,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
};

ret = BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_long_rx_checks, HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS);

} else {
// Longitudinal checks for LFA steering
static RxCheck hyundai_canfd_long_rx_checks[] = {
Expand All @@ -303,9 +304,14 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
};

ret = hyundai_camera_scc ? BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, hyundai_canfd_lfa_steering_camera_scc_tx_msgs) : \
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS);
SET_RX_CHECKS(hyundai_canfd_long_rx_checks, ret);
if (hyundai_camera_scc) {
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
}
}

} else {
if (hyundai_canfd_lka_steering) {
// *** LKA steering checks ***
Expand All @@ -316,8 +322,13 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};

ret = hyundai_canfd_lka_steering_alt ? BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_TX_MSGS);
SET_RX_CHECKS(hyundai_canfd_lka_steering_rx_checks, ret);
if (hyundai_canfd_lka_steering_alt) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_TX_MSGS, ret);
}

} else if (!hyundai_camera_scc) {
// Radar sends SCC messages on these cars instead of camera
static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
Expand All @@ -326,6 +337,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
};

ret = BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS);

} else {
// *** LFA steering checks ***
// Camera sends SCC messages on LFA steering cars.
Expand Down