Hyundai: Car Port for Nexo 2021

commaai · Sep 23, 2024 · 07a47b8 · 07a47b8
1 parent afafb0b
commit 07a47b8
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Showing 3 changed files with 13 additions and 3 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -32,9 +32,10 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
   {0x485, 0, 4}, // LFAHDA_MFC Bus 0
 };
 
-#define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                              \
+#define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                      \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U},                                       \
-           {0x371, 0, 8, .frequency = 100U}, { 0 }}},                                                                         \
+           {0x371, 0, 8, .frequency = 100U},                                                                                  \
+           {0x91, 0, 8, .frequency = 100U}}},                                                                                 \
   {.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
   {.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}},  \
 
@@ -145,7 +146,9 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
       gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
     } else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
       gas_pressed = GET_BYTE(to_push, 7) != 0U;
-    } else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
+    } else if ((addr == 0x91) && hyundai_fcev_gas_signal) {
+      gas_pressed = GET_BYTE(to_push, 6) != 0U;
+    } else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal && !hyundai_fcev_gas_signal) {
       gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
     } else {
     }
@@ -323,6 +326,7 @@ static safety_config hyundai_legacy_init(uint16_t param) {
   hyundai_legacy = true;
   hyundai_longitudinal = false;
   hyundai_camera_scc = false;
+  hyundai_fcev_gas_signal = false;
   return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
 }
 

diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
@@ -36,6 +36,9 @@ bool hyundai_canfd_hda2 = false;
 extern bool hyundai_alt_limits;
 bool hyundai_alt_limits = false;
 
+extern bool hyundai_fcev_gas_signal;
+bool hyundai_fcev_gas_signal = false;
+
 static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 
 void hyundai_common_init(uint16_t param) {
@@ -44,12 +47,14 @@ void hyundai_common_init(uint16_t param) {
   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 int HYUNDAI_PARAM_FCEV_GAS = 256;
 
   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_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
 
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
 

diff --git a/python/__init__.py b/python/__init__.py
@@ -201,6 +201,7 @@ class Panda:
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
   FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
+  FLAG_HYUNDAI_FCEV_GAS = 256
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2