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Hyundai CAN Longitudinal: Enable for Camera SCC cars #1107

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Hyundai CAN Longitudinal: Enable for Camera SCC cars #1107

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0161117
Hyundai: Longitudinal support for CAN-based Camera SCC cars
sunnyhaibin Sep 25, 2024
4d1cf90
move around
sunnyhaibin Sep 25, 2024
a26093a
unit tests
sunnyhaibin Sep 25, 2024
c43310c
cleanup
sunnyhaibin Sep 25, 2024
65f08cc
common msgs macros
sunnyhaibin Sep 25, 2024
5dadbff
just long tx in macros
sunnyhaibin Sep 25, 2024
1a5fe39
simplify
sunnyhaibin Sep 25, 2024
cef7470
don't check scc12 when longitudinal
sunnyhaibin Sep 26, 2024
ac17737
wrong bus
sunnyhaibin Sep 26, 2024
e22c895
Merge remote-tracking branch 'commaai/panda/master' into camera-scc-long
sunnyhaibin Sep 27, 2024
8f84857
simplify
sunnyhaibin Sep 27, 2024
4c58c41
Merge remote-tracking branch 'commaai/panda/master' into camera-scc-long
sunnyhaibin Dec 7, 2024
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Hyundai: Longitudinal support for CAN-based Camera SCC cars
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@sunnyhaibin
sunnyhaibin committed Sep 25, 2024
commit 016111737b0894639dc120d115280f13d80804fc
52 changes: 39 additions & 13 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,7 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {

bool stock_ecu_detected = (addr == 0x340);

// If openpilot is controlling longitudinal we need to ensure the radar is turned off
// If openpilot is controlling longitudinal we need to ensure the radar is turned off on radar SCC cars
// Enforce by checking we don't see SCC12
if (hyundai_longitudinal && (addr == 0x421)) {
stock_ecu_detected = true;
Expand Down Expand Up @@ -250,8 +250,16 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
if (bus_num == 0) {
bus_fwd = 2;
}
if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
bus_fwd = 0;

if (bus_num == 2) {
bool is_lkas11_msg = (addr == 0x340);
bool is_lfahda_mfc_msg = (addr == 0x485);
bool is_scc_msg = ((addr == 0x420) || (addr == 0x421) || (addr == 0x50A) || (addr == 0x389)) && hyundai_longitudinal && hyundai_camera_scc;

bool block_msg = is_lkas11_msg || is_lfahda_mfc_msg || is_scc_msg;
if (!block_msg) {
bus_fwd = 0;
}
}

return bus_fwd;
Expand All @@ -278,22 +286,40 @@ static safety_config hyundai_init(uint16_t param) {
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
};

// TODO: Utilize macros for common tx checks
static const CanMsg HYUNDAI_CAMERA_SCC_LONG_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 2, 4}, // CLU11 Bus 2
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
{0x420, 0, 8}, // SCC11 Bus 0
{0x421, 0, 8}, // SCC12 Bus 0
{0x50A, 0, 8}, // SCC13 Bus 0
{0x389, 0, 8}, // SCC14 Bus 0
{0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
};

hyundai_common_init(param);
hyundai_legacy = false;

if (hyundai_camera_scc) {
hyundai_longitudinal = false;
}

safety_config ret;
if (hyundai_longitudinal) {
static RxCheck hyundai_long_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};
if (hyundai_camera_scc) {
static RxCheck hyundai_camera_scc_long_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
{.msg = {{0x4F1, 2, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

ret = BUILD_SAFETY_CFG(hyundai_camera_scc_long_rx_checks, HYUNDAI_CAMERA_SCC_LONG_TX_MSGS);
} else {
static RxCheck hyundai_long_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
}
} else if (hyundai_camera_scc) {
static RxCheck hyundai_cam_scc_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
Expand Down