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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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@sunnyhaibin
sunnyhaibin committed Sep 25, 2024
commit 4d1cf90d6e230ccd0acfc0fbde7f8b0985f294eb
4 changes: 2 additions & 2 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -254,9 +254,9 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
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 is_scc_msg = (addr == 0x420) || (addr == 0x421) || (addr == 0x50A) || (addr == 0x389);

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