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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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common msgs macros
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@sunnyhaibin
sunnyhaibin committed Sep 25, 2024
commit 65f08cc6e6ce0d7c1e289134441387c9843a627c
42 changes: 19 additions & 23 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,10 +26,23 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
.min_accel = -350, // 1/100 m/s2
};

#define HYUNDAI_COMMON_TX_MSGS(scc_bus) \
{0x340, 0, 8}, \
{0x4F1, scc_bus, 4}, \
{0x485, 0, 4}, \

#define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \
{0x340, 0, 8}, \
{0x4F1, scc_bus, 4}, \
{0x485, 0, 4}, \
{0x420, 0, 8}, \
{0x421, 0, 8}, \
{0x50A, 0, 8}, \
{0x389, 0, 8}, \
{0x4A2, 0, 2}, \

static const CanMsg HYUNDAI_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 0, 4}, // CLU11 Bus 0
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
HYUNDAI_COMMON_TX_MSGS(0)
};

#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
Expand Down Expand Up @@ -267,35 +280,18 @@ static int hyundai_fwd_hook(int bus_num, int addr) {

static safety_config hyundai_init(uint16_t param) {
static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 0, 4}, // CLU11 Bus 0
{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_LONG_COMMON_TX_MSGS(0)
{0x38D, 0, 8}, // FCA11 Bus 0
{0x483, 0, 8}, // FCA12 Bus 0
{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
};

static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 2, 4}, // CLU11 Bus 2
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
HYUNDAI_COMMON_TX_MSGS(2)
};

// 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_LONG_COMMON_TX_MSGS(2)
};

hyundai_common_init(param);
Expand Down
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