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Hyundai CAN-FD Longitudinal: Enable for radar-based SCC platforms (non-HDA2) #1668

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Hyundai CAN-FD Longitudinal: Enable for radar-based SCC platforms (non-HDA2) #1668

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7085818
Hyundai CAN-FD Longitudinal: Enable for radar-based SCC platforms (no…
sunnyhaibin Sep 25, 2024
0561f60
add radar ecu
sunnyhaibin Sep 25, 2024
6da3272
passed unit test
sunnyhaibin Sep 25, 2024
9c98b28
much cleaner unit tests
sunnyhaibin Sep 25, 2024
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14 changes: 5 additions & 9 deletions board/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
}

// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if ((addr == 0x730) && hyundai_canfd_hda2) {
if ((addr == 0x730) || (addr == 0x7D0)) {
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
tx = false;
}
Expand Down Expand Up @@ -212,8 +212,8 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
// HUD icons
bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);

// CRUISE_INFO for non-HDA2, we send our own longitudinal commands
bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
// CRUISE_INFO and ADRV_0x160 for non-HDA2, we send our own longitudinal commands and to show FCA light
bool is_scc_msg = (((addr == 0x1a0) || (addr == 0x160)) && hyundai_longitudinal && !hyundai_canfd_hda2);

bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
if (!block_msg) {
Expand Down Expand Up @@ -261,20 +261,16 @@ static safety_config hyundai_canfd_init(uint16_t param) {
{0x1A0, 0, 32}, // CRUISE_INFO
{0x1CF, 2, 8}, // CRUISE_BUTTON
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
{0x160, 0, 16}, // ADRV_0x160
{0x7D0, 0, 8}, // tester present for radar ECU disable
};


hyundai_common_init(param);

gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);

// no long for radar-SCC HDA1 yet
if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
hyundai_longitudinal = false;
}

safety_config ret;
if (hyundai_longitudinal) {
if (hyundai_canfd_hda2) {
Expand Down
46 changes: 25 additions & 21 deletions tests/safety/test_hyundai_canfd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -106,10 +106,10 @@ def setUp(self):


@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
# Radar SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": 0},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS},
# Camera SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
Expand All @@ -120,10 +120,10 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):


@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
# Radar SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": 0},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS},
# Camera SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
Expand Down Expand Up @@ -226,24 +226,24 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

# Tests HDA1 longitudinal for ICE, hybrid, EV
@parameterized_class([
# Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
# Radar SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": 0},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS},
# Camera SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
])
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):

FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0, 0x160]}

RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1a0)} # LFA, SCC_CONTROL

DISABLED_ECU_UDS_MSG = (0x730, 1)
DISABLED_ECU_UDS_MSG = (0x7D0, 0)
DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)

STEER_MSG = "LFA"
STEER_BUS = 0
SCC_BUS = 2

@classmethod
def setUpClass(cls):
if cls.__name__ == "TestHyundaiCanfdHDA1Long":
Expand All @@ -253,7 +253,7 @@ def setUpClass(cls):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_LONG | self.SAFETY_PARAM)
self.safety.init_tests()

def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
Expand All @@ -263,9 +263,13 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
}
return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values)

# no knockout
def test_tester_present_allowed(self):
pass
if self.SAFETY_PARAM & Panda.FLAG_HYUNDAI_CAMERA_SCC:
pass
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super()...


def test_disabled_ecu_alive(self):
if self.SAFETY_PARAM & Panda.FLAG_HYUNDAI_CAMERA_SCC:
pass


if __name__ == "__main__":
Expand Down
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