Hyundai: longitudinal support for all CAN-FD EV + Hybrid (commaai#1128)

* Update safety_hyundai_canfd.h * Update safety_hyundai_canfd.h * Update safety_hyundai_canfd.h * cleanup * add test Co-authored-by: Adeeb Shihadeh <[email protected]>
mlouielu · Nov 15, 2022 · 5dc5cd8 · 5dc5cd8
1 parent e7131fc
commit 5dc5cd8
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Showing 2 changed files with 44 additions and 5 deletions.
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -216,8 +216,10 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
   const int steer_addr = hyundai_canfd_hda2 ? 0x50 : 0x12a;
   bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
   if (hyundai_longitudinal) {
-    // ensure ADRV ECU is still knocked out
-    stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == 1));
+    // on HDA2, ensure ADRV ECU is still knocked out
+    // on others, ensure accel msg is blocked from camera
+    const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
+    stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
   }
   generic_rx_checks(stock_ecu_detected);
 
@@ -262,7 +264,7 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed
   }
 
   // UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
-  if (addr == 0x730) {
+  if ((addr == 0x730) && hyundai_canfd_hda2) {
     if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
       tx = 0;
     }
@@ -313,7 +315,10 @@ static int hyundai_canfd_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
     // HUD icons
     int is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
 
-    int block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg;
+    // CRUISE_INFO for non-HDA2, we send our own longitudinal commands
+    int is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
+
+    int block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
     if (!block_msg) {
       bus_fwd = 0;
     }
@@ -329,7 +334,8 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
   hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
   hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
 
-  if (!hyundai_canfd_hda2) {
+  // no long for ICE yet
+  if (!hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
     hyundai_longitudinal = false;
   }
 

diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py
@@ -7,6 +7,8 @@
 from panda.tests.safety.common import CANPackerPanda
 from panda.tests.safety.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase
 
+
+
 class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
 
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
@@ -188,6 +190,7 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
   GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
   STEER_BUS = 1
 
+
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_canfd")
     self.safety = libpandasafety_py.libpandasafety
@@ -202,5 +205,35 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     return self.packer.make_can_msg_panda("SCC_CONTROL", 1, values)
 
 
+class TestHyundaiCanfdHDALongHybrid(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
+
+  FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
+
+  DISABLED_ECU_UDS_MSG = (0x730, 1)
+  DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)
+
+  STEER_MSG = "LFA"
+  GAS_MSG = ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL")
+  STEER_BUS = 0
+  SCC_BUS = 2
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_canfd")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS)
+    self.safety.init_tests()
+
+  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
+    values = {
+      "aReqRaw": accel,
+      "aReqValue": accel,
+    }
+    return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values)
+
+  # no knockout
+  def test_tester_present_allowed(self):
+    pass
+
+
 if __name__ == "__main__":
   unittest.main()