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Hyundai Safety: Common bus assignment #1518

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Hyundai Safety: Common bus assignment #1518

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2bf667f
Hyundai safety: unify bus definition
sunnyhaibin Jul 17, 2023
fdab1ac
Misra
sunnyhaibin Jul 17, 2023
d428c97
macro
sunnyhaibin Jul 17, 2023
ebc7c1b
Merge remote-tracking branch 'commaai/panda/master' into hkg-panda-bu…
sunnyhaibin Sep 1, 2023
8654d13
get bus common function
sunnyhaibin Sep 1, 2023
999793c
fix
sunnyhaibin Sep 1, 2023
3664afd
constant
sunnyhaibin Sep 1, 2023
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6 changes: 4 additions & 2 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -176,13 +176,13 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);

// SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
if (valid && (addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
if (valid && (addr == 0x421) && (bus == hyundai_scc_bus)) {
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
hyundai_common_cruise_state_check(cruise_engaged);
}

if (valid && (bus == 0)) {
if (valid && (bus == hyundai_pt_bus)) {
if (addr == 0x251) {
int torque_driver_new = ((GET_BYTES(to_push, 0, 4) & 0x7ffU) * 0.79) - 808; // scale down new driver torque signal to match previous one
// update array of samples
Expand Down Expand Up @@ -324,6 +324,8 @@ static const addr_checks* hyundai_init(uint16_t param) {
hyundai_common_init(param);
hyundai_legacy = false;

hyundai_common_get_bus(false);

if (hyundai_camera_scc) {
hyundai_longitudinal = false;
}
Expand Down
14 changes: 6 additions & 8 deletions board/safety/safety_hyundai_canfd.h
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Expand Up @@ -184,10 +184,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;

if (valid && (bus == pt_bus)) {
if (valid && (bus == hyundai_pt_bus)) {
// driver torque
if (addr == 0xea) {
int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
Expand Down Expand Up @@ -233,7 +230,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
}
}

if (valid && (bus == scc_bus)) {
if (valid && (bus == hyundai_scc_bus)) {
// cruise state
if ((addr == 0x1a0) && !hyundai_longitudinal) {
// 1=enabled, 2=driver override
Expand All @@ -244,12 +241,11 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
}

const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
bool stock_ecu_detected = (addr == steer_addr) && (bus == HYUNDAI_PT_CAN);
if (hyundai_longitudinal) {
// 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));
stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == hyundai_pt_bus));
}
generic_rx_checks(stock_ecu_detected);

Expand Down Expand Up @@ -363,6 +359,8 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
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);

hyundai_common_get_bus(hyundai_canfd_hda2);

// no long for ICE yet
if (!hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
hyundai_longitudinal = false;
Expand Down
11 changes: 11 additions & 0 deletions board/safety/safety_hyundai_common.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,10 @@
#ifndef SAFETY_HYUNDAI_COMMON_H
#define SAFETY_HYUNDAI_COMMON_H

#define HYUNDAI_PT_CAN 0
#define HYUNDAI_CANFD_A_CAN 1
#define HYUNDAI_CAM_CAN 2

const int HYUNDAI_PARAM_EV_GAS = 1;
const int HYUNDAI_PARAM_HYBRID_GAS = 2;
const int HYUNDAI_PARAM_LONGITUDINAL = 4;
Expand All @@ -24,6 +28,8 @@ bool hyundai_longitudinal = false;
bool hyundai_camera_scc = false;
bool hyundai_alt_limits = false;
uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
int hyundai_pt_bus;
int hyundai_scc_bus;

void hyundai_common_init(uint16_t param) {
hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
Expand Down Expand Up @@ -82,4 +88,9 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const int main
}
}

void hyundai_common_get_bus(const bool canfd_hda2) {
hyundai_pt_bus = canfd_hda2 ? HYUNDAI_CANFD_A_CAN : HYUNDAI_PT_CAN;
hyundai_scc_bus = hyundai_camera_scc ? HYUNDAI_CAM_CAN : hyundai_pt_bus;
}

#endif