hkg: Add ESCC (Enhanced Smart Cruise Control) support

SConscript

@@ -62,7 +62,9 @@ def to_c_uint32(x):
   return "{" + 'U,'.join(map(str, nums)) + "U}"
 
 
-def build_project(project_name, project, extra_flags):
+def build_project(project_name, project, extra_flags, cppdefines=None):
+  cppdefines = cppdefines or []
+  print(f"{project_name} -> CPPDEFINES [{', '.join(cppdefines)}]")
   linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
 
   flags = project["PROJECT_FLAGS"] + extra_flags + common_flags + [
@@ -101,6 +103,7 @@ def build_project(project_name, project, extra_flags):
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
     },
     tools=["default", "compilation_db"],
+    CPPDEFINES=cppdefines,
   )
 
   startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])
@@ -179,12 +182,15 @@ with open("board/obj/cert.h", "w") as f:
   for cert in certs:
     f.write("\n".join(cert) + "\n")
 
-# panda fw
-SConscript('board/SConscript')
-
-# panda jungle fw
-SConscript('board/jungle/SConscript')
-
-# test files
-if GetOption('extras'):
-  SConscript('tests/libpanda/SConscript')
+if not GetOption('escc'): # if we are building ESCC, we don't build anything else
+  # panda fw
+  SConscript('board/SConscript')
+
+  # panda jungle fw
+  SConscript('board/jungle/SConscript')
+
+  # test files
+  if GetOption('extras'):
+    SConscript('tests/libpanda/SConscript')
+else:
+  SConscript('board/escc/SConscript')

SConstruct

@@ -20,6 +20,10 @@ AddOption('--mutation',
           action='store_true',
           help='generate mutation-ready code')
 
+AddOption('--escc',
+          action='store_true',
+          help='build escc firmware')
+
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],

board/config.h

@@ -9,6 +9,7 @@
 //#define DEBUG_FAULTS
 //#define DEBUG_COMMS
 //#define DEBUG_FAN
+//#define DEBUG_CAN_LOOP
 
 #define CAN_INIT_TIMEOUT_MS 500U
 #define USBPACKET_MAX_SIZE 0x40U

board/escc/.gitignore

@@ -0,0 +1 @@
+obj/*

board/escc/README.MD

@@ -0,0 +1,81 @@
+## Documentation
+[see more](https://github.com/sunnypilot/sunnypilot/blob/5d754169a6285e88e755ff9a592a851cb92b0abc/docs/escc/ESCC%20IONIQ%20PHEV%20Guide.md)
+
+### Detailed Connection List
+
+#### Molex 5018762640 Pinout:
+
+- Pin 1: GND
+- Pin 2: IGN
+- Pin 3: internal 120 Ohm Resistor, simply bridge to Pin 5
+- Pin 4: C-CAN HIGH
+- Pin 5: internal 120 Ohm Resistor, simply bridge to Pin 3
+- Pin 6: C-CAN LOW
+- Pin 8: L-CAN HIGH
+- Pin 10: L-CAN LOW
+- Pin 12: 12v
+- Pin 14: 12v
+- Pin 16: IGN
+- Pin 18: L-CAN HIGH
+- Pin 20: L-CAN LOW
+- Pin 22: C-CAN HIGH
+- Pin 24: C-CAN LOW
+- Pin 26: GND
+
+#### **IONIQ 2203663 (Car Harness, Female):**
+
+- Pin 1: 12v -> Molex Pin 12
+- Pin 4: GND -> Molex Pin 1
+- Pin 7: C-CAN LOW -> Molex Pin 6
+- Pin 8: C-CAN HIGH -> Molex Pin 4
+- Pin 9: L-CAN LOW -> Molex Pin 10
+- Pin 10: IGPM (IGN) -> Molex Pin 2
+- Pin 18: L-CAN HIGH -> Molex Pin 8
+
+#### **IONIQ 2203663 (Car Radar, Male):**
+
+- Molex Pin: 14 -> Pin 1: 12v
+- Molex Pin: 26 -> Pin 4: GND
+- Molex Pin: 24 -> Pin 7: C-CAN LOW
+- Molex Pin: 22 -> Pin 8: C-CAN HIGH
+- Molex Pin: 20 -> Pin 9: L-CAN LOW
+- Molex Pin: 16 -> Pin 10: IGN
+- Molex Pin: 18 -> Pin 18: L-CAN HIGH
+
+
+```
+IONIQ 2203663               Molex 5018762640         IONIQ 2203663 
+Car Harness (Female)                                 Car Radar (Male)
++-----+-----+               +-----+-----+            +-----+-----+
+| 18  |  9  |               |  2  |  1  |            | 10  |  1  |
+| 17  |  8  |               |  4  |  3  |            | 11  |  2  |
+| 16  |  7  |               |  6  |  5  |            | 12  |  3  |
+| 15  |  6  |               |  8  |  7  |            | 13  |  4  |
+| 14  |  5  | NOTCH         | 10  |  9  |            | 14  |  5  | NOTCH
+| 13  |  4  |               | 12  | 11  |            | 15  |  6  |
+| 12  |  3  |               | 14  | 13  | NOTCH      | 16  |  7  |
+| 11  |  2  |               | 16  | 15  |            | 17  |  8  |
+| 10  |  1  |               | 18  | 17  |            | 18  |  9  |
++-----+-----+               | 20  | 19  |            +-----+-----+
+                            | 22  | 21  |
+                            | 24  | 23  |
+                            | 26  | 25  |
+                            +-----+-----+           
+
+Connections:
+Molex Pin 3 (120 Ohm)    <-->  Molex Pin 5  (120 Ohm)
+Harness Pin 1  (12V)     <--> Molex Pin 12 (12V)
+Harness Pin 4  (GND)     <--> Molex Pin 1  (GND)
+Harness Pin 10 (IGN)     <--> Molex Pin 2  (IGN)            
+Harness Pin 8  (C-CAN H) <--> Molex Pin 4  (C-CAN H)
+Harness Pin 7  (C-CAN L) <--> Molex Pin 6  (C-CAN L)
+Harness Pin 18 (L-CAN H) <--> Molex Pin 8  (L-CAN H)
+Harness Pin 9  (L-CAN L) <--> Molex Pin 10 (L-CAN L)
+                              Molex Pin 20 (L-CAN L) <-->  Radar Pin 9  (L-CAN L)
+                              Molex Pin 18 (L-CAN H) <-->  Radar Pin 18 (L-CAN H)
+                              Molex Pin 24 (C-CAN L) <-->  Radar Pin 7  (C-CAN L)
+                              Molex Pin 22 (C-CAN H) <-->  Radar Pin 8  (C-CAN H)
+                              Molex Pin 16 (IGN)     <-->  Radar Pin 10 (IGN)
+                              Molex Pin 14 (12V)     <-->  Radar Pin 1  (12V)
+                              Molex Pin 26 (GND)     <-->  Radar Pin 4  (GND)
+```

board/escc/SConscript

@@ -0,0 +1,34 @@
+import os
+import copy
+
+Import('build_project')
+
+build_projects = {}
+
+build_projects["escc"] = {
+  "MAIN": "../main.c",
+  "BOOTSTUB": "../bootstub.c",
+  "STARTUP_FILE": File("../stm32f4/startup_stm32f413xx.s"),
+  "LINKER_SCRIPT": File("../stm32f4/stm32f4_flash.ld"),
+  "APP_START_ADDRESS": "0x8004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+for project_name, project in build_projects.items():
+  flags = [
+    "-DPANDA",
+    "-DESCC",
+  ]
+  if ("ENABLE_SPI" in os.environ or "h7" in project_name) and not project_name.startswith('pedal'):
+    flags.append('-DENABLE_SPI')
+
+  build_project(project_name, project, flags, ["ESCC"])

board/escc/flash.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+
+from panda import Panda
+
+board_path = os.path.dirname(os.path.realpath(__file__))
+
+if __name__ == "__main__":
+  print(board_path)
+  subprocess.check_call(f"scons -C {board_path}/../.. -j$(nproc) {board_path} --escc", shell=True)
+
+  serials = Panda.list()
+  print(f"found {len(serials)} panda(s) - {serials}")
+  for s in serials:
+    print("flashing", s)
+    with Panda(serial=s) as p:
+      p.flash("obj/escc.bin.signed")

board/escc/flash_can.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env sh
+set -e
+
+cd ..
+scons -u -j$(nproc) --escc
+cd escc
+
+../../tests/escc/enter_canloader.py obj/escc.bin.signed

board/escc/recover.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+cd ..
+scons -u -j$(nproc) --escc
+cd escc
+
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D obj/escc.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.escc.bin

board/main.c

@@ -124,6 +124,61 @@ bool is_car_safety_mode(uint16_t mode) {
          (mode != SAFETY_ELM327);
 }
 
+#ifdef ESCC
+// ***************************** ESCC code *****************************
+bool is_car_safety_mode_escc(uint16_t mode) {
+  return is_car_safety_mode(mode) && (mode != SAFETY_HYUNDAI_ESCC);
+}
+#define is_car_safety_mode is_car_safety_mode_escc
+
+#define CAN_ESCC_INPUT  0x2AC
+#define CAN_ESCC_OUTPUT 0x2ABU
+
+void send_escc_msg(const ESCC_Msg *msg, const int bus_number) {
+#ifdef DEBUG
+
+  print("send_escc_msg\n");
+  print("fca_cmd_act: "); putui(msg->fca_cmd_act); print("\n");
+  print("aeb_cmd_act: "); putui(msg->aeb_cmd_act); print("\n");
+  print("cf_vsm_warn_fca11: "); putui(msg->cf_vsm_warn_fca11); print("\n");
+  print("cf_vsm_warn_scc12: "); putui(msg->cf_vsm_warn_scc12); print("\n");
+  print("cf_vsm_deccmdact_scc12: "); putui(msg->cf_vsm_deccmdact_scc12); print("\n");
+  print("cf_vsm_deccmdact_fca11: "); putui(msg->cf_vsm_deccmdact_fca11); print("\n");
+  print("cr_vsm_deccmd_scc12: "); putui(msg->cr_vsm_deccmd_scc12); print("\n");
+  print("cr_vsm_deccmd_fca11: "); putui(msg->cr_vsm_deccmd_fca11); print("\n");
+  print("obj_valid: "); putui(msg->obj_valid); print("\n");
+  print("acc_objstatus: "); putui(msg->acc_objstatus); print("\n");
+  print("acc_obj_lat_pos_1: "); putui(msg->acc_obj_lat_pos_1); print("\n");
+  print("acc_obj_lat_pos_2: "); putui(msg->acc_obj_lat_pos_2); print("\n");
+  print("acc_obj_dist_1: "); putui(msg->acc_obj_dist_1); print("\n");
+  print("acc_obj_dist_2: "); putui(msg->acc_obj_dist_2); print("\n");
+  print("acc_obj_rel_spd_1: "); putui(msg->acc_obj_rel_spd_1); print("\n");
+  print("acc_obj_rel_spd_2: "); putui(msg->acc_obj_rel_spd_2); print("\n");
+#endif
+
+  uint8_t dat[8];
+  dat[0] = (msg->fca_cmd_act) | (msg->cf_vsm_warn_fca11 << 1) | (msg->aeb_cmd_act << 3) | 
+           (msg->cf_vsm_warn_scc12 << 4) | (msg->cf_vsm_deccmdact_scc12 << 6) | (msg->cf_vsm_deccmdact_fca11 << 7);
+  dat[1] = (msg->cr_vsm_deccmd_scc12);
+  dat[2] = (msg->obj_valid) | (msg->acc_objstatus << 1);
+  dat[3] = (msg->acc_obj_lat_pos_1);
+  dat[4] = (msg->acc_obj_lat_pos_2) | (msg->acc_obj_dist_1 << 1);
+  dat[5] = (msg->acc_obj_dist_2) | (msg->acc_obj_rel_spd_1 << 4);
+  dat[6] = (msg->acc_obj_rel_spd_2);
+  dat[7] = (msg->cr_vsm_deccmd_fca11);
+
+  CANPacket_t to_send;
+  to_send.extended = CAN_ESCC_OUTPUT >= 0x800 ? 1 : 0;
+  to_send.addr = CAN_ESCC_OUTPUT;
+  to_send.bus = bus_number;
+  to_send.data_len_code = sizeof(dat);
+  memcpy(to_send.data, dat, sizeof(dat));
+
+  can_set_checksum(&to_send);
+  can_send(&to_send, bus_number, true);
+}
+#endif
+
 // ***************************** main code *****************************
 
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
@@ -186,7 +241,9 @@ static void tick_handler(void) {
         print("rx:"); puth4(can_rx_q.r_ptr); print("-"); puth4(can_rx_q.w_ptr); print("  ");
         print("tx1:"); puth4(can_tx1_q.r_ptr); print("-"); puth4(can_tx1_q.w_ptr); print("  ");
         print("tx2:"); puth4(can_tx2_q.r_ptr); print("-"); puth4(can_tx2_q.w_ptr); print("  ");
-        print("tx3:"); puth4(can_tx3_q.r_ptr); print("-"); puth4(can_tx3_q.w_ptr); print("\n");
+        print("tx3:"); puth4(can_tx3_q.r_ptr); print("-"); puth4(can_tx3_q.w_ptr); print("  ");
+        print("SAFETY MODE:"); putui(current_safety_mode);
+        print("\n");
       #endif
 
       // set green LED to be controls allowed
@@ -235,6 +292,7 @@ static void tick_handler(void) {
 
       mads_heartbeat_engaged_check();
 
+#ifndef ESCC // Hearbet disabled when ESCC
       if (!heartbeat_disabled) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
         if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
@@ -273,6 +331,7 @@ static void tick_handler(void) {
           fan_set_power(enabled ? 50U : 0U);
         }
       }
+#endif
 
       // check registers
       check_registers();
@@ -335,8 +394,13 @@ int main(void) {
     fan_init();
   }
 
+#ifdef ESCC
+  // init to SAFETY_HYUNDAI_ESCC and can all output
+  set_safety_mode(SAFETY_HYUNDAI_ESCC, 1U);
+#else
   // init to SILENT and can silent
   set_safety_mode(SAFETY_SILENT, 0U);
+#endif
 
   // enable CAN TXs
   current_board->enable_can_transceivers(true);
@@ -367,7 +431,35 @@ int main(void) {
   enable_interrupts();
 
   // LED should keep on blinking all the time
+#if defined(ESCC) && defined(DEBUG_CAN_LOOP) 
+  ESCC_Msg escc;
+  escc.fca_cmd_act = 1;
+  escc.aeb_cmd_act = 1;
+  escc.cf_vsm_warn_fca11 = 1;
+  escc.cf_vsm_warn_scc12 = 1;
+  escc.cf_vsm_deccmdact_scc12 = 1;
+  escc.cf_vsm_deccmdact_fca11 = 1;
+  escc.cr_vsm_deccmd_scc12 = 1;
+  escc.cr_vsm_deccmd_fca11 = 1;
+  escc.obj_valid = 1;
+  escc.acc_objstatus = 1;
+  escc.acc_obj_lat_pos_1 = 1;
+  escc.acc_obj_lat_pos_2 = 1;
+  escc.acc_obj_dist_1 = 1;
+  escc.acc_obj_dist_2 = 1;
+  escc.acc_obj_rel_spd_1 = 1;
+  escc.acc_obj_rel_spd_2 = 1;
+  int i = 0;
+#endif
+
   while (true) {
+
+#if defined(ESCC) && defined(DEBUG_CAN_LOOP)
+    send_escc_msg(&escc, i++);
+    if(i > 3)
+      i = 0;
+#endif
+
     if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
       #ifdef DEBUG_FAULTS
       if (fault_status == FAULT_STATUS_NONE) {

board/safety.h

@@ -23,6 +23,10 @@
 #include "safety/safety_elm327.h"
 #include "safety/safety_body.h"
 
+#ifdef ESCC
+#include "safety/safety_hyundai_escc.h"
+#endif
+
 // CAN-FD only safety modes
 #ifdef CANFD
 #include "safety/safety_hyundai_canfd.h"
@@ -56,6 +60,10 @@
 #define SAFETY_BODY 27U
 #define SAFETY_HYUNDAI_CANFD 28U
 
+#ifdef ESCC
+#define SAFETY_HYUNDAI_ESCC 29U
+#endif
+
 uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
   uint32_t ret = 0U;
   for (int i = 0; i < len; i++) {
@@ -375,6 +383,9 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
     {SAFETY_GM, &gm_hooks},
     {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
     {SAFETY_HYUNDAI, &hyundai_hooks},
+#ifdef ESCC
+    {SAFETY_HYUNDAI_ESCC, &hyundai_escc_hooks},
+#endif
     {SAFETY_CHRYSLER, &chrysler_hooks},
     {SAFETY_SUBARU, &subaru_hooks},
     {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},