Hyundai CAN-FD: fix SCC bus for HDA1

budney · Oct 20, 2022 · 723e60c · 723e60c
1 parent 24ccc34
commit 723e60c
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Showing 3 changed files with 14 additions and 9 deletions.
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -58,7 +58,7 @@ AddrCheckStruct hyundai_canfd_addr_checks[] = {
   {.msg = {{0xea, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
            {0xea, 0, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
   {.msg = {{0x1a0, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U},
-           {0x1a0, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }}},
+           {0x1a0, 2, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 20000U}, { 0 }}},
   {.msg = {{0x1cf, 1, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
            {0x1cf, 0, 8, .check_checksum = false, .max_counter = 0xfU, .expected_timestep = 20000U},
            {0x1aa, 0, 16, .check_checksum = false, .max_counter = 0xffU, .expected_timestep = 20000U}}},
@@ -146,6 +146,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
   const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
+  const int scc_bus = hyundai_canfd_hda2 ? 1 : 2;
 
   if (valid && (bus == pt_bus)) {
     // driver torque
@@ -170,12 +171,6 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
       hyundai_common_cruise_buttons_check(cruise_button, main_button);
     }
 
-    // cruise state
-    if ((addr == 0x1a0) && !hyundai_longitudinal) {
-      bool cruise_engaged = ((GET_BYTE(to_push, 8) >> 4) & 0x3U) != 0U;
-      hyundai_common_cruise_state_check(cruise_engaged);
-    }
-
     // gas press, different for EV, hybrid, and ICE models
     if ((addr == 0x35) && hyundai_ev_gas_signal) {
       gas_pressed = GET_BYTE(to_push, 5) != 0U;
@@ -199,6 +194,14 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
     }
   }
 
+  if (valid && (bus == scc_bus)) {
+    // cruise state
+    if ((addr == 0x1a0) && !hyundai_longitudinal) {
+      bool cruise_engaged = ((GET_BYTE(to_push, 8) >> 4) & 0x3U) != 0U;
+      hyundai_common_cruise_state_check(cruise_engaged);
+    }
+  }
+
   const int steer_addr = hyundai_canfd_hda2 ? 0x50 : 0x12a;
   bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
   if (hyundai_longitudinal) {

diff --git a/tests/safety/test.c b/tests/safety/test.c
@@ -83,7 +83,7 @@ bool addr_checks_valid() {
     const AddrCheckStruct addr = current_rx_checks->check[i];
     bool valid = addr.msg_seen && !addr.lagging && addr.valid_checksum && (addr.wrong_counters < MAX_WRONG_COUNTERS);
     if (!valid) {
-      //printf("seen %d lagging %d valid checksum %d wrong counters %d\n", addr.msg_seen, addr.lagging, addr.valid_checksum, addr.wrong_counters);
+      printf("i %d seen %d lagging %d valid checksum %d wrong counters %d\n", i, addr.msg_seen, addr.lagging, addr.valid_checksum, addr.wrong_counters);
       return false;
     }
   }

diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py
@@ -31,6 +31,7 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaSafetyTest, common.Dri
   MIN_VALID_STEERING_RT_INTERVAL = 810000  # a ~10% buffer, can send steer up to 110Hz
 
   PT_BUS = 0
+  SCC_BUS = 2
   STEER_BUS = 0
   STEER_MSG = ""
   BUTTONS_TX_BUS = 1
@@ -64,7 +65,7 @@ def _user_gas_msg(self, gas):
 
   def _pcm_status_msg(self, enable):
     values = {"CRUISE_STATUS": 3 if enable else 0}
-    return self.packer.make_can_msg_panda("CRUISE_INFO", self.PT_BUS, values)
+    return self.packer.make_can_msg_panda("CRUISE_INFO", self.SCC_BUS, values)
 
   def _button_msg(self, buttons, main_button=0, bus=None):
     if bus is None:
@@ -132,6 +133,7 @@ class TestHyundaiCanfdHDA2(TestHyundaiCanfdBase):
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
   PT_BUS = 1
+  SCC_BUS = 1
   STEER_MSG = "LKAS"
 
   def setUp(self):