Hyundai: support non-HDA2 EV gas signals (commaai#1100)

* Hyundai: support non-HDA2 EV gas signals * update tests
budney · Oct 13, 2022 · de38096 · de38096
1 parent 622ce92
commit de38096
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Showing 3 changed files with 9 additions and 8 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -195,12 +195,12 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
       hyundai_common_cruise_buttons_check(cruise_button, main_button);
     }
 
-    // read gas pressed signal
+    // gas press, different for EV, hybrid, and ICE models
     if ((addr == 881) && hyundai_ev_gas_signal) {
       gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
     } else if ((addr == 881) && hyundai_hybrid_gas_signal) {
       gas_pressed = GET_BYTE(to_push, 7) != 0U;
-    } else if (addr == 608) {  // ICE
+    } else if ((addr == 608) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
       gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
     } else {
     }

diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -42,7 +42,8 @@ const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
 
 AddrCheckStruct hyundai_canfd_addr_checks[] = {
   {.msg = {{0x35, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
-           {0x105, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
+           {0x35, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
+           {0x105, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}}},
   {.msg = {{0x65, 1, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
            {0x65, 0, 32, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U}, { 0 }}},
   {.msg = {{0xa0, 1, 24, .check_checksum = true, .max_counter = 0xffU, .expected_timestep = 10000U},
@@ -152,10 +153,10 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
       hyundai_common_cruise_state_check(cruise_engaged);
     }
 
-    // gas press
-    if ((addr == 0x35) && hyundai_canfd_hda2) {
+    // gas press, different for EV, hybrid, and ICE models
+    if ((addr == 0x35) && hyundai_ev_gas_signal) {
       gas_pressed = GET_BYTE(to_push, 5) != 0U;
-    } else if ((addr == 0x105) && !hyundai_canfd_hda2) {
+    } else if ((addr == 0x105) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
       gas_pressed = (GET_BIT(to_push, 103U) != 0U) || (GET_BYTE(to_push, 13) != 0U) || (GET_BIT(to_push, 112U) != 0U);
     } else {
     }

diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py
@@ -127,7 +127,7 @@ class TestHyundaiCanfdHDA2(TestHyundaiCanfdBase):
   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_CANFD_HDA2)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
     self.safety.init_tests()
 
 
@@ -145,7 +145,7 @@ class TestHyundaiCanfdHDA2Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2):
   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_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
     self.safety.init_tests()
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):