Hyundai: steering fault bit safety (#1095)

comment smaller comment simpler test check controls allowed more classical more like the buttons revert flip
commaai · Oct 11, 2022 · 2334a41 · 2334a41
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commit 2334a41
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -324,6 +324,10 @@ static int hyundai_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
   if (addr == 832) {
     int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ffU) - 1024U;
     bool steer_req = GET_BIT(to_send, 27U) != 0U;
+    bool toi_flt = GET_BIT(to_send, 28U) != 0U;
+    if (toi_flt && !controls_allowed) {
+      tx = 0;
+    }
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_STEERING_LIMITS)) {
       tx = 0;

diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
@@ -174,8 +174,8 @@ def _torque_driver_msg(self, torque):
     values = {"CR_Mdps_StrColTq": torque}
     return self.packer.make_can_msg_panda("MDPS12", 0, values)
 
-  def _torque_cmd_msg(self, torque, steer_req=1):
-    values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req}
+  def _torque_cmd_msg(self, torque, steer_req=1, toi_flt=0):
+    values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req, "CF_Lkas_ToiFlt": toi_flt}
     return self.packer.make_can_msg_panda("LKAS11", 0, values)
 
   def test_steer_req_bit(self):
@@ -194,6 +194,14 @@ def test_steer_req_bit(self):
     for _ in range(100):
       self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
 
+  def test_toi_flt_bit(self):
+    # No actuation of fault bit while controls are not allowed
+    for controls_allowed in [True, False]:
+      for toi_flt in [0, 1]:
+        self.safety.set_controls_allowed(controls_allowed)
+        should_tx = toi_flt == 0 or controls_allowed
+        self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(0, toi_flt=toi_flt)))
+
 
 class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
   BUTTONS_BUS = 2  # tx on 2, rx on 0