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hda2 only
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@sunnyhaibin
sunnyhaibin committed Mar 2, 2023
1 parent d80734b commit 7f77ee9
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Showing 2 changed files with 19 additions and 19 deletions.
36 changes: 18 additions & 18 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ const CanMsg HYUNDAI_TX_MSGS[] = {
{1157, 0, 4}, // LFAHDA_MFC Bus 0
};

const CanMsg HYUNDAI_CAN_CANFD_TX_MSGS[] = {
const CanMsg HYUNDAI_CAN_CANFD_HDA2_TX_MSGS[] = {
{0x50, 0, 16},
{0x4F1, 1, 4},
{0x2A4, 0, 24},
Expand Down Expand Up @@ -98,10 +98,10 @@ AddrCheckStruct hyundai_legacy_addr_checks[] = {
};
#define HYUNDAI_LEGACY_ADDR_CHECK_LEN (sizeof(hyundai_legacy_addr_checks) / sizeof(hyundai_legacy_addr_checks[0]))

const int HYUNDAI_PARAM_CAN_CANFD = 128;
const int HYUNDAI_PARAM_CAN_CANFD_HDA2 = 128;

bool hyundai_legacy = false;
bool hyundai_can_canfd = false;
bool hyundai_can_canfd_hda2 = false;

addr_checks hyundai_rx_checks = {hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};

Expand All @@ -120,7 +120,7 @@ static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
} else if (addr == 916) {
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
} else if (addr == 1057) {
if (hyundai_can_canfd) {
if (hyundai_can_canfd_hda2) {
cnt = (GET_BYTE(to_push, 1) >> 4) & 0xFU;
} else {
cnt = GET_BYTE(to_push, 7) & 0xFU;
Expand All @@ -144,7 +144,7 @@ static uint32_t hyundai_get_checksum(CANPacket_t *to_push) {
} else if (addr == 916) {
chksum = GET_BYTE(to_push, 6) & 0xFU;
} else if (addr == 1057) {
if (hyundai_can_canfd) {
if (hyundai_can_canfd_hda2) {
chksum = GET_BYTE(to_push, 0);
} else {
chksum = GET_BYTE(to_push, 7) >> 4;
Expand All @@ -158,7 +158,7 @@ static uint32_t hyundai_get_checksum(CANPacket_t *to_push) {
static uint32_t hyundai_compute_checksum(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);

// CAN_CANFD
// CAN_CANFD_HDA2
int len = GET_LEN(to_push);
uint32_t address = GET_ADDR(to_push);

Expand All @@ -178,7 +178,7 @@ static uint32_t hyundai_compute_checksum(CANPacket_t *to_push) {
}
chksum = (chksum ^ 9U) & 15U;
} else {
if (hyundai_can_canfd && (addr == 1057)) {
if (hyundai_can_canfd_hda2 && (addr == 1057)) {
for (int i = 2; i < len; i++) {
chksum = (chksum << 8U) ^ hyundai_can_canfd_crc_lut[(chksum >> 8U) ^ GET_BYTE(to_push, i)];
}
Expand Down Expand Up @@ -216,13 +216,13 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

const int pt_bus = hyundai_can_canfd ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : hyundai_can_canfd ? 1 : 0;
const int pt_bus = hyundai_can_canfd_hda2 ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : hyundai_can_canfd_hda2 ? 1 : 0;

// SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
if (valid && (addr == 1057) && (bus == scc_bus)) {
int cruise_engaged = 0;
if (hyundai_can_canfd) {
if (hyundai_can_canfd_hda2) {
cruise_engaged = (GET_BYTE(to_push, 3) >> 4) & 0x3U;
} else {
// 2 bits: 13-14
Expand Down Expand Up @@ -266,7 +266,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
brake_pressed = GET_BIT(to_push, 55U) != 0U;
}

const int steer_addr = hyundai_can_canfd ? 0x50 : 832;
const int steer_addr = hyundai_can_canfd_hda2 ? 0x50 : 832;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);

// If openpilot is controlling longitudinal we need to ensure the radar is turned off
Expand All @@ -288,8 +288,8 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
tx = msg_allowed(to_send, HYUNDAI_LONG_TX_MSGS, sizeof(HYUNDAI_LONG_TX_MSGS)/sizeof(HYUNDAI_LONG_TX_MSGS[0]));
} else if (hyundai_camera_scc) {
tx = msg_allowed(to_send, HYUNDAI_CAMERA_SCC_TX_MSGS, sizeof(HYUNDAI_CAMERA_SCC_TX_MSGS)/sizeof(HYUNDAI_CAMERA_SCC_TX_MSGS[0]));
} else if (hyundai_can_canfd) {
tx = msg_allowed(to_send, HYUNDAI_CAN_CANFD_TX_MSGS, sizeof(HYUNDAI_CAN_CANFD_TX_MSGS)/sizeof(HYUNDAI_CAN_CANFD_TX_MSGS[0]));
} else if (hyundai_can_canfd_hda2) {
tx = msg_allowed(to_send, HYUNDAI_CAN_CANFD_HDA2_TX_MSGS, sizeof(HYUNDAI_CAN_CANFD_HDA2_TX_MSGS)/sizeof(HYUNDAI_CAN_CANFD_HDA2_TX_MSGS[0]));
} else {
tx = msg_allowed(to_send, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]));
}
Expand Down Expand Up @@ -378,11 +378,11 @@ static int hyundai_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
}
if (bus_num == 2) {
// LKAS11 for CAN, LKAS for CAN/CAN-FD
int is_lkas11_msg = (addr == 832) && !hyundai_can_canfd;
int is_lkas_msg = ((addr == 0x50) || (addr == 0x2a4)) && hyundai_can_canfd;
int is_lkas11_msg = (addr == 832) && !hyundai_can_canfd_hda2;
int is_lkas_msg = ((addr == 0x50) || (addr == 0x2a4)) && hyundai_can_canfd_hda2;

// LFAHDA_MFC for CAN
int is_lfahda_msg = (addr == 1157) && !hyundai_can_canfd;
int is_lfahda_msg = (addr == 1157) && !hyundai_can_canfd_hda2;

int block_msg = is_lkas11_msg || is_lkas_msg || is_lfahda_msg;
if (!block_msg) {
Expand All @@ -397,9 +397,9 @@ static const addr_checks* hyundai_init(uint16_t param) {
hyundai_common_init(param);
hyundai_legacy = false;
gen_crc_lookup_table_16(0x1021, hyundai_can_canfd_crc_lut);
hyundai_can_canfd = GET_FLAG(param, HYUNDAI_PARAM_CAN_CANFD);
hyundai_can_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CAN_CANFD_HDA2);

if (hyundai_camera_scc || hyundai_can_canfd) {
if (hyundai_camera_scc || hyundai_can_canfd_hda2) {
hyundai_longitudinal = false;
}

Expand Down
2 changes: 1 addition & 1 deletion python/__init__.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -209,7 +209,7 @@ class Panda:
FLAG_HYUNDAI_CANFD_HDA2 = 16
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
FLAG_HYUNDAI_ALT_LIMITS = 64
FLAG_HYUNDAI_CAN_CANFD = 128
FLAG_HYUNDAI_CAN_CANFD_HDA2 = 128

FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
Expand Down

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