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HKG: ccNC port #2107

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HKG: ccNC port #2107

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c4d883c
ccnc faults
royjr Nov 28, 2024
14af4e9
Merge branch 'commaai:master' into ccnc-faults
royjr Dec 4, 2024
5e5d08e
better
royjr Dec 6, 2024
5350332
Update test_hyundai_canfd.py
royjr Dec 7, 2024
3bfdfc1
Merge branch 'commaai:master' into ccnc-port
royjr Dec 14, 2024
7cecad1
Merge branch 'commaai:master' into ccnc-port
royjr Dec 16, 2024
46302a4
Merge branch 'commaai:master' into ccnc-port
royjr Dec 19, 2024
d4d439a
increase STEER_MAX
royjr Dec 26, 2024
713abf5
Update test_hyundai_canfd.py
royjr Dec 26, 2024
19ab12f
Merge branch 'commaai:master' into ccnc-port
royjr Dec 26, 2024
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8 changes: 6 additions & 2 deletions board/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {

static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
.max_steer = 270,
.max_steer = 384,
.max_rt_delta = 112,
.max_rt_interval = 250000,
.max_rate_up = 2,
Expand Down Expand Up @@ -215,7 +215,9 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
// CRUISE_INFO for non-HDA2, we send our own longitudinal commands
bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);

bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
bool is_ccnc_msg = (addr == 0x161) || (addr == 0x162);

bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg || is_ccnc_msg;
if (!block_msg) {
bus_fwd = 0;
}
Expand Down Expand Up @@ -261,6 +263,8 @@ static safety_config hyundai_canfd_init(uint16_t param) {
{0x1A0, 0, 32}, // CRUISE_INFO
{0x1CF, 2, 8}, // CRUISE_BUTTON
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
{0x161, 0, 32}, // MSG_161
{0x162, 0, 32}, // MSG_162
};


Expand Down
10 changes: 5 additions & 5 deletions tests/safety/test_hyundai_canfd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.

MAX_RATE_UP = 2
MAX_RATE_DOWN = 3
MAX_TORQUE = 270
MAX_TORQUE = 384

MAX_RT_DELTA = 112
RT_INTERVAL = 250000
Expand Down Expand Up @@ -83,7 +83,7 @@ class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):

TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x12A,)} # LFA
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}

STEER_MSG = "LFA"
Expand Down Expand Up @@ -160,7 +160,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):

TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x50,)} # LKAS
FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4, 0x161, 0x162]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}

PT_BUS = 1
Expand All @@ -180,7 +180,7 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):

TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} # LKAS_ALT
FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362, 0x161, 0x162]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}

PT_BUS = 1
Expand Down Expand Up @@ -233,7 +233,7 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
])
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):

FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0, 0x161, 0x162]}

RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1a0)} # LFA, SCC_CONTROL

Expand Down
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