h90d CAN-FD

mlocoteta · Oct 12, 2022 · 7d520aa · 7d520aa
1 parent ffb3109
commit 7d520aa
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -9,6 +9,13 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
   .driver_torque_allowance = 250,
   .driver_torque_factor = 2,
   .type = TorqueDriverLimited,
+
+  // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
+  // we allow setting actuation bit to 0 while maintaining the requested torque value for two consecutive frames
+  .min_valid_request_frames = 89,
+  .max_invalid_request_frames = 2,
+  .min_valid_request_rt_interval = 810000,  // 810ms; a ~10% buffer on cutting every 90 frames
+  .has_steer_req_tolerance = true,
 };
 
 const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
@@ -205,9 +212,10 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed
   // steering
   if ((addr == 0x50) || (addr == 0x12a)) {
     int desired_torque = ((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U);
+    bool steer_req = GET_BIT(to_send, 52U) != 0U;
     desired_torque -= 1024;
 
-    if (steer_torque_cmd_checks(desired_torque, -1, HYUNDAI_CANFD_STEERING_LIMITS)) {
+    if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
       tx = 0;
     }
   }

diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py
@@ -25,6 +25,11 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaSafetyTest, common.Dri
   DRIVER_TORQUE_ALLOWANCE = 250
   DRIVER_TORQUE_FACTOR = 2
 
+  # Safety around steering req bit
+  MIN_VALID_STEERING_FRAMES = 89
+  MAX_INVALID_STEERING_FRAMES = 2
+  MIN_VALID_STEERING_RT_INTERVAL = 810000  # a ~10% buffer, can send steer up to 110Hz
+
   PT_BUS = 0
   STEER_BUS = 0
   STEER_MSG = ""
@@ -41,7 +46,7 @@ def _torque_driver_msg(self, torque):
     return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values)
 
   def _torque_cmd_msg(self, torque, steer_req=1):
-    values = {"TORQUE_REQUEST": torque}
+    values = {"TORQUE_REQUEST": torque, "STEER_REQ": steer_req}
     return self.packer.make_can_msg_panda(self.STEER_MSG, self.STEER_BUS, values)
 
   def _speed_msg(self, speed):