Merge remote-tracking branch 'upstream/master' into h90d-canfd

board/drivers/can_common.h

@@ -12,6 +12,7 @@ typedef struct {
   uint32_t can_data_speed;
   bool canfd_enabled;
   bool brs_enabled;
+  bool canfd_non_iso;
 } bus_config_t;
 
 uint32_t safety_tx_blocked = 0;
@@ -155,10 +156,10 @@ void can_clear(can_ring *q) {
 // Helpers
 // Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
 bus_config_t bus_config[] = {
-  { .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
-  { .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
-  { .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
-  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
+  { .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
+  { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
 };
 
 #define CANIF_FROM_CAN_NUM(num) (cans[num])

board/drivers/fdcan.h

@@ -20,6 +20,7 @@ bool can_set_speed(uint8_t can_number) {
     CANx,
     bus_config[bus_number].can_speed,
     bus_config[bus_number].can_data_speed,
+    bus_config[bus_number].canfd_non_iso,
     can_loopback,
     (unsigned int)(can_silent) & (1U << can_number)
   );

board/health.h

@@ -28,7 +28,7 @@ struct __attribute__((packed)) health_t {
   uint8_t safety_rx_checks_invalid;
 };
 
-#define CAN_HEALTH_PACKET_VERSION 2
+#define CAN_HEALTH_PACKET_VERSION 3
 typedef struct __attribute__((packed)) {
   uint8_t bus_off;
   uint32_t bus_off_cnt;
@@ -50,4 +50,5 @@ typedef struct __attribute__((packed)) {
   uint16_t can_data_speed;
   uint8_t canfd_enabled;
   uint8_t brs_enabled;
+  uint8_t canfd_non_iso;
 } can_health_t;

board/main_comms.h

@@ -254,6 +254,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U);
         can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled;
         can_health[req->param1].brs_enabled = bus_config[req->param1].brs_enabled;
+        can_health[req->param1].canfd_non_iso = bus_config[req->param1].canfd_non_iso;
         resp_len = sizeof(can_health[req->param1]);
         (void)memcpy(resp, &can_health[req->param1], resp_len);
       }
@@ -534,7 +535,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         heartbeat_disabled = true;
       }
       break;
-    // **** 0xde: set CAN FD data bitrate
+    // **** 0xf9: set CAN FD data bitrate
     case 0xf9:
       if ((req->param1 < CAN_CNT) &&
            current_board->has_canfd &&
@@ -546,18 +547,18 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         UNUSED(ret);
       }
       break;
-    // **** 0xfa: check if CAN FD and BRS are enabled
-    case 0xfa:
-      if (req->param1 < CAN_CNT) {
-        resp[0] =  bus_config[req->param1].canfd_enabled;
-        resp[1] = bus_config[req->param1].brs_enabled;
-        resp_len = 2;
-      }
-      break;
     // **** 0xfb: allow highest power saving mode (stop) to be entered
     case 0xfb:
       deepsleep_allowed = true;
       break;
+    // **** 0xfc: set CAN FD non-ISO mode
+    case 0xfc:
+      if ((req->param1 < CAN_CNT) && current_board->has_canfd) {
+        bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
+        bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
+        UNUSED(ret);
+      }
+      break;
     default:
       puts("NO HANDLER ");
       puth(req->request);

board/safety/safety_hyundai.h

@@ -84,14 +84,9 @@ 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_EV_GAS = 1;
-const int HYUNDAI_PARAM_HYBRID_GAS = 2;
-const int HYUNDAI_PARAM_LONGITUDINAL = 4;
 const int HYUNDAI_PARAM_CAMERA_SCC = 8;
 
 bool hyundai_legacy = false;
-bool hyundai_ev_gas_signal = false;
-bool hyundai_hybrid_gas_signal = false;
 bool hyundai_camera_scc = false;
 
 addr_checks hyundai_rx_checks = {hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
@@ -200,12 +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 {
     }
@@ -331,18 +326,13 @@ static int hyundai_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
 }
 
 static const addr_checks* hyundai_init(uint16_t param) {
+  hyundai_common_init(param);
   hyundai_legacy = false;
-  hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
-  hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
   hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
-  hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
 
-#ifdef ALLOW_DEBUG
-  // TODO: add longitudinal support for camera-based SCC platform
-  hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL) && !hyundai_camera_scc;
-#else
-  hyundai_longitudinal = false;
-#endif
+  if (hyundai_camera_scc) {
+    hyundai_longitudinal = false;
+  }
 
   if (hyundai_longitudinal) {
     hyundai_rx_checks = (addr_checks){hyundai_long_addr_checks, HYUNDAI_LONG_ADDR_CHECK_LEN};
@@ -355,12 +345,11 @@ static const addr_checks* hyundai_init(uint16_t param) {
 }
 
 static const addr_checks* hyundai_legacy_init(uint16_t param) {
+  hyundai_common_init(param);
   hyundai_legacy = true;
   hyundai_longitudinal = false;
   hyundai_camera_scc = false;
-  hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
-  hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
-  hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
+
   hyundai_rx_checks = (addr_checks){hyundai_legacy_addr_checks, HYUNDAI_LEGACY_ADDR_CHECK_LEN};
   return &hyundai_rx_checks;
 }

board/safety/safety_hyundai_canfd.h

@@ -49,7 +49,8 @@ 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},
@@ -70,9 +71,8 @@ addr_checks hyundai_canfd_rx_checks = {hyundai_canfd_addr_checks, HYUNDAI_CANFD_
 uint16_t hyundai_canfd_crc_lut[256];
 
 
-const int HYUNDAI_PARAM_CANFD_HDA2 = 1;
-const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 2;
-const int HYUNDAI_PARAM_CANFD_LONG = 4;
+const int HYUNDAI_PARAM_CANFD_HDA2 = 8;
+const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 16;
 bool hyundai_canfd_hda2 = false;
 bool hyundai_canfd_alt_buttons = false;
 
@@ -160,10 +160,10 @@ 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 {
     }
@@ -210,7 +210,8 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed
   }
 
   // steering
-  if ((addr == 0x50) || (addr == 0x12a)) {
+  const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? 0x50 : 0x12a;
+  if (addr == steer_addr) {
     int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024;
     bool steer_req = GET_BIT(to_send, 52U) != 0U;
 
@@ -294,16 +295,15 @@ static int hyundai_canfd_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
 }
 
 static const addr_checks* hyundai_canfd_init(uint16_t param) {
+  hyundai_common_init(param);
+
   gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
-  hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
   hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
   hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
 
-#ifdef ALLOW_DEBUG
-  hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LONG) && hyundai_canfd_hda2;
-#else
-  hyundai_longitudinal = false;
-#endif
+  if (!hyundai_canfd_hda2) {
+    hyundai_longitudinal = false;
+  }
 
   return &hyundai_canfd_rx_checks;
 }

board/safety/safety_hyundai_common.h

@@ -1,6 +1,10 @@
 #ifndef SAFETY_HYUNDAI_COMMON_H
 #define SAFETY_HYUNDAI_COMMON_H
 
+const int HYUNDAI_PARAM_EV_GAS = 1;
+const int HYUNDAI_PARAM_HYBRID_GAS = 2;
+const int HYUNDAI_PARAM_LONGITUDINAL = 4;
+
 const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8;  // roughly 160 ms
 const uint32_t HYUNDAI_STANDSTILL_THRSLD = 30;  // ~1kph
 
@@ -12,9 +16,23 @@ enum {
 };
 
 // common state
+bool hyundai_ev_gas_signal = false;
+bool hyundai_hybrid_gas_signal = false;
 bool hyundai_longitudinal = false;
 uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 
+void hyundai_common_init(uint16_t param) {
+  hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
+  hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
+
+  hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
+
+#ifdef ALLOW_DEBUG
+  hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
+#else
+  hyundai_longitudinal = false;
+#endif
+}
 
 void hyundai_common_cruise_state_check(const int cruise_engaged) {
   // some newer HKG models can re-enable after spamming cancel button,

board/stm32h7/llfdcan.h

@@ -84,7 +84,7 @@ bool fdcan_exit_init(FDCAN_GlobalTypeDef *CANx) {
   return ret;
 }
 
-bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_speed, bool loopback, bool silent) {
+bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_speed, bool non_iso, bool loopback, bool silent) {
   UNUSED(speed);
   bool ret = fdcan_request_init(CANx);
 
@@ -97,6 +97,7 @@ bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_sp
     CANx->TEST &= ~(FDCAN_TEST_LBCK);
     CANx->CCCR &= ~(FDCAN_CCCR_MON);
     CANx->CCCR &= ~(FDCAN_CCCR_ASM);
+    CANx->CCCR &= ~(FDCAN_CCCR_NISO);
 
     // TODO: add as a separate safety mode
     // Enable ASM restricted operation(for debug or automatic bitrate switching)
@@ -130,6 +131,11 @@ bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_sp
 
     CANx->DBTP = (((sjw & 0xFU)-1U)<<FDCAN_DBTP_DSJW_Pos) | (((seg1 & 0x1FU)-1U)<<FDCAN_DBTP_DTSEG1_Pos) | (((seg2 & 0xFU)-1U)<<FDCAN_DBTP_DTSEG2_Pos) | (((prescaler & 0x1FU)-1U)<<FDCAN_DBTP_DBRP_Pos);
 
+    if (non_iso) {
+      // FD non-ISO mode
+      CANx->CCCR |= FDCAN_CCCR_NISO;
+    }
+
     // Silent loopback is known as internal loopback in the docs
     if (loopback) {
       CANx->CCCR |= FDCAN_CCCR_TEST;

python/__init__.py

@@ -186,9 +186,9 @@ class Panda:
 
   CAN_PACKET_VERSION = 2
   HEALTH_PACKET_VERSION = 11
-  CAN_HEALTH_PACKET_VERSION = 2
+  CAN_HEALTH_PACKET_VERSION = 3
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBB")
-  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBB")
+  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBBB")
 
   F2_DEVICES = (HW_TYPE_PEDAL, )
   F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -213,10 +213,8 @@ class Panda:
   FLAG_HYUNDAI_HYBRID_GAS = 2
   FLAG_HYUNDAI_LONG = 4
   FLAG_HYUNDAI_CAMERA_SCC = 8
-
-  FLAG_HYUNDAI_CANFD_HDA2 = 1
-  FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 2
-  FLAG_HYUNDAI_CANFD_LONG = 4
+  FLAG_HYUNDAI_CANFD_HDA2 = 8
+  FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 16
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
@@ -509,6 +507,7 @@ def can_health(self, can_number):
       "can_data_speed": a[17],
       "canfd_enabled": a[18],
       "brs_enabled": a[19],
+      "canfd_non_iso": a[20],
     }
 
   # ******************* control *******************
@@ -626,14 +625,8 @@ def set_can_speed_kbps(self, bus, speed):
   def set_can_data_speed_kbps(self, bus, speed):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
 
-  # CAN FD and BRS status
-  def get_canfd_status(self, bus):
-    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
-    if dat:
-      a = struct.unpack("BB", dat)
-      return (a[0], a[1])
-    else:
-      return (None, None)
+  def set_canfd_non_iso(self, bus, non_iso):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xfc, bus, int(non_iso), b'')
 
   def set_uart_baud(self, uart, rate):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')