Hyundai-Kia-Genesis (HKG) (commaai#503)

* update hkg steer torque message * misra * Get bus * Allow sending LFA HDA message * Add blacklisted addr * Update safety replay * Cleanup bus checks * Update to new torque message
rafcabezas · Apr 16, 2020 · 715b1a1 · 715b1a1
1 parent 6f105e8
commit 715b1a1
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Showing 3 changed files with 13 additions and 13 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -6,7 +6,7 @@ const int HYUNDAI_MAX_RATE_DOWN = 7;
 const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
 const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
 const int HYUNDAI_STANDSTILL_THRSLD = 30;  // ~1kph
-const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};
+const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}, {1157, 0}};
 
 // TODO: do checksum and counter checks
 AddrCheckStruct hyundai_rx_checks[] = {
@@ -32,11 +32,12 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
 
-  if (valid && GET_BUS(to_push) == 0) {
-    int addr = GET_ADDR(to_push);
+  int addr = GET_ADDR(to_push);
+  int bus = GET_BUS(to_push);
 
-    if (addr == 897) {
-      int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
+  if (valid && (bus == 0)) {
+    if (addr == 593) {
+      int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ff) * 0.79) - 808; // scale down new driver torque signal to match previous one
       // update array of samples
       update_sample(&hyundai_torque_driver, torque_driver_new);
     }
@@ -170,7 +171,7 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     if (bus_num == 0) {
       bus_fwd = 2;
     }
-    if ((bus_num == 2) && (addr != 832)) {
+    if ((bus_num == 2) && (addr != 832) && (addr != 1157)) {
       bus_fwd = 0;
     }
   }

diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
@@ -18,12 +18,11 @@
 
 
 class TestHyundaiSafety(common.PandaSafetyTest):
-
-  TX_MSGS = [[832, 0], [1265, 0]]
+  TX_MSGS = [[832, 0], [1265, 0], [1157, 0]]
   STANDSTILL_THRESHOLD = 30  # ~1kph
   RELAY_MALFUNCTION_ADDR = 832
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS = {2: [832]}
+  FWD_BLACKLISTED_ADDRS = {2: [832, 1157]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
   def setUp(self):
@@ -57,9 +56,10 @@ def _set_prev_torque(self, t):
     self.safety.set_hyundai_desired_torque_last(t)
     self.safety.set_hyundai_rt_torque_last(t)
 
+  # TODO: this is unused
   def _torque_driver_msg(self, torque):
-    values = {"CR_Mdps_DrvTq": torque}
-    return self.packer.make_can_msg_panda("MDPS11", 0, values)
+    values = {"CR_Mdps_StrColTq": torque}
+    return self.packer.make_can_msg_panda("MDPS12", 0, values)
 
   def _torque_msg(self, torque):
     values = {"CR_Lkas_StrToqReq": torque}

diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
@@ -15,12 +15,12 @@
   ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
   ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
   ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 1), # HONDA.ACCORD
-  ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
   ("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
   ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
   ("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF (MK7)
   ("d12cd943127f267b|2020-03-27--15-57-18.bz2", Panda.SAFETY_VOLKSWAGEN_PQ, 0), # 2009 VW Passat R36 (B6), supporting OP port not yet upstreamed
   ("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN, 0), # NISSAN.XTRAIL
+  ("5b7c365c50084530_2020-04-15--16-13-24--3--rlog.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SONATA
 ]
 
 if __name__ == "__main__":
@@ -40,4 +40,3 @@
     for f in failed:
       print("\n**** failed on %s ****" % f)
     assert len(failed) == 0, "\nfailed on %d logs" % len(failed)
-