502 lines
17 KiB
C
502 lines
17 KiB
C
#pragma once
|
|
|
|
#include "safety_declarations.h"
|
|
#include "safety_hyundai_common.h"
|
|
|
|
#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
|
|
.max_steer = (steer), \
|
|
.max_rate_up = (rate_up), \
|
|
.max_rate_down = (rate_down), \
|
|
.max_rt_delta = 112, \
|
|
.max_rt_interval = 250000, \
|
|
.driver_torque_allowance = 50, \
|
|
.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 CF_Lkas_ActToi 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, \
|
|
}
|
|
|
|
extern const LongitudinalLimits HYUNDAI_LONG_LIMITS;
|
|
const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
|
|
.max_accel = 250, // 1/100 m/s2
|
|
.min_accel = -400, // 1/100 m/s2
|
|
};
|
|
|
|
static const CanMsg HYUNDAI_TX_MSGS[] = {
|
|
{0x340, 0, 8}, // LKAS11 Bus 0
|
|
{0x4F1, 0, 4}, // CLU11 Bus 0
|
|
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
|
|
{593, 2, 8}, // MDPS12, Bus 2
|
|
{1056, 0, 8}, // SCC11, Bus 0
|
|
{1057, 0, 8}, // SCC12, Bus 0
|
|
{1290, 0, 8}, // SCC13, Bus 0
|
|
{905, 0, 8}, // SCC14, Bus 0
|
|
{909, 0, 8}, // FCA11 Bus 0
|
|
{1155, 0, 8}, // FCA12 Bus 0
|
|
{1186, 0, 8}, // FRT_RADAR11, Bus 0
|
|
{1265, 2, 4}, // CLU11, Bus 0, 2
|
|
{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable) // 2000
|
|
{0x7b1, 0, 8},
|
|
};
|
|
|
|
#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
|
|
{.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
|
|
{0x371, 0, 8, .frequency = 100U}, { 0 }}}, \
|
|
{.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
|
|
{.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \
|
|
|
|
#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
|
|
{.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
|
|
|
|
static bool hyundai_legacy = false;
|
|
static bool hyundai_cruise_buttons_alt = false;
|
|
|
|
static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
|
|
int addr = GET_ADDR(to_push);
|
|
|
|
uint8_t cnt = 0;
|
|
if (addr == 0x260) {
|
|
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
|
|
} else if (addr == 0x386) {
|
|
cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
|
|
} else if (addr == 0x394) {
|
|
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
|
|
} else if (addr == 0x421) {
|
|
cnt = GET_BYTE(to_push, 7) & 0xFU;
|
|
} else if (addr == 0x4F1) {
|
|
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
|
|
} else {
|
|
}
|
|
return cnt;
|
|
}
|
|
|
|
static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
|
|
int addr = GET_ADDR(to_push);
|
|
|
|
uint8_t chksum = 0;
|
|
if (addr == 0x260) {
|
|
chksum = GET_BYTE(to_push, 7) & 0xFU;
|
|
} else if (addr == 0x386) {
|
|
chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
|
|
} else if (addr == 0x394) {
|
|
chksum = GET_BYTE(to_push, 6) & 0xFU;
|
|
} else if (addr == 0x421) {
|
|
chksum = GET_BYTE(to_push, 7) >> 4;
|
|
} else {
|
|
}
|
|
return chksum;
|
|
}
|
|
|
|
static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
|
|
int addr = GET_ADDR(to_push);
|
|
|
|
uint8_t chksum = 0;
|
|
if (addr == 0x386) {
|
|
// count the bits
|
|
for (int i = 0; i < 8; i++) {
|
|
uint8_t b = GET_BYTE(to_push, i);
|
|
for (int j = 0; j < 8; j++) {
|
|
uint8_t bit = 0;
|
|
// exclude checksum and counter
|
|
if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
|
|
bit = (b >> (uint8_t)j) & 1U;
|
|
}
|
|
chksum += bit;
|
|
}
|
|
}
|
|
chksum = (chksum ^ 9U) & 15U;
|
|
} else {
|
|
// sum of nibbles
|
|
for (int i = 0; i < 8; i++) {
|
|
if ((addr == 0x394) && (i == 7)) {
|
|
continue; // exclude
|
|
}
|
|
uint8_t b = GET_BYTE(to_push, i);
|
|
if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
|
|
b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
|
|
}
|
|
chksum += (b % 16U) + (b / 16U);
|
|
}
|
|
chksum = (16U - (chksum % 16U)) % 16U;
|
|
}
|
|
|
|
return chksum;
|
|
}
|
|
|
|
static void hyundai_rx_hook(const CANPacket_t *to_push) {
|
|
int bus = GET_BUS(to_push);
|
|
int addr = GET_ADDR(to_push);
|
|
|
|
// SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
|
|
if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
|
|
// 2 bits: 13-14
|
|
int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
|
|
hyundai_common_cruise_state_check(cruise_engaged);
|
|
}
|
|
|
|
if (bus == 0) {
|
|
if (addr == 0x251) {
|
|
int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
|
|
// update array of samples
|
|
update_sample(&torque_driver, torque_driver_new);
|
|
}
|
|
|
|
// ACC steering wheel buttons
|
|
if (addr == 1007) hyundai_cruise_buttons_alt = true; // CASPER_EV: 1007
|
|
if (addr == 1007) {
|
|
int cruise_button = (GET_BYTE(to_push, 7) >> 4) & 0x07U;
|
|
bool main_button = GET_BIT(to_push, 58U);
|
|
hyundai_common_cruise_buttons_check(cruise_button, main_button);
|
|
}
|
|
else if (addr == 0x4F1 && !hyundai_cruise_buttons_alt) {
|
|
int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
|
|
bool main_button = GET_BIT(to_push, 3U);
|
|
hyundai_common_cruise_buttons_check(cruise_button, main_button);
|
|
}
|
|
|
|
// gas press, different for EV, hybrid, and ICE models
|
|
if ((addr == 0x371) && hyundai_ev_gas_signal) {
|
|
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
|
|
} else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
|
|
gas_pressed = GET_BYTE(to_push, 7) != 0U;
|
|
} else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
|
|
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
|
|
} else {
|
|
}
|
|
|
|
// sample wheel speed, averaging opposite corners
|
|
if (addr == 0x386) {
|
|
uint32_t front_left_speed = GET_BYTES(to_push, 0, 2) & 0x3FFFU;
|
|
uint32_t rear_right_speed = GET_BYTES(to_push, 6, 2) & 0x3FFFU;
|
|
vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
|
|
}
|
|
|
|
if (addr == 0x394) {
|
|
brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
|
|
}
|
|
|
|
bool stock_ecu_detected = (addr == 0x340);
|
|
|
|
// If openpilot is controlling longitudinal we need to ensure the radar is turned off
|
|
// Enforce by checking we don't see SCC12
|
|
if (hyundai_longitudinal && (addr == 0x421)) {
|
|
stock_ecu_detected = true;
|
|
}
|
|
generic_rx_checks(stock_ecu_detected);
|
|
}
|
|
}
|
|
|
|
uint32_t last_ts_lkas11_from_op = 0;
|
|
uint32_t last_ts_scc12_from_op = 0;
|
|
uint32_t last_ts_mdps12_from_op = 0;
|
|
uint32_t last_ts_fca11_from_op = 0;
|
|
|
|
static bool hyundai_tx_hook(const CANPacket_t *to_send) {
|
|
const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(512, 10, 10);
|
|
const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(512, 10, 10);
|
|
|
|
bool tx = true;
|
|
int addr = GET_ADDR(to_send);
|
|
|
|
// FCA11: Block any potential actuation
|
|
if (addr == 0x38D) {
|
|
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
|
|
bool FCA_CmdAct = GET_BIT(to_send, 20U);
|
|
bool CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
|
|
|
|
if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// ACCEL: safety check
|
|
if (addr == 0x421) {
|
|
int cruise_engaged = (GET_BYTES(to_send, 0, 4) >> 13) & 0x3U;
|
|
if (cruise_engaged) {
|
|
if(!controls_allowed) print("auto engage controls_allowed....\n");
|
|
controls_allowed = true;
|
|
}
|
|
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
|
|
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
|
|
|
|
//int aeb_decel_cmd = GET_BYTE(to_send, 2);
|
|
//bool aeb_req = GET_BIT(to_send, 54U);
|
|
|
|
bool violation = false;
|
|
|
|
violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
|
|
violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
|
|
//violation |= (aeb_decel_cmd != 0);
|
|
//violation |= aeb_req;
|
|
|
|
if (violation) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// LKA STEER: safety check
|
|
if (addr == 0x340) {
|
|
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
|
|
bool steer_req = GET_BIT(to_send, 27U);
|
|
|
|
const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
|
|
if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
|
|
//tx = false;
|
|
}
|
|
}
|
|
|
|
// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
|
if (addr == 0x7D0) {
|
|
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// BUTTONS: used for resume spamming and cruise cancellation
|
|
if ((addr == 0x4F1) && !hyundai_longitudinal) {
|
|
int button = GET_BYTE(to_send, 0) & 0x7U;
|
|
|
|
bool allowed_resume = (button == 1);// && controls_allowed;
|
|
bool allowed_set_decel = (button == 2) && controls_allowed;
|
|
bool allowed_cancel = (button == 4) && cruise_engaged_prev;
|
|
bool allowed_gap_dist = (button == 3) && controls_allowed;
|
|
if (!(allowed_resume || allowed_set_decel || allowed_cancel || allowed_gap_dist)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
if(addr == 832)
|
|
last_ts_lkas11_from_op = (tx == 0 ? 0 : microsecond_timer_get());
|
|
else if(addr == 1057)
|
|
last_ts_scc12_from_op = (tx == 0 ? 0 : microsecond_timer_get());
|
|
else if(addr == 593)
|
|
last_ts_mdps12_from_op = (tx == 0 ? 0 : microsecond_timer_get());
|
|
else if(addr == 909)
|
|
last_ts_fca11_from_op = (tx == 0 ? 0 : microsecond_timer_get());
|
|
|
|
return tx;
|
|
}
|
|
|
|
static int hyundai_fwd_hook(int bus_num, int addr) {
|
|
|
|
int bus_fwd = -1;
|
|
|
|
uint32_t now = microsecond_timer_get();
|
|
|
|
// forward cam to ccan and viceversa, except lkas cmd
|
|
if (bus_num == 0) {
|
|
bus_fwd = 2;
|
|
|
|
if(addr == 593) {
|
|
if(now - last_ts_mdps12_from_op < 200000) {
|
|
bus_fwd = -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (bus_num == 2) {
|
|
bool is_lkas_msg = addr == 832;
|
|
bool is_lfahda_msg = addr == 1157;
|
|
bool is_scc_msg = addr == 1056 || addr == 1057 || addr == 1290 || addr == 905;
|
|
bool is_fca_msg = addr == 909 || addr == 1155;
|
|
|
|
bool block_msg = is_lkas_msg || is_lfahda_msg || is_scc_msg; //|| is_fca_msg;
|
|
if (!block_msg) {
|
|
bus_fwd = 0;
|
|
}
|
|
else {
|
|
if(is_lkas_msg || is_lfahda_msg) {
|
|
if(now - last_ts_lkas11_from_op >= 200000) {
|
|
bus_fwd = 0;
|
|
}
|
|
}
|
|
else if(is_scc_msg) {
|
|
if(now - last_ts_scc12_from_op >= 400000)
|
|
bus_fwd = 0;
|
|
}
|
|
else if(is_fca_msg) {
|
|
if(now - last_ts_fca11_from_op >= 400000)
|
|
bus_fwd = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
return bus_fwd;
|
|
}
|
|
|
|
/* case
|
|
- legacy(on/off) + camera_scc(allways longitudinal on) + longitudinal(scc off)
|
|
*/
|
|
static safety_config hyundai_init_carrot(bool legacy_car) {
|
|
static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
|
|
{0x340, 0, 8}, // LKAS11 Bus 0
|
|
{0x4F1, 0, 4}, // CLU11 Bus 0
|
|
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
|
|
{0x420, 0, 8}, // SCC11 Bus 0
|
|
{0x421, 0, 8}, // SCC12 Bus 0
|
|
{0x50A, 0, 8}, // SCC13 Bus 0
|
|
{0x389, 0, 8}, // SCC14 Bus 0
|
|
{0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
|
|
{0x38D, 0, 8}, // FCA11 Bus 0
|
|
{0x483, 0, 8}, // FCA12 Bus 0
|
|
{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
|
|
};
|
|
|
|
static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
|
|
{0x340, 0, 8}, // LKAS11 Bus 0
|
|
{0x4F1, 2, 4}, // CLU11 Bus 2
|
|
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
|
|
{593, 2, 8}, // MDPS12, Bus 2
|
|
{1056, 0, 8}, // SCC11, Bus 0
|
|
{1057, 0, 8}, // SCC12, Bus 0
|
|
{1290, 0, 8}, // SCC13, Bus 0
|
|
{905, 0, 8}, // SCC14, Bus 0
|
|
{909, 0, 8}, // FCA11 Bus 0
|
|
{1155, 0, 8}, // FCA12 Bus 0
|
|
{1186, 0, 8}, // FRT_RADAR11, Bus 0
|
|
{0x4F1, 0, 4}, // CLU11 Bus 0
|
|
};
|
|
|
|
safety_config ret;
|
|
if (hyundai_camera_scc) {
|
|
static RxCheck hyundai_cam_scc_rx_checks[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(false)
|
|
HYUNDAI_SCC12_ADDR_CHECK(2)
|
|
};
|
|
static RxCheck hyundai_cam_scc_rx_checks_legacy[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(true)
|
|
HYUNDAI_SCC12_ADDR_CHECK(2)
|
|
};
|
|
if(legacy_car) ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks_legacy, HYUNDAI_CAMERA_SCC_TX_MSGS);
|
|
else ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
|
|
}
|
|
else if (hyundai_longitudinal) {
|
|
static RxCheck hyundai_long_rx_checks[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(false)
|
|
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
|
|
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}
|
|
},
|
|
};
|
|
static RxCheck hyundai_long_rx_checks_legacy[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(true)
|
|
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
|
|
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}
|
|
},
|
|
};
|
|
|
|
if(legacy_car) ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks_legacy, HYUNDAI_LONG_TX_MSGS);
|
|
else ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
|
|
}
|
|
else {
|
|
static RxCheck hyundai_rx_checks[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(false)
|
|
HYUNDAI_SCC12_ADDR_CHECK(0)
|
|
};
|
|
static RxCheck hyundai_rx_checks_legacy[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(true)
|
|
//HYUNDAI_SCC12_ADDR_CHECK(0)
|
|
};
|
|
|
|
if(legacy_car) ret = BUILD_SAFETY_CFG(hyundai_rx_checks_legacy, HYUNDAI_TX_MSGS);
|
|
else ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
|
|
static safety_config hyundai_init(uint16_t param) {
|
|
static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
|
|
{0x340, 0, 8}, // LKAS11 Bus 0
|
|
{0x4F1, 0, 4}, // CLU11 Bus 0
|
|
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
|
|
{0x420, 0, 8}, // SCC11 Bus 0
|
|
{0x421, 0, 8}, // SCC12 Bus 0
|
|
{0x50A, 0, 8}, // SCC13 Bus 0
|
|
{0x389, 0, 8}, // SCC14 Bus 0
|
|
{0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
|
|
{0x38D, 0, 8}, // FCA11 Bus 0
|
|
{0x483, 0, 8}, // FCA12 Bus 0
|
|
{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
|
|
};
|
|
|
|
static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
|
|
{0x340, 0, 8}, // LKAS11 Bus 0
|
|
{0x4F1, 2, 4}, // CLU11 Bus 2
|
|
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
|
|
};
|
|
|
|
hyundai_common_init(param);
|
|
hyundai_legacy = false;
|
|
return hyundai_init_carrot(hyundai_legacy);
|
|
|
|
if (hyundai_camera_scc) {
|
|
hyundai_longitudinal = false;
|
|
}
|
|
|
|
safety_config ret;
|
|
if (hyundai_longitudinal) {
|
|
static RxCheck hyundai_long_rx_checks[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(false)
|
|
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
|
|
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
|
};
|
|
|
|
ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
|
|
} else if (hyundai_camera_scc) {
|
|
static RxCheck hyundai_cam_scc_rx_checks[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(false)
|
|
HYUNDAI_SCC12_ADDR_CHECK(2)
|
|
};
|
|
|
|
ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
|
|
} else {
|
|
static RxCheck hyundai_rx_checks[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(false)
|
|
HYUNDAI_SCC12_ADDR_CHECK(0)
|
|
};
|
|
|
|
ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
static safety_config hyundai_legacy_init(uint16_t param) {
|
|
// older hyundai models have less checks due to missing counters and checksums
|
|
static RxCheck hyundai_legacy_rx_checks[] = {
|
|
HYUNDAI_COMMON_RX_CHECKS(true)
|
|
//HYUNDAI_SCC12_ADDR_CHECK(0)
|
|
};
|
|
|
|
hyundai_common_init(param);
|
|
hyundai_legacy = true;
|
|
|
|
return hyundai_init_carrot(hyundai_legacy);
|
|
|
|
hyundai_longitudinal = false;
|
|
hyundai_camera_scc = false;
|
|
return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
|
|
}
|
|
|
|
const safety_hooks hyundai_hooks = {
|
|
.init = hyundai_init,
|
|
.rx = hyundai_rx_hook,
|
|
.tx = hyundai_tx_hook,
|
|
.fwd = hyundai_fwd_hook,
|
|
.get_counter = hyundai_get_counter,
|
|
.get_checksum = hyundai_get_checksum,
|
|
.compute_checksum = hyundai_compute_checksum,
|
|
};
|
|
|
|
const safety_hooks hyundai_legacy_hooks = {
|
|
.init = hyundai_legacy_init,
|
|
.rx = hyundai_rx_hook,
|
|
.tx = hyundai_tx_hook,
|
|
.fwd = hyundai_fwd_hook,
|
|
.get_counter = hyundai_get_counter,
|
|
.get_checksum = hyundai_get_checksum,
|
|
.compute_checksum = hyundai_compute_checksum,
|
|
};
|