357 lines
11 KiB
C
357 lines
11 KiB
C
#include "safety_hyundai_common.h"
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#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
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.max_steer = (steer), \
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.max_rate_up = (rate_up), \
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.max_rate_down = (rate_down), \
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.max_rt_delta = 112, \
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.max_rt_interval = 250000, \
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.driver_torque_allowance = 50, \
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.driver_torque_factor = 2, \
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.type = TorqueDriverLimited, \
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/* the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, */ \
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/* we allow setting CF_Lkas_ActToi bit to 0 while maintaining the requested torque value for two consecutive frames */ \
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.min_valid_request_frames = 89, \
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.max_invalid_request_frames = 2, \
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.min_valid_request_rt_interval = 810000, /* 810ms; a ~10% buffer on cutting every 90 frames */ \
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.has_steer_req_tolerance = true, \
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}
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const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
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const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
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const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
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.max_accel = 200, // 1/100 m/s2
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.min_accel = -350, // 1/100 m/s2
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};
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const LongitudinalLimits HYUNDAI_LONG_LIMITS_SPORT = {
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.max_accel = 400, // 1/100 m/s2
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.min_accel = -350, // 1/100 m/s2
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};
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const CanMsg HYUNDAI_TX_MSGS[] = {
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{0x340, 0, 8}, // LKAS11 Bus 0
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{0x4F1, 0, 4}, // CLU11 Bus 0
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{0x485, 0, 4}, // LFAHDA_MFC Bus 0
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};
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const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
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{0x340, 0, 8}, // LKAS11 Bus 0
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{0x4F1, 0, 4}, // CLU11 Bus 0
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{0x485, 0, 4}, // LFAHDA_MFC Bus 0
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{0x420, 0, 8}, // SCC11 Bus 0
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{0x421, 0, 8}, // SCC12 Bus 0
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{0x50A, 0, 8}, // SCC13 Bus 0
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{0x389, 0, 8}, // SCC14 Bus 0
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{0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
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{0x38D, 0, 8}, // FCA11 Bus 0
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{0x483, 0, 8}, // FCA12 Bus 0
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{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
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};
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const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
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{0x340, 0, 8}, // LKAS11 Bus 0
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{0x4F1, 2, 4}, // CLU11 Bus 2
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{0x485, 0, 4}, // LFAHDA_MFC Bus 0
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};
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#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
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{.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
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{0x371, 0, 8, .frequency = 100U}, { 0 }}}, \
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{.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
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{.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \
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#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
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{.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
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RxCheck hyundai_rx_checks[] = {
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HYUNDAI_COMMON_RX_CHECKS(false)
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HYUNDAI_SCC12_ADDR_CHECK(0)
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};
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RxCheck hyundai_cam_scc_rx_checks[] = {
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HYUNDAI_COMMON_RX_CHECKS(false)
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HYUNDAI_SCC12_ADDR_CHECK(2)
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};
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RxCheck hyundai_long_rx_checks[] = {
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HYUNDAI_COMMON_RX_CHECKS(false)
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// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
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{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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};
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// older hyundai models have less checks due to missing counters and checksums
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RxCheck hyundai_legacy_rx_checks[] = {
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HYUNDAI_COMMON_RX_CHECKS(true)
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HYUNDAI_SCC12_ADDR_CHECK(0)
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};
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bool hyundai_legacy = false;
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static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
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int addr = GET_ADDR(to_push);
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uint8_t cnt = 0;
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if (addr == 0x260) {
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cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
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} else if (addr == 0x386) {
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cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
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} else if (addr == 0x394) {
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cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
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} else if (addr == 0x421) {
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cnt = GET_BYTE(to_push, 7) & 0xFU;
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} else if (addr == 0x4F1) {
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cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
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} else {
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}
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return cnt;
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}
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static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
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int addr = GET_ADDR(to_push);
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uint8_t chksum = 0;
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if (addr == 0x260) {
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chksum = GET_BYTE(to_push, 7) & 0xFU;
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} else if (addr == 0x386) {
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chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
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} else if (addr == 0x394) {
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chksum = GET_BYTE(to_push, 6) & 0xFU;
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} else if (addr == 0x421) {
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chksum = GET_BYTE(to_push, 7) >> 4;
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} else {
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}
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return chksum;
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}
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static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
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int addr = GET_ADDR(to_push);
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uint8_t chksum = 0;
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if (addr == 0x386) {
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// count the bits
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for (int i = 0; i < 8; i++) {
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uint8_t b = GET_BYTE(to_push, i);
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for (int j = 0; j < 8; j++) {
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uint8_t bit = 0;
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// exclude checksum and counter
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if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
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bit = (b >> (uint8_t)j) & 1U;
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}
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chksum += bit;
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}
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}
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chksum = (chksum ^ 9U) & 15U;
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} else {
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// sum of nibbles
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for (int i = 0; i < 8; i++) {
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if ((addr == 0x394) && (i == 7)) {
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continue; // exclude
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}
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uint8_t b = GET_BYTE(to_push, i);
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if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
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b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
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}
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chksum += (b % 16U) + (b / 16U);
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}
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chksum = (16U - (chksum % 16U)) % 16U;
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}
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return chksum;
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}
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static void hyundai_rx_hook(const CANPacket_t *to_push) {
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int bus = GET_BUS(to_push);
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int addr = GET_ADDR(to_push);
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// SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
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if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
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// 2 bits: 13-14
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int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
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hyundai_common_cruise_state_check(cruise_engaged);
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}
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if (bus == 0) {
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if (addr == 0x251) {
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int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
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// update array of samples
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update_sample(&torque_driver, torque_driver_new);
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}
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// ACC steering wheel buttons
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if (addr == 0x4F1) {
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int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
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bool main_button = GET_BIT(to_push, 3U);
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hyundai_common_cruise_buttons_check(cruise_button, main_button);
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}
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// gas press, different for EV, hybrid, and ICE models
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if ((addr == 0x371) && hyundai_ev_gas_signal) {
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gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
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} else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
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gas_pressed = GET_BYTE(to_push, 7) != 0U;
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} else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
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gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
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} else {
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}
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// sample wheel speed, averaging opposite corners
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if (addr == 0x386) {
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uint32_t front_left_speed = GET_BYTES(to_push, 0, 2) & 0x3FFFU;
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uint32_t rear_right_speed = GET_BYTES(to_push, 6, 2) & 0x3FFFU;
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vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
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}
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if (addr == 0x394) {
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brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
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}
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bool stock_ecu_detected = (addr == 0x340);
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// If openpilot is controlling longitudinal we need to ensure the radar is turned off
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// Enforce by checking we don't see SCC12
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if (hyundai_longitudinal && (addr == 0x421)) {
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stock_ecu_detected = true;
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}
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generic_rx_checks(stock_ecu_detected);
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}
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}
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static bool hyundai_tx_hook(const CANPacket_t *to_send) {
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sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
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bool tx = true;
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int addr = GET_ADDR(to_send);
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// FCA11: Block any potential actuation
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if (addr == 0x38D) {
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int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
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bool FCA_CmdAct = GET_BIT(to_send, 20U);
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bool CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
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if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
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tx = false;
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}
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}
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// ACCEL: safety check
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if (addr == 0x421) {
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int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
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int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
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int aeb_decel_cmd = GET_BYTE(to_send, 2);
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bool aeb_req = GET_BIT(to_send, 54U);
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bool violation = false;
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if (sport_mode) {
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violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS_SPORT);
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violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS_SPORT);
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} else {
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violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
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violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
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}
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violation |= (aeb_decel_cmd != 0);
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violation |= aeb_req;
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if (violation) {
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tx = false;
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}
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}
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// LKA STEER: safety check
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if (addr == 0x340) {
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int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
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bool steer_req = GET_BIT(to_send, 27U);
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const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
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if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
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tx = false;
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}
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}
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// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
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if (addr == 0x7D0) {
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if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
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tx = false;
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}
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}
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// BUTTONS: used for resume spamming and cruise cancellation
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if ((addr == 0x4F1) && !hyundai_longitudinal) {
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int button = GET_BYTE(to_send, 0) & 0x7U;
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bool allowed_resume = (button == 1) && controls_allowed;
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bool allowed_cancel = (button == 4) && cruise_engaged_prev;
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if (!(allowed_resume || allowed_cancel)) {
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tx = false;
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}
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}
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return tx;
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}
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static int hyundai_fwd_hook(int bus_num, int addr) {
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int bus_fwd = -1;
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// forward cam to ccan and viceversa, except lkas cmd
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if (bus_num == 0) {
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bus_fwd = 2;
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}
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if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
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bus_fwd = 0;
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}
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return bus_fwd;
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}
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static safety_config hyundai_init(uint16_t param) {
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hyundai_common_init(param);
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hyundai_legacy = false;
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if (hyundai_camera_scc) {
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hyundai_longitudinal = false;
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}
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safety_config ret;
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if (hyundai_longitudinal) {
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ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
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} else if (hyundai_camera_scc) {
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ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
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} else {
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ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
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}
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return ret;
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}
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static safety_config hyundai_legacy_init(uint16_t param) {
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hyundai_common_init(param);
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hyundai_legacy = true;
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hyundai_longitudinal = false;
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hyundai_camera_scc = false;
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return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
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}
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const safety_hooks hyundai_hooks = {
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.init = hyundai_init,
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.rx = hyundai_rx_hook,
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.tx = hyundai_tx_hook,
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.fwd = hyundai_fwd_hook,
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.get_counter = hyundai_get_counter,
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.get_checksum = hyundai_get_checksum,
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.compute_checksum = hyundai_compute_checksum,
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};
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const safety_hooks hyundai_legacy_hooks = {
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.init = hyundai_legacy_init,
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.rx = hyundai_rx_hook,
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.tx = hyundai_tx_hook,
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.fwd = hyundai_fwd_hook,
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.get_counter = hyundai_get_counter,
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.get_checksum = hyundai_get_checksum,
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.compute_checksum = hyundai_compute_checksum,
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};
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