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Hyundai safety: fwd option

master
George Hotz 2018-08-30 11:53:52 -07:00
parent 5398abff5f
commit 1a8c4c48a1
1 changed files with 26 additions and 4 deletions
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30
board/safety/safety_hyundai.h
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@ -10,6 +10,7 @@ int hyundai_brake_prev = 0;
int hyundai_gas_prev = 0;
int hyundai_speed = 0;
int hyundai_camera_detected = 0;
int hyundai_giraffe_switch_2 = 0; // is giraffe switch 2 high?
int hyundai_rt_torque_last = 0;
int hyundai_desired_torque_last = 0;
int hyundai_cruise_engaged_last = 0;
@ -17,7 +18,7 @@ uint32_t hyundai_ts_last = 0;
struct sample_t hyundai_torque_driver; // last few driver torques measured
static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus_number = (to_push->RDTR >> 4) & 0xFF;
int bus = (to_push->RDTR >> 4) & 0xFF;
uint32_t addr;
if (to_push->RIR & 4) {
// Extended
@ -36,7 +37,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// check if stock camera ECU is still online
if (bus_number == 0 && addr == 832) {
if (bus == 0 && addr == 832) {
hyundai_camera_detected = 1;
controls_allowed = 0;
}
@ -52,6 +53,11 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
hyundai_cruise_engaged_last = cruise_engaged;
}
// 832 is lkas cmd. If it is on bus 2, then giraffe switch 2 is high
if ((to_push->RIR>>21) == 832 && (bus == 2)) {
hyundai_giraffe_switch_2 = 1;
}
}
static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@ -126,11 +132,27 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return true;
}
static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// forward cam to ccan and viceversa, except lkas cmd
if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
int addr = to_fwd->RIR>>21;
bool is_lkas_msg = addr == 832 && bus_num == 2;
return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
}
return -1;
}
static void hyundai_init(int16_t param) {
controls_allowed = 0;
hyundai_giraffe_switch_2 = 0;
}
const safety_hooks hyundai_hooks = {
.init = nooutput_init,
.init = hyundai_init,
.rx = hyundai_rx_hook,
.tx = hyundai_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.fwd = hyundai_fwd_hook,
};