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Hyundai: add gas disengage and tests (#447)

master
rbiasini 2020-02-22 10:13:32 -08:00 committed by GitHub
parent 598074c192
commit 1b49d3e830
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 22 additions and 1 deletions
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11
board/safety/safety_hyundai.h
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@ -9,6 +9,7 @@ const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};
// TODO: do checksum and counter checks
AddrCheckStruct hyundai_rx_checks[] = {
{.addr = {608}, .bus = 0, .expected_timestep = 10000U},
{.addr = {897}, .bus = 0, .expected_timestep = 10000U},
{.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
};
@ -17,6 +18,7 @@ const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_c
int hyundai_rt_torque_last = 0;
int hyundai_desired_torque_last = 0;
int hyundai_cruise_engaged_last = 0;
bool hyundai_gas_last = false;
uint32_t hyundai_ts_last = 0;
struct sample_t hyundai_torque_driver; // last few driver torques measured
@ -48,7 +50,14 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
hyundai_cruise_engaged_last = cruise_engaged;
}
// TODO: check gas pressed
// exit controls on rising edge of gas press
if ((addr == 608) && (bus == 0)) {
bool gas = (GET_BYTE(to_push, 7) >> 6) != 0;
if (gas && ! hyundai_gas_last) {
controls_allowed = 0;
}
hyundai_gas_last = gas;
}
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {

12
tests/safety/test_hyundai.py
View File

@ -41,6 +41,11 @@ class TestHyundaiSafety(unittest.TestCase):
to_send[0].RDLR = buttons
return to_send
def _gas_msg(self, val):
to_send = make_msg(0, 608)
to_send[0].RDHR = (val & 0x3) << 30;
return to_send
def _set_prev_torque(self, t):
self.safety.set_hyundai_desired_torque_last(t)
self.safety.set_hyundai_rt_torque_last(t)
@ -89,6 +94,13 @@ class TestHyundaiSafety(unittest.TestCase):
self.safety.safety_rx_hook(to_push)
self.assertFalse(self.safety.get_controls_allowed())
def test_disengage_on_gas(self):
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._gas_msg(0))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_non_realtime_limit_up(self):
self.safety.set_hyundai_torque_driver(0, 0)
self.safety.set_controls_allowed(True)