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Hyundai Safety Auto-Detect which CAN bus Camera is on (#134) 

* This compiles, and steers the car, but no unit tests performed (yet)

* Updates

225 for max torque after discussions with users in #hyundai
Fixed violation disable as requested

* Hyundai Auto-Detect which CAN bus Camera is on
master
Andrew Frahn 2018-09-06 08:39:37 +10:00 committed by rbiasini
parent f2292e420b
commit 56794d6e1a
1 changed files with 16 additions and 6 deletions
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22
board/safety/safety_hyundai.h
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@ -7,6 +7,7 @@ const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
int hyundai_camera_detected = 0;
int hyundai_camera_bus = 0;
int hyundai_giraffe_switch_2 = 0; // is giraffe switch 2 high?
int hyundai_rt_torque_last = 0;
int hyundai_desired_torque_last = 0;
@ -39,6 +40,14 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
controls_allowed = 0;
}
// Find out which bus the camera is on
if (bus == 1 && addr == 832) {
hyundai_camera_bus = 1;
}
if (bus == 2 && addr == 832) {
hyundai_camera_bus = 2;
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((to_push->RIR>>21) == 1057) {
// 2 bits: 13-14
@ -51,8 +60,8 @@ 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)) {
// 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
if ((to_push->RIR>>21) == 832 && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
hyundai_giraffe_switch_2 = 1;
}
}
@ -132,12 +141,13 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
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) {
if ((bus_num == 0 || bus_num == hyundai_camera_bus) && 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);
if (addr == 832 && bus_num == hyundai_camera_bus) return -1;
if (bus_num == 0) return (uint8_t)(hyundai_camera_bus);
if (bus_num == hyundai_camera_bus) return (uint8_t)(0);
}
return -1;
}