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Add gas signal for hyundai EV (#555)

master
Adeeb Shihadeh 2020-06-15 10:48:33 -07:00 committed by GitHub
parent 63fe9f73c3
commit abb229c9e7
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 13 additions and 6 deletions
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19
board/safety/safety_hyundai.h
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@ -21,7 +21,7 @@ const CanMsg HYUNDAI_TX_MSGS[] = {
// wheel speeds stuck at 0 and we don't disengage on brake press
AddrCheckStruct hyundai_rx_checks[] = {
{.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.msg = {{902, 0, 8, .check_checksum = false, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{902, 0, 8, .check_checksum = false, .max_counter = 15U, .expected_timestep = 10000U}}},
{.msg = {{916, 0, 8, .check_checksum = true, .max_counter = 7U, .expected_timestep = 10000U}}},
{.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
};
@ -29,9 +29,10 @@ const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_c
// older hyundai models have less checks due to missing counters and checksums
AddrCheckStruct hyundai_legacy_rx_checks[] = {
{.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.msg = {{902, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
{.msg = {{916, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
{.msg = {{608, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{881, 0, 8, .expected_timestep = 10000U}}},
{.msg = {{902, 0, 8, .expected_timestep = 10000U}}},
{.msg = {{916, 0, 8, .expected_timestep = 10000U}}},
{.msg = {{1057, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
};
const int HYUNDAI_LEGACY_RX_CHECK_LEN = sizeof(hyundai_legacy_rx_checks) / sizeof(hyundai_legacy_rx_checks[0]);
@ -127,8 +128,14 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// exit controls on rising edge of gas press
if (addr == 608) {
bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
if ((addr == 608) || (hyundai_legacy && (addr == 881))) {
bool gas_pressed;
if (addr == 608) {
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
} else {
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7F) << 1) | GET_BYTE(to_push, 3) >> 7) != 0;
}
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}