188 lines
5.8 KiB
C
188 lines
5.8 KiB
C
const int HYUNDAI_MAX_STEER = 255; // like stock
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const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
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const uint32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
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const int HYUNDAI_MAX_RATE_UP = 3;
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const int HYUNDAI_MAX_RATE_DOWN = 7;
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const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
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const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
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const int HYUNDAI_STANDSTILL_THRSLD = 30; // ~1kph
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const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};
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// TODO: do checksum and counter checks
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AddrCheckStruct hyundai_rx_checks[] = {
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{.addr = {608}, .bus = 0, .expected_timestep = 10000U},
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{.addr = {897}, .bus = 0, .expected_timestep = 10000U},
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{.addr = {902}, .bus = 0, .expected_timestep = 10000U},
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{.addr = {916}, .bus = 0, .expected_timestep = 10000U},
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{.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
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};
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const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
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int hyundai_rt_torque_last = 0;
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int hyundai_desired_torque_last = 0;
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int hyundai_cruise_engaged_last = 0;
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int hyundai_speed = 0;
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uint32_t hyundai_ts_last = 0;
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struct sample_t hyundai_torque_driver; // last few driver torques measured
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static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
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NULL, NULL, NULL);
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if (valid && GET_BUS(to_push) == 0) {
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int addr = GET_ADDR(to_push);
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if (addr == 897) {
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int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
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// update array of samples
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update_sample(&hyundai_torque_driver, torque_driver_new);
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}
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// enter controls on rising edge of ACC, exit controls on ACC off
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if (addr == 1057) {
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// 2 bits: 13-14
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int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
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if (cruise_engaged && !hyundai_cruise_engaged_last) {
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controls_allowed = 1;
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}
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if (!cruise_engaged) {
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controls_allowed = 0;
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}
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hyundai_cruise_engaged_last = cruise_engaged;
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}
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// exit controls on rising edge of gas press
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if (addr == 608) {
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bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
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if (gas_pressed && !gas_pressed_prev) {
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controls_allowed = 0;
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}
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gas_pressed_prev = gas_pressed;
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}
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// sample subaru wheel speed, averaging opposite corners
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if (addr == 902) {
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hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF; // FL
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hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF; // RL
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hyundai_speed /= 2;
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}
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// exit controls on rising edge of brake press
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if (addr == 916) {
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bool brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
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if (brake_pressed && (!brake_pressed_prev || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
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controls_allowed = 0;
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}
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brake_pressed_prev = brake_pressed;
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}
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// check if stock camera ECU is on bus 0
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if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 832)) {
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relay_malfunction = true;
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}
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}
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return valid;
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}
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static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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int tx = 1;
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int addr = GET_ADDR(to_send);
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int bus = GET_BUS(to_send);
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if (!msg_allowed(addr, bus, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]))) {
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tx = 0;
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}
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if (relay_malfunction) {
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tx = 0;
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}
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// LKA STEER: safety check
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if (addr == 832) {
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int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
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uint32_t ts = TIM2->CNT;
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bool violation = 0;
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if (controls_allowed) {
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// *** global torque limit check ***
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violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
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// *** torque rate limit check ***
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violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
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HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
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HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
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// used next time
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hyundai_desired_torque_last = desired_torque;
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// *** torque real time rate limit check ***
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violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
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// every RT_INTERVAL set the new limits
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uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
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if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
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hyundai_rt_torque_last = desired_torque;
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hyundai_ts_last = ts;
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}
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}
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// no torque if controls is not allowed
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if (!controls_allowed && (desired_torque != 0)) {
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violation = 1;
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}
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// reset to 0 if either controls is not allowed or there's a violation
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if (violation || !controls_allowed) {
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hyundai_desired_torque_last = 0;
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hyundai_rt_torque_last = 0;
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hyundai_ts_last = ts;
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}
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if (violation) {
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tx = 0;
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}
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}
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// FORCE CANCEL: safety check only relevant when spamming the cancel button.
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// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
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// This avoids unintended engagements while still allowing resume spam
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if ((addr == 1265) && !controls_allowed) {
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if ((GET_BYTES_04(to_send) & 0x7) != 4) {
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tx = 0;
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}
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}
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// 1 allows the message through
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return tx;
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}
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static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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int bus_fwd = -1;
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int addr = GET_ADDR(to_fwd);
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// forward cam to ccan and viceversa, except lkas cmd
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if (!relay_malfunction) {
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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 != 832)) {
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bus_fwd = 0;
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}
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}
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return bus_fwd;
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}
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const safety_hooks hyundai_hooks = {
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.init = nooutput_init,
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.rx = hyundai_rx_hook,
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.tx = hyundai_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.fwd = hyundai_fwd_hook,
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.addr_check = hyundai_rx_checks,
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.addr_check_len = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]),
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};
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