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HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-24 (non-HDA2)
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@sunnyhaibin
sunnyhaibin committed Sep 24, 2024
1 parent 2037a2e commit 61754d7
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Showing 4 changed files with 44 additions and 21 deletions.
2 changes: 0 additions & 2 deletions board/safety.h
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Original file line number Diff line number Diff line change
Expand Up @@ -269,7 +269,6 @@ void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) {
}
}

#ifdef CANFD
void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) {
for (uint16_t i = 0; i < 256U; i++) {
uint16_t crc = i << 8U;
Expand All @@ -283,7 +282,6 @@ void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) {
crc_lut[i] = crc;
}
}
#endif

// 1Hz safety function called by main. Now just a check for lagging safety messages
void safety_tick(const safety_config *cfg) {
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60 changes: 43 additions & 17 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,13 @@
#include "safety_declarations.h"
#include "safety_hyundai_common.h"

#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
#define HYUNDAI_LIMITS(steer, rate_up, rate_down, drv_trq_allowance) { \
.max_steer = (steer), \
.max_rate_up = (rate_up), \
.max_rate_down = (rate_down), \
.max_rt_delta = 112, \
.max_rt_interval = 250000, \
.driver_torque_allowance = 50, \
.driver_torque_allowance = (drv_trq_allowance), \
.driver_torque_factor = 2, \
.type = TorqueDriverLimited, \
/* the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, */ \
Expand Down Expand Up @@ -38,10 +38,11 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
{.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \

#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
{.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus, can_canfd_hybrid) \
{.msg = {{0x421, (scc_bus), 8, .check_checksum = !(can_canfd_hybrid), .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \

static bool hyundai_legacy = false;
static bool hyundai_can_canfd_hybrid = false;

static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
Expand All @@ -54,7 +55,8 @@ static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
} else if (addr == 0x394) {
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
} else if (addr == 0x421) {
cnt = GET_BYTE(to_push, 7) & 0xFU;
uint8_t byte_421 = hyundai_can_canfd_hybrid ? (GET_BYTE(to_push, 1) >> 4) : GET_BYTE(to_push, 7);
cnt = byte_421 & 0xFU;
} else if (addr == 0x4F1) {
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
} else {
Expand All @@ -73,7 +75,7 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
} else if (addr == 0x394) {
chksum = GET_BYTE(to_push, 6) & 0xFU;
} else if (addr == 0x421) {
chksum = GET_BYTE(to_push, 7) >> 4;
chksum = hyundai_can_canfd_hybrid ? GET_BYTE(to_push, 0) : GET_BYTE(to_push, 7) >> 4;
} else {
}
return chksum;
Expand All @@ -82,7 +84,7 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);

uint8_t chksum = 0;
uint16_t chksum = 0;
if (addr == 0x386) {
// count the bits
for (int i = 0; i < 8; i++) {
Expand All @@ -97,6 +99,8 @@ static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
}
}
chksum = (chksum ^ 9U) & 15U;
} else if ((addr == 0x421) && hyundai_can_canfd_hybrid) {
chksum = hyundai_common_canfd_compute_checksum(to_push);
} else {
// sum of nibbles
for (int i = 0; i < 8; i++) {
Expand All @@ -109,7 +113,7 @@ static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
}
chksum += (b % 16U) + (b / 16U);
}
chksum = (16U - (chksum % 16U)) % 16U;
chksum = (16U - (chksum % 16U)) % 16U;
}

return chksum;
Expand All @@ -121,8 +125,8 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {

// SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
uint8_t cruise_byte = hyundai_can_canfd_hybrid ? (GET_BYTE(to_push, 3) >> 4) : (GET_BYTES(to_push, 0, 4) >> 13);
bool cruise_engaged = (cruise_byte & 0x3U) != 0U;
hyundai_common_cruise_state_check(cruise_engaged);
}

Expand Down Expand Up @@ -173,8 +177,9 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
}

static bool hyundai_tx_hook(const CANPacket_t *to_send) {
const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7, 50);
const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3, 50);
const SteeringLimits HYUNDAI_STEERING_LIMITS_CAN_CANFD_HYBRID = HYUNDAI_LIMITS(384, 2, 3, 250);

bool tx = true;
int addr = GET_ADDR(to_send);
Expand Down Expand Up @@ -215,7 +220,7 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
bool steer_req = GET_BIT(to_send, 27U);

const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
const SteeringLimits limits = hyundai_can_canfd_hybrid ? HYUNDAI_STEERING_LIMITS_CAN_CANFD_HYBRID : (hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS);
if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
tx = false;
}
Expand Down Expand Up @@ -258,6 +263,8 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
}

static safety_config hyundai_init(uint16_t param) {
const int HYUNDAI_PARAM_CAN_CANFD_HYBRID = 256;

static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 0, 4}, // CLU11 Bus 0
Expand All @@ -278,10 +285,21 @@ static safety_config hyundai_init(uint16_t param) {
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
};

static const CanMsg HYUNDAI_CAN_CANFD_HYBRID_TX_MSGS[] = {
{0x340, 0, 8},
{0x4F1, 0, 4},
{0x485, 0, 8},
};

hyundai_common_init(param);
hyundai_legacy = false;
hyundai_can_canfd_hybrid = GET_FLAG(param, HYUNDAI_PARAM_CAN_CANFD_HYBRID);

if (hyundai_camera_scc) {
if (hyundai_can_canfd_hybrid) {
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
}

if (hyundai_camera_scc || hyundai_can_canfd_hybrid) {
hyundai_longitudinal = false;
}

Expand All @@ -297,14 +315,21 @@ static safety_config hyundai_init(uint16_t param) {
} else if (hyundai_camera_scc) {
static RxCheck hyundai_cam_scc_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(2)
HYUNDAI_SCC12_ADDR_CHECK(2, false)
};

ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
} else if (hyundai_can_canfd_hybrid) {
static RxCheck hyundai_can_canfd_hybrid_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(0, true)
};

ret = BUILD_SAFETY_CFG(hyundai_can_canfd_hybrid_rx_checks, HYUNDAI_CAN_CANFD_HYBRID_TX_MSGS);
} else {
static RxCheck hyundai_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(0)
HYUNDAI_SCC12_ADDR_CHECK(0, false)
};

ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
Expand All @@ -316,13 +341,14 @@ static safety_config hyundai_legacy_init(uint16_t param) {
// older hyundai models have less checks due to missing counters and checksums
static RxCheck hyundai_legacy_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(true)
HYUNDAI_SCC12_ADDR_CHECK(0)
HYUNDAI_SCC12_ADDR_CHECK(0, false)
};

hyundai_common_init(param);
hyundai_legacy = true;
hyundai_longitudinal = false;
hyundai_camera_scc = false;
hyundai_can_canfd_hybrid = false;
return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
}

Expand Down
2 changes: 0 additions & 2 deletions board/safety_declarations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -176,9 +176,7 @@ void update_sample(struct sample_t *sample, int sample_new);
bool get_longitudinal_allowed(void);
int ROUND(float val);
void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]);
#ifdef CANFD
void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]);
#endif
void generic_rx_checks(bool stock_ecu_detected);
bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits);
bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits);
Expand Down
1 change: 1 addition & 0 deletions python/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -201,6 +201,7 @@ class Panda:
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
FLAG_HYUNDAI_ALT_LIMITS = 64
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
FLAG_HYUNDAI_CAN_CANFD_HYBRID = 256

FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
Expand Down

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