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HKG: Car Port for Hyundai Palisade 2023 and Kia Telluride 2023 (non-HDA2) #1267

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HKG: Car Port for Hyundai Palisade 2023 and Kia Telluride 2023 (non-HDA2) #1267

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61754d7
HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-24 (non-HDA2)
sunnyhaibin Sep 24, 2024
e82d95f
HKG: Car Port for Hyundai Palisade 2023 and Kia Telluride 2023 (non-H…
sunnyhaibin Sep 27, 2024
5725b14
point to opendbc feature branch to pass unit test for now
sunnyhaibin Sep 27, 2024
7efe558
Merge remote-tracking branch 'commaai/panda/master' into palisade-202…
sunnyhaibin Dec 7, 2024
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2 changes: 1 addition & 1 deletion Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
RUN git config --global --add safe.directory $PYTHONPATH/panda
ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
RUN cd /tmp/ && \
git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
git clone --depth 1 https://github.com/sunnypilot/opendbc opendbc_repo && \
cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
pip3 install --break-system-packages --no-cache-dir Cython numpy && \
scons -j8 --minimal opendbc/ && \
Expand Down
55 changes: 36 additions & 19 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 All @@ -26,10 +26,13 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
.min_accel = -350, // 1/100 m/s2
};

#define HYUNDAI_COMMON_TX_MSGS(can_canfd_hybrid) \
{0x340, 0, 8}, \
{0x4F1, 0, 4}, \
{0x485, 0, (can_canfd_hybrid) ? 8 : 4}, \

static const CanMsg HYUNDAI_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 0, 4}, // CLU11 Bus 0
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
HYUNDAI_COMMON_TX_MSGS(false)
};

#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
Expand All @@ -38,8 +41,8 @@ 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;

Expand All @@ -54,7 +57,8 @@ 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 +77,7 @@ 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 Down Expand Up @@ -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 +220,8 @@ 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 @@ -278,10 +284,14 @@ static safety_config hyundai_init(uint16_t param) {
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
};

static const CanMsg HYUNDAI_CAN_CANFD_HYBRID_TX_MSGS[] = {
HYUNDAI_COMMON_TX_MSGS(true)
};

hyundai_common_init(param);
hyundai_legacy = false;

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

Expand All @@ -297,14 +307,21 @@ 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 @@ -316,7 +333,7 @@ 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);
Expand Down
5 changes: 5 additions & 0 deletions board/safety/safety_hyundai_common.h
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Expand Up @@ -36,6 +36,9 @@ bool hyundai_canfd_hda2 = false;
extern bool hyundai_alt_limits;
bool hyundai_alt_limits = false;

extern bool hyundai_can_canfd_hybrid;
bool hyundai_can_canfd_hybrid = false;

static uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button

void hyundai_common_init(uint16_t param) {
Expand All @@ -44,12 +47,14 @@ void hyundai_common_init(uint16_t param) {
const int HYUNDAI_PARAM_CAMERA_SCC = 8;
const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
const int HYUNDAI_PARAM_CAN_CANFD_HYBRID = 256;

hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
hyundai_can_canfd_hybrid = GET_FLAG(param, HYUNDAI_PARAM_CAN_CANFD_HYBRID);

hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;

Expand Down
1 change: 1 addition & 0 deletions python/__init__.py
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Expand Up @@ -202,6 +202,7 @@ 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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