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Hyundai: Second alternative steering limits #2038

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Hyundai: Second alternative steering limits #2038

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7851db0
Hyundai: Second alt steering limits
sunnyhaibin Sep 23, 2024
79f3a62
Merge remote-tracking branch 'commaai/panda/master' into kona-2022-port
sunnyhaibin Sep 25, 2024
8d7bc4c
suppress HDA
sunnyhaibin Sep 26, 2024
dffcf7c
Merge remote-tracking branch 'commaai/panda/master' into kona-2022-port
sunnyhaibin Sep 26, 2024
b834805
revert
sunnyhaibin Sep 26, 2024
3d43069
Merge remote-tracking branch 'commaai/panda/master' into kona-2022-port
sunnyhaibin Sep 27, 2024
ce29b56
add unit test
sunnyhaibin Sep 27, 2024
59627c7
fix logic
sunnyhaibin Sep 27, 2024
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4 changes: 3 additions & 1 deletion board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -175,6 +175,7 @@ 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_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);

bool tx = true;
int addr = GET_ADDR(to_send);
Expand Down Expand Up @@ -215,7 +216,8 @@ 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_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 : \
(hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS);
if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
tx = false;
}
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5 changes: 5 additions & 0 deletions board/safety/safety_hyundai_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,9 @@ bool hyundai_canfd_hda2 = false;
extern bool hyundai_alt_limits;
bool hyundai_alt_limits = false;

extern bool hyundai_alt_limits_2;
bool hyundai_alt_limits_2 = 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_ALT_LIMITS_2 = 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_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);

hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;

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1 change: 1 addition & 0 deletions python/__init__.py
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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_ALT_LIMITS_2 = 256

FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
Expand Down
12 changes: 12 additions & 0 deletions tests/safety/test_hyundai.py
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Expand Up @@ -125,6 +125,18 @@ def setUp(self):
self.safety.init_tests()


class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
MAX_RATE_UP = 2
MAX_RATE_DOWN = 3
MAX_TORQUE = 170

def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS_2)
self.safety.init_tests()


class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
BUTTONS_TX_BUS = 2 # tx on 2, rx on 0
SCC_BUS = 2 # rx on 2
Expand Down
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