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HKG: HDA2 ALT_BUTTON support #2109

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HKG: HDA2 ALT_BUTTON support #2109

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d0eb7b6
Handle ALT_BUTTONS w/ HDA2.
ccdunder Dec 14, 2024
0401f64
Add tests for ALT_BUTTONS w/ HDA2.
ccdunder Dec 16, 2024
a09c1cc
Support cruise control button tx/rx for ALT_BUTTONS.
ccdunder Dec 16, 2024
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45 changes: 32 additions & 13 deletions board/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -154,10 +154,16 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
}

// cruise buttons check
if (addr == 0x1cf) {
int button = GET_BYTE(to_send, 2) & 0x7U;
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
bool is_resume = (button == HYUNDAI_BTN_RESUME);
const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
if (addr == button_addr) {
int cruise_button = 0;
if (addr == 0x1cf) {
cruise_button = GET_BYTE(to_send, 2) & 0x7U;
} else {
cruise_button = (GET_BYTE(to_send, 4) >> 4) & 0x7U;
}
bool is_cancel = (cruise_button == HYUNDAI_BTN_CANCEL);
bool is_resume = (cruise_button == HYUNDAI_BTN_RESUME);

bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
if (!allowed) {
Expand Down Expand Up @@ -231,12 +237,16 @@ static safety_config hyundai_canfd_init(uint16_t param) {
static const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
{0x2A4, 0, 24}, // CAM_0x2A4
};

static const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
// Needed for cruise control in case of ALT_BUTTONS.
{0x1A0, 1, 32}, // CRUISE_INFO
{0x362, 0, 32}, // CAM_0x362
};

Expand All @@ -260,6 +270,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
{0x12A, 0, 16}, // LFA
{0x1A0, 0, 32}, // CRUISE_INFO
{0x1CF, 2, 8}, // CRUISE_BUTTON
{0x1AA, 2, 16}, // CRUISE_BUTTONS_ALT
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
};

Expand Down Expand Up @@ -303,15 +314,23 @@ static safety_config hyundai_canfd_init(uint16_t param) {
if (hyundai_canfd_hda2) {
// *** HDA2 checks ***
// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
// Does not use the alt buttons message
static RxCheck hyundai_canfd_hda2_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};

ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
if (hyundai_canfd_alt_buttons) {
static RxCheck hyundai_canfd_hda2_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
} else {
static RxCheck hyundai_canfd_hda2_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
}
} else if (!hyundai_camera_scc) {
static RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
Expand Down
129 changes: 55 additions & 74 deletions tests/safety/test_hyundai_canfd.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,8 @@


class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):

TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
SAFETY_PARAM = 0
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x1AA, 1], [0x2A4, 0]]
STANDSTILL_THRESHOLD = 12 # 0.375 kph
FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
Expand Down Expand Up @@ -45,6 +45,12 @@ def setUpClass(cls):
cls.safety = None
raise unittest.SkipTest

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM)
self.safety.init_tests()

def _torque_driver_msg(self, torque):
values = {"STEERING_COL_TORQUE": torque}
return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values)
Expand Down Expand Up @@ -79,16 +85,32 @@ def _button_msg(self, buttons, main_button=0, bus=None):
return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values)


class HyundaiCanfdAltButtonsMixin:
@classmethod
def setUpClass(cls):
super().setUpClass()
cls.SAFETY_PARAM |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS

def _button_msg(self, buttons, main_button=0, bus=None):
if bus is None:
bus = self.PT_BUS
values = {
"CRUISE_BUTTONS": buttons,
"ADAPTIVE_CRUISE_MAIN_BTN": main_button,
}
msg = self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", bus, values)
return msg


class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):

TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 2], [0x1AA, 2], [0x1E0, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x12A,)} # LFA
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}

STEER_MSG = "LFA"
BUTTONS_TX_BUS = 2
SAFETY_PARAM: int

@classmethod
def setUpClass(cls):
Expand All @@ -98,12 +120,6 @@ def setUpClass(cls):
cls.safety = None
raise unittest.SkipTest

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM)
self.safety.init_tests()


@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
Expand All @@ -129,76 +145,50 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
])
class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):

SAFETY_PARAM: int

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
self.safety.init_tests()

def _button_msg(self, buttons, main_button=0, bus=1):
values = {
"CRUISE_BUTTONS": buttons,
"ADAPTIVE_CRUISE_MAIN_BTN": main_button,
}
return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values)

def test_button_sends(self):
"""
No button send allowed with alt buttons.
"""
for enabled in (True, False):
for btn in range(8):
self.safety.set_controls_allowed(enabled)
self.assertFalse(self._tx(self._button_msg(btn)))
class TestHyundaiCanfdHDA1AltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA1Base):
pass


class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
# ********************* HDA2 **********************

TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x50,)} # LKAS
FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}

# TODO: Handle ICE and HEV configurations.
class TestHyundaiCanfdHDA2EVBase(TestHyundaiCanfdBase):
PT_BUS = 1
SCC_BUS = 1
STEER_MSG = "LKAS"
GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
FWD_BUS_LOOKUP = {0: 2, 2: 0}

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
self.safety.init_tests()

class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdHDA2EVBase):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x1AA, 1], [0x2A4, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x50,)}
FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
STEER_MSG = "LKAS"
SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS

# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):

TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} # LKAS_ALT
class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdHDA2EVBase):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x1AA, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110,)}
FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}

PT_BUS = 1
SCC_BUS = 1
STEER_MSG = "LKAS_ALT"
GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
self.safety.init_tests()

class TestHyundaiCanfdHDA2EVAltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA2EV):
pass

class TestHyundaiCanfdHDA2EVAltSteeringAltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA2EVAltSteering):
pass


# ********************* LONG **********************


class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):

TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x1AA, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
[0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]

RELAY_MALFUNCTION_ADDRS = {0: (0x50,), 1: (0x1a0,)} # LKAS, SCC_CONTROL
Expand All @@ -209,12 +199,7 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
STEER_MSG = "LFA"
GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
STEER_BUS = 1

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
self.safety.init_tests()
SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS

def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
values = {
Expand Down Expand Up @@ -246,16 +231,12 @@ class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base

@classmethod
def setUpClass(cls):
super().setUpClass()
cls.SAFETY_PARAM |= Panda.FLAG_HYUNDAI_CAMERA_SCC
if cls.__name__ == "TestHyundaiCanfdHDA1Long":
cls.safety = None
raise unittest.SkipTest

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
self.safety.init_tests()

def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
values = {
"aReqRaw": accel,
Expand Down
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