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HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-24 (HDA2)
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@sunnyhaibin
sunnyhaibin committed Sep 24, 2024
1 parent afafb0b commit be283d0
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Showing 4 changed files with 92 additions and 43 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) {
Expand Down
130 changes: 91 additions & 39 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_alloweance) { \
.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_alloweance), \
.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 @@ -32,16 +32,18 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
};

#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
{.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
{0x371, 0, 8, .frequency = 100U}, { 0 }}}, \
{.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_COMMON_RX_CHECKS(pt_bus, can_canfd_hybrid, legacy) \
{.msg = {{0x260, pt_bus, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
{0x371, 0, 8, .frequency = 100U}, { 0 }}}, \
{.msg = {{0x386, pt_bus, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = (can_canfd_hybrid) ? 50U : 100U}, { 0 }, { 0 }}}, \
{.msg = {{0x394, pt_bus, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = (can_canfd_hybrid) ? 50U : 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 bool hyundai_can_canfd_hybrid_hda2 = false;

static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
Expand All @@ -54,7 +56,7 @@ 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;
cnt = (hyundai_can_canfd_hybrid_hda2 ? (GET_BYTE(to_push, 1) >> 4) : GET_BYTE(to_push, 7)) & 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_hda2 ? 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 @@ -98,18 +100,22 @@ static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
}
chksum = (chksum ^ 9U) & 15U;
} else {
// sum of nibbles
for (int i = 0; i < 8; i++) {
if ((addr == 0x394) && (i == 7)) {
continue; // exclude
}
uint8_t b = GET_BYTE(to_push, i);
if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
if (hyundai_can_canfd_hybrid_hda2 && (addr == 0x421)) {
chksum = hyundai_common_canfd_compute_checksum(to_push);
} else {
// sum of nibbles
for (int i = 0; i < 8; i++) {
if ((addr == 0x394) && (i == 7)) {
continue; // exclude
}
uint8_t b = GET_BYTE(to_push, i);
if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
}
chksum += (b % 16U) + (b / 16U);
}
chksum += (b % 16U) + (b / 16U);
chksum = (16U - (chksum % 16U)) % 16U;
}
chksum = (16U - (chksum % 16U)) % 16U;
}

return chksum;
Expand All @@ -119,14 +125,17 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

const int pt_bus = hyundai_can_canfd_hybrid_hda2 ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : hyundai_can_canfd_hybrid_hda2 ? 1 : 0;

// 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;
if ((addr == 0x421) && (bus == scc_bus)) {
int cruise_engaged = (hyundai_can_canfd_hybrid_hda2 ? (GET_BYTE(to_push, 3) >> 4) :
(GET_BYTES(to_push, 0, 4) >> 13)) & 0x3U;
hyundai_common_cruise_state_check(cruise_engaged);
}

if (bus == 0) {
if (bus == pt_bus) {
if (addr == 0x251) {
int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
// update array of samples
Expand Down Expand Up @@ -161,7 +170,8 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
}

bool stock_ecu_detected = (addr == 0x340);
const int steer_addr = hyundai_can_canfd_hybrid_hda2 ? 0x50 : 0x340;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);

// If openpilot is controlling longitudinal we need to ensure the radar is turned off
// Enforce by checking we don't see SCC12
Expand All @@ -173,8 +183,9 @@ 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 @@ -221,6 +232,16 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
}
}

// CAN CAN-FD Hybrid steering
if (addr == 0x50) {
int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
bool steer_req = GET_BIT(to_send, 52U);

if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_STEERING_LIMITS_CAN_CANFD_HYBRID)) {
tx = false;
}
}

// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 0x7D0) {
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
Expand Down Expand Up @@ -250,14 +271,26 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
if (bus_num == 0) {
bus_fwd = 2;
}
if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
bus_fwd = 0;
if (bus_num == 2) {
// LKAS11 for CAN, LKAS for CAN/CAN-FD
int is_lkas11_msg = (addr == 0x340) && !hyundai_can_canfd_hybrid_hda2;
int is_lkas_msg = ((addr == 0x50) || (addr == 0x2a4)) && hyundai_can_canfd_hybrid_hda2;

// LFAHDA_MFC for CAN
int is_lfahda_msg = (addr == 0x485) && !hyundai_can_canfd_hybrid_hda2;

int block_msg = is_lkas11_msg || is_lkas_msg || is_lfahda_msg;
if (!block_msg) {
bus_fwd = 0;
}
}

return bus_fwd;
}

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 @@ -278,33 +311,52 @@ static safety_config hyundai_init(uint16_t param) {
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
};

static const CanMsg HYUNDAI_CAN_CANFD_HYBRID_HDA2_TX_MSGS[] = {
{0x50, 0, 16},
{0x4F1, 1, 4},
{0x2A4, 0, 24},
};

hyundai_common_init(param);
hyundai_legacy = false;
hyundai_can_canfd_hybrid = GET_FLAG(param, HYUNDAI_PARAM_CAN_CANFD_HYBRID);
hyundai_can_canfd_hybrid_hda2 = hyundai_can_canfd_hybrid && hyundai_canfd_hda2;

if (hyundai_can_canfd_hybrid_hda2) {
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
}

if (hyundai_camera_scc) {
if (hyundai_camera_scc || hyundai_can_canfd_hybrid_hda2) {
hyundai_longitudinal = false;
}

safety_config ret;
if (hyundai_longitudinal) {
static RxCheck hyundai_long_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_COMMON_RX_CHECKS(0, false, false)
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
} else if (hyundai_camera_scc) {
static RxCheck hyundai_cam_scc_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(2)
HYUNDAI_COMMON_RX_CHECKS(0, false, false)
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_hda2) {
static RxCheck hyundai_can_canfd_hda2_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(1, true, false)
HYUNDAI_SCC12_ADDR_CHECK(1, true)
};

ret = BUILD_SAFETY_CFG(hyundai_can_canfd_hda2_rx_checks, HYUNDAI_CAN_CANFD_HYBRID_HDA2_TX_MSGS);
} else {
static RxCheck hyundai_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(0)
HYUNDAI_COMMON_RX_CHECKS(0, false, false)
HYUNDAI_SCC12_ADDR_CHECK(0, false)
};

ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
Expand All @@ -315,8 +367,8 @@ static safety_config hyundai_init(uint16_t param) {
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_COMMON_RX_CHECKS(0, false, true)
HYUNDAI_SCC12_ADDR_CHECK(0, false)
};

hyundai_common_init(param);
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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