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Hyundai CAN FD Safety: Split TX and RX checks assignments #1968

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Hyundai CAN FD Safety: Split TX and RX checks assignments #1968

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00e50e5
Hyundai Safety: Split TX and RX checks assignments
sunnyhaibin Mar 10, 2025
10cef2a
Merge branch 'master' into hyundai-safety-tx-rx-split
sunnyhaibin Mar 10, 2025
8708276
Merge remote-tracking branch 'commaai/opendbc/master' into hyundai-sa…
sunnyhaibin Mar 11, 2025
edf60e1
Merge branch 'master' into hyundai-safety-tx-rx-split
sunnyhaibin Mar 12, 2025
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77 changes: 45 additions & 32 deletions opendbc/safety/safety/safety_hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -274,10 +274,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
};

#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(longitudinal) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
{0x160, 0, 16, false}, /* ADRV_0x160 */ \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
{0x160, 0, 16, false}, /* ADRV_0x160 */ \

hyundai_common_init(param);

Expand All @@ -286,60 +286,73 @@ static safety_config hyundai_canfd_init(uint16_t param) {
hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);

safety_config ret;

/*** TX checks ***/
if (hyundai_longitudinal) {
if (hyundai_canfd_lka_steering) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS, ret);
} else if (hyundai_camera_scc) {
static CanMsg hyundai_canfd_lfa_steering_camera_scc_tx_msgs[] = {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
};

SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
}
} else {
if (hyundai_canfd_lka_steering_alt) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS, ret);
} else if (hyundai_canfd_lka_steering) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_TX_MSGS, ret);
} else if (hyundai_camera_scc) {
static CanMsg hyundai_canfd_lfa_steering_camera_scc_tx_msgs[] = {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
};

SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_TX_MSGS, ret);
}
}

/*** RX checks ***/
if (hyundai_longitudinal) {
if (hyundai_canfd_lka_steering) {
static RxCheck hyundai_canfd_lka_steering_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
};

ret = BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_long_rx_checks, HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS);
SET_RX_CHECKS(hyundai_canfd_lka_steering_long_rx_checks, ret);
} else {
// Longitudinal checks for LFA steering
static RxCheck hyundai_canfd_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
};

static CanMsg hyundai_canfd_lfa_steering_camera_scc_tx_msgs[] = {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
};

ret = hyundai_camera_scc ? BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, hyundai_canfd_lfa_steering_camera_scc_tx_msgs) : \
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS);
SET_RX_CHECKS(hyundai_canfd_long_rx_checks, ret);
}
} else {
if (hyundai_canfd_lka_steering) {
// *** LKA steering checks ***
// E-CAN is on bus 1, SCC messages are sent on cars with ADRV ECU.
// Does not use the alt buttons message
static RxCheck hyundai_canfd_lka_steering_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};

ret = hyundai_canfd_lka_steering_alt ? BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_TX_MSGS);
} else if (!hyundai_camera_scc) {
// Radar sends SCC messages on these cars instead of camera
static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};

ret = BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS);
} else {
// *** LFA steering checks ***
// Camera sends SCC messages on LFA steering cars.
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
SET_RX_CHECKS(hyundai_canfd_lka_steering_rx_checks, ret);
} else if (hyundai_camera_scc) {
static RxCheck hyundai_canfd_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};

static CanMsg hyundai_canfd_lfa_steering_camera_scc_tx_msgs[] = {
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
SET_RX_CHECKS(hyundai_canfd_rx_checks, ret);
} else {
static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};

ret = BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, hyundai_canfd_lfa_steering_camera_scc_tx_msgs);
SET_RX_CHECKS(hyundai_canfd_radar_scc_rx_checks, ret);
}
}

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