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Hyundai: Car Port for Nexo 2021 #1637

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Hyundai: Car Port for Nexo 2021 #1637

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07a47b8
Hyundai: Car Port for Nexo 2021
sunnyhaibin Sep 23, 2024
381f0c0
Merge remote-tracking branch 'commaai/panda/master' into nexo-2021-port
sunnyhaibin Sep 25, 2024
733501e
unit test for FCEV
sunnyhaibin Sep 25, 2024
0e91136
more explicit
sunnyhaibin Sep 25, 2024
c8584ca
not needed
sunnyhaibin Sep 25, 2024
8f69009
bump opendbc refs
sunnyhaibin Sep 25, 2024
db2b754
new accelerator name
sunnyhaibin Sep 25, 2024
ea8bf16
just fcev
sunnyhaibin Sep 25, 2024
f126df2
remove extra checks
sunnyhaibin Sep 25, 2024
75b951a
Merge remote-tracking branch 'commaai/panda/master' into nexo-2021-port
sunnyhaibin Sep 28, 2024
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10 changes: 7 additions & 3 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,10 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
};

#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
{.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
{0x371, 0, 8, .frequency = 100U}, { 0 }}}, \
{0x371, 0, 8, .frequency = 100U}, \
{0x91, 0, 8, .frequency = 100U}}}, \
{.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 }}}, \

Expand Down Expand Up @@ -145,7 +146,9 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
} else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
gas_pressed = GET_BYTE(to_push, 7) != 0U;
} else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
} else if ((addr == 0x91) && hyundai_fcev_gas_signal) {
gas_pressed = GET_BYTE(to_push, 6) != 0U;
} else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal && !hyundai_fcev_gas_signal) {
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
} else {
}
Expand Down Expand Up @@ -323,6 +326,7 @@ static safety_config hyundai_legacy_init(uint16_t param) {
hyundai_legacy = true;
hyundai_longitudinal = false;
hyundai_camera_scc = false;
hyundai_fcev_gas_signal = false;
return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
}

Expand Down
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_fcev_gas_signal;
bool hyundai_fcev_gas_signal = 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_FCEV_GAS = 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_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);

hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;

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_FCEV_GAS = 256

FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
Expand Down
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