Hyundai: Car Port for Nexo 2021

Dockerfile

@@ -37,7 +37,7 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
 # TODO: this should be a "pip install" or not even in this repo at all
 RUN git config --global --add safe.directory $PYTHONPATH/panda
-ENV OPENDBC_REF="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
+ENV OPENDBC_REF="521d8ff7d617466c0efc11cbaa2febc9f0069dda"
 RUN cd /tmp/ && \
  git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
  cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

board/safety/safety_hyundai.h

@@ -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 }}}, \
 
@@ -145,6 +146,8 @@ 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 == 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) {
  gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
  } else {

board/safety/safety_hyundai_common.h

@@ -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) {
@@ -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;
 

python/__init__.py

@@ -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

tests/safety/test_hyundai.py

@@ -136,6 +136,18 @@ def setUp(self):
  self.safety.init_tests()
 
 
+class TestHyundaiSafetyFCEV(TestHyundaiSafety):
+ 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_FCEV_GAS)
+ self.safety.init_tests()
+
+ def _user_gas_msg(self, gas):
+ values = {"ACCELERATOR_PEDAL": gas}
+ return self.packer.make_can_msg_panda("FCEV_ACCELERATOR", 0, values)
+
+
 class TestHyundaiLegacySafety(TestHyundaiSafety):
  def setUp(self):
  self.packer = CANPackerPanda("hyundai_kia_generic")