GCC Code Coverage Report

Directory: ./
File: safety/safety_hyundai.h
Date: 2025-02-27 09:09:49
Exec Total Coverage
Lines: 146 146 100.0%
Functions: 8 8 100.0%
Branches: 175 180 97.2%
Line Branch Exec Source
1 #pragma once
2
3 #include "safety_declarations.h"
4 #include "safety_hyundai_common.h"
5
6 #define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
7 .max_steer = (steer), \
8 .max_rate_up = (rate_up), \
9 .max_rate_down = (rate_down), \
10 .max_rt_delta = 112, \
11 .max_rt_interval = 250000, \
12 .driver_torque_allowance = 50, \
13 .driver_torque_multiplier = 2, \
14 .type = TorqueDriverLimited, \
15 /* the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, */ \
16 /* we allow setting CF_Lkas_ActToi bit to 0 while maintaining the requested torque value for two consecutive frames */ \
17 .min_valid_request_frames = 89, \
18 .max_invalid_request_frames = 2, \
19 .min_valid_request_rt_interval = 810000, /* 810ms; a ~10% buffer on cutting every 90 frames */ \
20 .has_steer_req_tolerance = true, \
21 }
22
23 extern const LongitudinalLimits HYUNDAI_LONG_LIMITS;
24 const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
25 .max_accel = 200, // 1/100 m/s2
26 .min_accel = -350, // 1/100 m/s2
27 };
28
29 #define HYUNDAI_COMMON_TX_MSGS(scc_bus) \
30 {0x340, 0, 8}, /* LKAS11 Bus 0 */ \
31 {0x4F1, scc_bus, 4}, /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
32 {0x485, 0, 4}, /* LFAHDA_MFC Bus 0 */ \
33
34 #define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \
35 HYUNDAI_COMMON_TX_MSGS(scc_bus) \
36 {0x420, 0, 8}, /* SCC11 Bus 0 */ \
37 {0x421, 0, 8}, /* SCC12 Bus 0 */ \
38 {0x50A, 0, 8}, /* SCC13 Bus 0 */ \
39 {0x389, 0, 8}, /* SCC14 Bus 0 */ \
40 {0x4A2, 0, 2}, /* FRT_RADAR11 Bus 0 */ \
41
42 #define HYUNDAI_COMMON_RX_CHECKS(legacy) \
43 {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
44 {0x371, 0, 8, .frequency = 100U}, \
45 {0x91, 0, 8, .frequency = 100U}}}, \
46 {.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
47 {.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \
48
49 #define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
50 {.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
51
52 static const CanMsg HYUNDAI_TX_MSGS[] = {
53 HYUNDAI_COMMON_TX_MSGS(0)
54 };
55
56 static bool hyundai_legacy = false;
57
58 2331 static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
59 2331 int addr = GET_ADDR(to_push);
60
61 2331 uint8_t cnt = 0;
62
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 2331 if (addr == 0x260) {
63 70 cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
64
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 2261 } else if (addr == 0x386) {
65 56 cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
66
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 2205 } else if (addr == 0x394) {
67 91 cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
68
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 2114 } else if (addr == 0x421) {
69 576 cnt = GET_BYTE(to_push, 7) & 0xFU;
70
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 1538 } else if (addr == 0x4F1) {
71 1538 cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
72 } else {
73 }
74 2331 return cnt;
75 }
76
77 793 static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
78 793 int addr = GET_ADDR(to_push);
79
80 793 uint8_t chksum = 0;
81
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 793 if (addr == 0x260) {
82 70 chksum = GET_BYTE(to_push, 7) & 0xFU;
83
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 723 } else if (addr == 0x386) {
84 56 chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
85
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 667 } else if (addr == 0x394) {
86 91 chksum = GET_BYTE(to_push, 6) & 0xFU;
87
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 576 } else if (addr == 0x421) {
88 576 chksum = GET_BYTE(to_push, 7) >> 4;
89 } else {
90 }
91 793 return chksum;
92 }
93
94 793 static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
95 793 int addr = GET_ADDR(to_push);
96
97 793 uint8_t chksum = 0;
98
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 793 if (addr == 0x386) {
99 // count the bits
100
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 504 for (int i = 0; i < 8; i++) {
101 448 uint8_t b = GET_BYTE(to_push, i);
102
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 4032 for (int j = 0; j < 8; j++) {
103 3584 uint8_t bit = 0;
104 // exclude checksum and counter
105
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 3584 if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
106 3136 bit = (b >> (uint8_t)j) & 1U;
107 }
108 3584 chksum += bit;
109 }
110 }
111 56 chksum = (chksum ^ 9U) & 15U;
112 } else {
113 // sum of nibbles
114
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 6633 for (int i = 0; i < 8; i++) {
115
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 5896 if ((addr == 0x394) && (i == 7)) {
116 91 continue; // exclude
117 }
118 5805 uint8_t b = GET_BYTE(to_push, i);
119
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 5805 if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
120
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 737 b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
121 }
122 5805 chksum += (b % 16U) + (b / 16U);
123 }
124 737 chksum = (16U - (chksum % 16U)) % 16U;
125 }
126
127 793 return chksum;
128 }
129
130 100998 static void hyundai_rx_hook(const CANPacket_t *to_push) {
131 100998 int bus = GET_BUS(to_push);
132 100998 int addr = GET_ADDR(to_push);
133
134 // SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
135
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 100998 if (addr == 0x421) {
136
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 599 if (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc)) {
137 // 2 bits: 13-14
138 579 int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
139 579 hyundai_common_cruise_state_check(cruise_engaged);
140 }
141 }
142
143
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 100998 if (bus == 0) {
144
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 44607 if (addr == 0x251) {
145 12850 int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
146 // update array of samples
147 12850 update_sample(&torque_driver, torque_driver_new);
148 }
149
150 // ACC steering wheel buttons
151
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 44607 if (addr == 0x4F1) {
152 2836 int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
153 2836 bool main_button = GET_BIT(to_push, 3U);
154 2836 hyundai_common_cruise_buttons_check(cruise_button, main_button);
155 }
156
157 // gas press, different for EV, hybrid, and ICE models
158
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 44607 if ((addr == 0x371) && hyundai_ev_gas_signal) {
159 11 gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
160
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 44596 } else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
161 11 gas_pressed = GET_BYTE(to_push, 7) != 0U;
162
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 44585 } else if ((addr == 0x91) && hyundai_fcev_gas_signal) {
163 11 gas_pressed = GET_BYTE(to_push, 6) != 0U;
164
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 44574 } else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
165 78 gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
166 } else {
167 }
168
169 // sample wheel speed, averaging opposite corners
170
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 44607 if (addr == 0x386) {
171 73 uint32_t front_left_speed = GET_BYTES(to_push, 0, 2) & 0x3FFFU;
172 73 uint32_t rear_right_speed = GET_BYTES(to_push, 6, 2) & 0x3FFFU;
173
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 73 vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
174 }
175
176
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 44607 if (addr == 0x394) {
177 130 brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
178 }
179
180 44607 bool stock_ecu_detected = (addr == 0x340);
181
182 // If openpilot is controlling longitudinal we need to ensure the radar is turned off
183 // Enforce by checking we don't see SCC12
184
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 44607 if (hyundai_longitudinal && !hyundai_camera_scc && (addr == 0x421)) {
185 2 stock_ecu_detected = true;
186 }
187 44607 generic_rx_checks(stock_ecu_detected);
188 }
189 100998 }
190
191 400322 static bool hyundai_tx_hook(const CANPacket_t *to_send) {
192 const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
193 const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
194 const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
195
196 400322 bool tx = true;
197 400322 int addr = GET_ADDR(to_send);
198
199 // FCA11: Block any potential actuation
200
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 400322 if (addr == 0x38D) {
201 5 int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
202 5 bool FCA_CmdAct = GET_BIT(to_send, 20U);
203 5 bool CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
204
205
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 5 if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
206 3 tx = false;
207 }
208 }
209
210 // ACCEL: safety check
211
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 400322 if (addr == 0x421) {
212 1226 int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
213 1226 int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
214
215 1226 int aeb_decel_cmd = GET_BYTE(to_send, 2);
216 1226 bool aeb_req = GET_BIT(to_send, 54U);
217
218 1226 bool violation = false;
219
220 1226 violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
221 1226 violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
222 1226 violation |= (aeb_decel_cmd != 0);
223 1226 violation |= aeb_req;
224
225
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 1226 if (violation) {
226 760 tx = false;
227 }
228 }
229
230 // LKA STEER: safety check
231
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 400322 if (addr == 0x340) {
232 399032 int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
233 399032 bool steer_req = GET_BIT(to_send, 27U);
234
235
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 759248 const SteeringLimits limits = hyundai_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 :
236
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 360216 hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
237
238
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 399032 if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
239 211448 tx = false;
240 }
241 }
242
243 // UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
244
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 400322 if (addr == 0x7D0) {
245
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 4 if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
246 3 tx = false;
247 }
248 }
249
250 // BUTTONS: used for resume spamming and cruise cancellation
251
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 400322 if ((addr == 0x4F1) && !hyundai_longitudinal) {
252 48 int button = GET_BYTE(to_send, 0) & 0x7U;
253
254
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 48 bool allowed_resume = (button == 1) && controls_allowed;
255
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 48 bool allowed_cancel = (button == 4) && cruise_engaged_prev;
256
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 48 if (!(allowed_resume || allowed_cancel)) {
257 32 tx = false;
258 }
259 }
260
261 400322 return tx;
262 }
263
264 84480 static int hyundai_fwd_hook(int bus_num, int addr) {
265
266 84480 int bus_fwd = -1;
267
268 // forward cam to ccan and viceversa, except lkas cmd
269
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 84480 if (bus_num == 0) {
270 28160 bus_fwd = 2;
271 }
272
273
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 84480 if (bus_num == 2) {
274 // Stock LKAS11 messages
275 28160 bool is_lkas_11 = (addr == 0x340);
276 // LFA and HDA cluster icons
277 28160 bool is_lfahda_mfc = (addr == 0x485);
278 // Stock SCC messages, blocking when doing openpilot longitudinal on camera SCC cars
279
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 28160 bool is_scc_msg = (addr == 0x420) || (addr == 0x421) || (addr == 0x50A) || (addr == 0x389);
280
281
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 28160 bool block_msg = is_lkas_11 || is_lfahda_mfc || (is_scc_msg && hyundai_longitudinal && hyundai_camera_scc);
282
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 28160 if (!block_msg) {
283 28136 bus_fwd = 0;
284 }
285 }
286
287 84480 return bus_fwd;
288 }
289
290 253 static safety_config hyundai_init(uint16_t param) {
291 static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
292 HYUNDAI_LONG_COMMON_TX_MSGS(0)
293 {0x38D, 0, 8}, // FCA11 Bus 0
294 {0x483, 0, 8}, // FCA12 Bus 0
295 {0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
296 };
297
298 static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
299 HYUNDAI_COMMON_TX_MSGS(2)
300 };
301
302 static const CanMsg HYUNDAI_CAMERA_SCC_LONG_TX_MSGS[] = {
303 HYUNDAI_LONG_COMMON_TX_MSGS(2)
304 };
305
306 253 hyundai_common_init(param);
307 253 hyundai_legacy = false;
308
309 safety_config ret;
310
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 253 if (hyundai_longitudinal) {
311 static RxCheck hyundai_long_rx_checks[] = {
312 HYUNDAI_COMMON_RX_CHECKS(false)
313 // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
314 {.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
315 };
316
317
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 83 ret = hyundai_camera_scc ? BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_CAMERA_SCC_LONG_TX_MSGS) : \
318 BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
319
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 170 } else if (hyundai_camera_scc) {
320 static RxCheck hyundai_cam_scc_rx_checks[] = {
321 HYUNDAI_COMMON_RX_CHECKS(false)
322 HYUNDAI_SCC12_ADDR_CHECK(2)
323 };
324
325 34 ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
326 } else {
327 static RxCheck hyundai_rx_checks[] = {
328 HYUNDAI_COMMON_RX_CHECKS(false)
329 HYUNDAI_SCC12_ADDR_CHECK(0)
330 };
331
332 136 ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
333 }
334 253 return ret;
335 }
336
337 102 static safety_config hyundai_legacy_init(uint16_t param) {
338 // older hyundai models have less checks due to missing counters and checksums
339 static RxCheck hyundai_legacy_rx_checks[] = {
340 HYUNDAI_COMMON_RX_CHECKS(true)
341 HYUNDAI_SCC12_ADDR_CHECK(0)
342 };
343
344 102 hyundai_common_init(param);
345 102 hyundai_legacy = true;
346 102 hyundai_longitudinal = false;
347 102 hyundai_camera_scc = false;
348 102 return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
349 }
350
351 const safety_hooks hyundai_hooks = {
352 .init = hyundai_init,
353 .rx = hyundai_rx_hook,
354 .tx = hyundai_tx_hook,
355 .fwd = hyundai_fwd_hook,
356 .get_counter = hyundai_get_counter,
357 .get_checksum = hyundai_get_checksum,
358 .compute_checksum = hyundai_compute_checksum,
359 };
360
361 const safety_hooks hyundai_legacy_hooks = {
362 .init = hyundai_legacy_init,
363 .rx = hyundai_rx_hook,
364 .tx = hyundai_tx_hook,
365 .fwd = hyundai_fwd_hook,
366 .get_counter = hyundai_get_counter,
367 .get_checksum = hyundai_get_checksum,
368 .compute_checksum = hyundai_compute_checksum,
369 };
370