GCC Code Coverage Report

Directory: ./
File: safety/safety_hyundai_canfd.h
Date: 2025-02-27 09:09:49
Exec Total Coverage
Lines: 114 114 100.0%
Functions: 7 7 100.0%
Branches: 148 156 94.9%
Line Branch Exec Source
1 #pragma once
2
3 #include "safety_declarations.h"
4 #include "safety_hyundai_common.h"
5
6 #define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
7 {0x1CF, bus, 8}, /* CRUISE_BUTTON */ \
8
9 #define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
10 HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
11 {0x50, a_can, 16}, /* LKAS */ \
12 {0x2A4, a_can, 24}, /* CAM_0x2A4 */ \
13
14 #define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
15 HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
16 {0x110, a_can, 32}, /* LKAS_ALT */ \
17 {0x362, a_can, 32}, /* CAM_0x362 */ \
18
19 #define HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(e_can) \
20 {0x12A, e_can, 16}, /* LFA */ \
21 {0x1E0, e_can, 16}, /* LFAHDA_CLUSTER */ \
22
23 #define HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(e_can) \
24 {0x1A0, e_can, 32}, /* SCC_CONTROL */ \
25
26 // *** Addresses checked in rx hook ***
27 // EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
28 #define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
29 {.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
30 {0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
31 {0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}}, \
32 {.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
33 {.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
34 {.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
35 {.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, \
36 {0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }}}, \
37
38 // SCC_CONTROL (from ADAS unit or camera)
39 #define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
40 {.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
41
42 static bool hyundai_canfd_alt_buttons = false;
43 static bool hyundai_canfd_lka_steering_alt = false;
44
45 184479 static int hyundai_canfd_get_lka_addr(void) {
46
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 184479 return hyundai_canfd_lka_steering_alt ? 0x110 : 0x50;
47 }
48
49 137013 static uint8_t hyundai_canfd_get_counter(const CANPacket_t *to_push) {
50 137013 uint8_t ret = 0;
51
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 137013 if (GET_LEN(to_push) == 8U) {
52 6692 ret = GET_BYTE(to_push, 1) >> 4;
53 } else {
54 130321 ret = GET_BYTE(to_push, 2);
55 }
56 137013 return ret;
57 }
58
59 129355 static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) {
60 129355 uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8);
61 129355 return chksum;
62 }
63
64 314407 static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
65 314407 int bus = GET_BUS(to_push);
66 314407 int addr = GET_ADDR(to_push);
67
68 314407 const int pt_bus = hyundai_canfd_lka_steering ? 1 : 0;
69
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 314407 const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
70
71
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 314407 if (bus == pt_bus) {
72 // driver torque
73
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 195715 if (addr == 0xea) {
74 127785 int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
75 127785 torque_driver_new -= 4095;
76 127785 update_sample(&torque_driver, torque_driver_new);
77 }
78
79 // cruise buttons
80
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 195715 const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
81
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 195715 if (addr == button_addr) {
82 7658 bool main_button = false;
83 7658 int cruise_button = 0;
84
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 7658 if (addr == 0x1cf) {
85 6686 cruise_button = GET_BYTE(to_push, 2) & 0x7U;
86 6686 main_button = GET_BIT(to_push, 19U);
87 } else {
88 972 cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
89 972 main_button = GET_BIT(to_push, 34U);
90 }
91 7658 hyundai_common_cruise_buttons_check(cruise_button, main_button);
92 }
93
94 // gas press, different for EV, hybrid, and ICE models
95
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 195715 if ((addr == 0x35) && hyundai_ev_gas_signal) {
96 99 gas_pressed = GET_BYTE(to_push, 5) != 0U;
97
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 195616 } else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
98
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 66 gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U);
99
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 195550 } else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
100 66 gas_pressed = GET_BIT(to_push, 176U);
101 } else {
102 }
103
104 // brake press
105
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 195715 if (addr == 0x175) {
106 273 brake_pressed = GET_BIT(to_push, 81U);
107 }
108
109 // vehicle moving
110
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 195715 if (addr == 0xa0) {
111 168 uint32_t front_left_speed = GET_BYTES(to_push, 8, 2);
112 168 uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2);
113
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 168 vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
114 }
115 }
116
117
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 314407 if (bus == scc_bus) {
118 // cruise state
119
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 137842 if ((addr == 0x1a0) && !hyundai_longitudinal) {
120 // 1=enabled, 2=driver override
121 996 int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U);
122
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 996 bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
123 996 hyundai_common_cruise_state_check(cruise_engaged);
124 }
125 }
126
127
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 314407 const int steer_addr = hyundai_canfd_lka_steering ? hyundai_canfd_get_lka_addr() : 0x12a;
128
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 314407 bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
129
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 314407 if (hyundai_longitudinal) {
130 // on LKA steering cars, ensure ADRV ECU is still knocked out
131 // on others, ensure accel msg is blocked from camera
132
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 107317 stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == pt_bus));
133 }
134 314407 generic_rx_checks(stock_ecu_detected);
135 314407 }
136
137 848693 static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
138 const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
139 .max_steer = 270,
140 .max_rt_delta = 112,
141 .max_rt_interval = 250000,
142 .max_rate_up = 2,
143 .max_rate_down = 3,
144 .driver_torque_allowance = 250,
145 .driver_torque_multiplier = 2,
146 .type = TorqueDriverLimited,
147
148 // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
149 // we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
150 .min_valid_request_frames = 89,
151 .max_invalid_request_frames = 2,
152 .min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames
153 .has_steer_req_tolerance = true,
154 };
155
156 848693 bool tx = true;
157 848693 int addr = GET_ADDR(to_send);
158
159 // steering
160
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 848693 const int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12a;
161
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 848693 if (addr == steer_addr) {
162 844326 int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
163 844326 bool steer_req = GET_BIT(to_send, 52U);
164
165
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 844326 if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
166 445410 tx = false;
167 }
168 }
169
170 // cruise buttons check
171
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 848693 if (addr == 0x1cf) {
172 87 int button = GET_BYTE(to_send, 2) & 0x7U;
173 87 bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
174 87 bool is_resume = (button == HYUNDAI_BTN_RESUME);
175
176
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 87 bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
177
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 87 if (!allowed) {
178 71 tx = false;
179 }
180 }
181
182 // UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
183
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 848693 if (((addr == 0x730) && hyundai_canfd_lka_steering) || ((addr == 0x7D0) && !hyundai_camera_scc)) {
184
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 22 if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
185 18 tx = false;
186 }
187 }
188
189 // ACCEL: safety check
190
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 848693 if (addr == 0x1a0) {
191 4256 int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U;
192 4256 int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U;
193
194 4256 bool violation = false;
195
196
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 4256 if (hyundai_longitudinal) {
197 4256 violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
198 4256 violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
199 } else {
200 // only used to cancel on here
201 // GCOV_EXCL_START
202 // TODO: Cover this with tests.
203 − if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
204 − violation = true;
205 }
206 // GCOV_EXCL_STOP
207 }
208
209
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 4256 if (violation) {
210 2632 tx = false;
211 }
212 }
213
214 848693 return tx;
215 }
216
217 177408 static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
218 177408 int bus_fwd = -1;
219
220
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 177408 if (bus_num == 0) {
221 59136 bus_fwd = 2;
222 }
223
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 177408 if (bus_num == 2) {
224 // LKAS for cars with LKAS and LFA messages, LFA for cars with no LKAS messages
225
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 59136 int lfa_block_addr = hyundai_canfd_lka_steering_alt ? 0x362 : 0x2a4;
226
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 59136 bool is_lka_msg = ((addr == hyundai_canfd_get_lka_addr()) || (addr == lfa_block_addr)) && hyundai_canfd_lka_steering;
227
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 59136 bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_lka_steering);
228
229 // HUD icons
230
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 59136 bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_lka_steering);
231
232 // SCC_CONTROL and ADRV_0x160 for camera SCC cars, we send our own longitudinal commands and to show FCA light
233
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 59136 bool is_scc_msg = (((addr == 0x1a0) || (addr == 0x160)) && hyundai_longitudinal && !hyundai_canfd_lka_steering);
234
235
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 59136 bool block_msg = is_lka_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
236
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 59136 if (!block_msg) {
237 59082 bus_fwd = 0;
238 }
239 }
240
241 177408 return bus_fwd;
242 }
243
244 756 static safety_config hyundai_canfd_init(uint16_t param) {
245 756 const int HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
246 756 const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
247
248 static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
249 HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
250 };
251
252 static const CanMsg HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS[] = {
253 HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(0, 1)
254 };
255
256 static const CanMsg HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS[] = {
257 HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
258 HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
259 HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1)
260 {0x51, 0, 32}, // ADRV_0x51
261 {0x730, 1, 8}, // tester present for ADAS ECU disable
262 {0x160, 1, 16}, // ADRV_0x160
263 {0x1EA, 1, 32}, // ADRV_0x1ea
264 {0x200, 1, 8}, // ADRV_0x200
265 {0x345, 1, 8}, // ADRV_0x345
266 {0x1DA, 1, 32}, // ADRV_0x1da
267 };
268
269 static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = {
270 HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
271 HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
272 HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0)
273 };
274
275 static const CanMsg HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS[] = {
276 HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
277 HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
278 HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0)
279 {0x160, 0, 16}, // ADRV_0x160
280 {0x7D0, 0, 8}, // tester present for radar ECU disable
281 };
282
283 static const CanMsg HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS[] = {
284 HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
285 HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
286 HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0)
287 {0x160, 0, 16}, // ADRV_0x160
288 };
289
290 756 hyundai_common_init(param);
291
292 756 gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
293 756 hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
294 756 hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
295
296 safety_config ret;
297
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 756 if (hyundai_longitudinal) {
298
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 280 if (hyundai_canfd_lka_steering) {
299 static RxCheck hyundai_canfd_lka_steering_long_rx_checks[] = {
300 HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
301 };
302
303 40 ret = BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_long_rx_checks, HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS);
304 } else {
305 // Longitudinal checks for LFA steering
306 static RxCheck hyundai_canfd_long_rx_checks[] = {
307 HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
308 };
309
310
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 240 ret = hyundai_camera_scc ? BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS) : \
311 BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS);
312 }
313 } else {
314
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 476 if (hyundai_canfd_lka_steering) {
315 // *** LKA steering checks ***
316 // E-CAN is on bus 1, SCC messages are sent on cars with ADRV ECU.
317 // Does not use the alt buttons message
318 static RxCheck hyundai_canfd_lka_steering_rx_checks[] = {
319 HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
320 HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
321 };
322
323
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 68 ret = hyundai_canfd_lka_steering_alt ? BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_ALT_TX_MSGS) : \
324 BUILD_SAFETY_CFG(hyundai_canfd_lka_steering_rx_checks, HYUNDAI_CANFD_LKA_STEERING_TX_MSGS);
325
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 408 } else if (!hyundai_camera_scc) {
326 // Radar sends SCC messages on these cars instead of camera
327 static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
328 HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
329 HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
330 };
331
332 204 ret = BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_LFA_STEERING_TX_MSGS);
333 } else {
334 // *** LFA steering checks ***
335 // Camera sends SCC messages on LFA steering cars.
336 // Both button messages exist on some platforms, so we ensure we track the correct one using flag
337 static RxCheck hyundai_canfd_rx_checks[] = {
338 HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
339 HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
340 };
341
342 204 ret = BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS);
343 }
344 }
345
346 756 return ret;
347 }
348
349 const safety_hooks hyundai_canfd_hooks = {
350 .init = hyundai_canfd_init,
351 .rx = hyundai_canfd_rx_hook,
352 .tx = hyundai_canfd_tx_hook,
353 .fwd = hyundai_canfd_fwd_hook,
354 .get_counter = hyundai_canfd_get_counter,
355 .get_checksum = hyundai_canfd_get_checksum,
356 .compute_checksum = hyundai_common_canfd_compute_checksum,
357 };
358