GCC Code Coverage Report

Directory: ./
File: safety/safety_hyundai_common.h
Date: 2025-02-27 09:09:49
Exec Total Coverage
Lines: 53 53 100.0%
Functions: 4 4 100.0%
Branches: 42 44 95.5%
Line Branch Exec Source
1 #pragma once
2
3 #include "safety_declarations.h"
4
5 extern uint16_t hyundai_canfd_crc_lut[256];
6 uint16_t hyundai_canfd_crc_lut[256];
7
8 static const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms
9 //
10 extern const uint32_t HYUNDAI_STANDSTILL_THRSLD;
11 const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12; // 0.375 kph
12
13 enum {
14 HYUNDAI_BTN_NONE = 0,
15 HYUNDAI_BTN_RESUME = 1,
16 HYUNDAI_BTN_SET = 2,
17 HYUNDAI_BTN_CANCEL = 4,
18 };
19
20 // common state
21 extern bool hyundai_ev_gas_signal;
22 bool hyundai_ev_gas_signal = false;
23
24 extern bool hyundai_hybrid_gas_signal;
25 bool hyundai_hybrid_gas_signal = false;
26
27 extern bool hyundai_longitudinal;
28 bool hyundai_longitudinal = false;
29
30 extern bool hyundai_camera_scc;
31 bool hyundai_camera_scc = false;
32
33 extern bool hyundai_canfd_lka_steering;
34 bool hyundai_canfd_lka_steering = false;
35
36 extern bool hyundai_alt_limits;
37 bool hyundai_alt_limits = false;
38
39 extern bool hyundai_fcev_gas_signal;
40 bool hyundai_fcev_gas_signal = false;
41
42 extern bool hyundai_alt_limits_2;
43 bool hyundai_alt_limits_2 = false;
44
45 static uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
46
47 1111 void hyundai_common_init(uint16_t param) {
48 1111 const int HYUNDAI_PARAM_EV_GAS = 1;
49 1111 const int HYUNDAI_PARAM_HYBRID_GAS = 2;
50 1111 const int HYUNDAI_PARAM_CAMERA_SCC = 8;
51 1111 const int HYUNDAI_PARAM_CANFD_LKA_STEERING = 16;
52 1111 const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
53 1111 const int HYUNDAI_PARAM_FCEV_GAS = 256;
54 1111 const int HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
55
56 1111 hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
57
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 1111 hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
58 1111 hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
59 1111 hyundai_canfd_lka_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING);
60 1111 hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
61 1111 hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
62 1111 hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
63
64 1111 hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
65
66 #ifdef ALLOW_DEBUG
67 1111 const int HYUNDAI_PARAM_LONGITUDINAL = 4;
68 1111 hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
69 #else
70 hyundai_longitudinal = false;
71 #endif
72 1111 }
73
74 1575 void hyundai_common_cruise_state_check(const bool cruise_engaged) {
75 // some newer HKG models can re-enable after spamming cancel button,
76 // so keep track of user button presses to deny engagement if no interaction
77
78 // enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
79
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 1575 if (!hyundai_longitudinal) {
80
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 1572 if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
81 418 controls_allowed = true;
82 }
83
84
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 1572 if (!cruise_engaged) {
85 808 controls_allowed = false;
86 }
87 1572 cruise_engaged_prev = cruise_engaged;
88 }
89 1575 }
90
91 10494 void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) {
92
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 10494 if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) {
93 2649 hyundai_last_button_interaction = 0U;
94 } else {
95 7845 hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
96 }
97
98
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 10494 if (hyundai_longitudinal) {
99 // enter controls on falling edge of resume or set
100
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 6930 bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
101
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 6930 bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
102
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 6930 if (set || res) {
103 270 controls_allowed = true;
104 }
105
106 // exit controls on cancel press
107
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 6930 if (cruise_button == HYUNDAI_BTN_CANCEL) {
108 801 controls_allowed = false;
109 }
110
111 6930 cruise_button_prev = cruise_button;
112 }
113 10494 }
114
115 129355 uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
116 129355 int len = GET_LEN(to_push);
117 129355 uint32_t address = GET_ADDR(to_push);
118
119 129355 uint16_t crc = 0;
120
121
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 2984701 for (int i = 2; i < len; i++) {
122 2855346 crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
123 }
124
125 // Add address to crc
126 129355 crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
127 129355 crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
128
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 129355 if (len == 24) {
130 128163 crc ^= 0x819dU;
131
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 1192 } else if (len == 32) {
132 1192 crc ^= 0x9f5bU;
133 } else {
134
135 }
136
137 129355 return crc;
138 }
139