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safety(hyundai): allow EV9 CCNC angle-long messages

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This commit is contained in:
LowkeyNEXT
2026-07-19 17:55:06 -05:00
committed by firestar5683
parent 42eef3f21c
commit 28a4de1c9e
2 changed files with 40 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+28 -1
View File
@@ -61,6 +61,7 @@ static bool hyundai_canfd_alt_buttons = false;
static bool hyundai_canfd_lka_steering_alt = false;
static bool hyundai_canfd_angle_steering = false;
static bool hyundai_ccnc = false;
static bool hyundai_canfd_ccnc_angle_long = false;
static bool hyundai_canfd_lka_alt_drive_gear = false;
static uint8_t hyundai_canfd_inactive_accel_tx_count = 0U;
@@ -237,6 +238,10 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
const int lfa_angle_active = (msg->data[3] >> 4U) & 0xFU;
const bool steer_angle_req = lfa_angle_active == 2;
if (steer_angle_req && hyundai_canfd_ccnc_angle_long && !hyundai_canfd_lka_alt_openpilot_allowed()) {
tx = false;
}
int desired_angle = (((uint32_t)(msg->data[5] & 0x3FU)) << 8) | (uint32_t)msg->data[4];
desired_angle = to_signed(desired_angle, 14);
@@ -400,6 +405,24 @@ static safety_config hyundai_canfd_init(uint16_t param) {
{0x1DA, 1, 32, .check_relay = false}, // ADRV_0x1da
};
static const CanMsg HYUNDAI_CANFD_CCNC_ANGLE_LONG_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(0, 1)
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
{0x1BA, 1, 24, .check_relay = false}, // BLINDSPOTS_REAR_CORNERS
{0x1E5, 1, 16, .check_relay = false}, // BLINDSPOTS_FRONT_CORNER_1
{0x100, 0, 24, .check_relay = false}, // ACCELERATOR_BRAKE_ALT radar heartbeat
{0x730, 1, 8, .check_relay = false}, // tester present for ADAS ECU disable
{0x160, 1, 16, .check_relay = false}, // ADRV_0x160
{0x161, 1, 32, .check_relay = false}, // CCNC_0x161
{0x162, 1, 32, .check_relay = false}, // CCNC_0x162
{0x1EA, 1, 32, .check_relay = false}, // ADRV_0x1ea
{0x200, 1, 8, .check_relay = false}, // ADRV_0x200
{0x345, 1, 8, .check_relay = false}, // ADRV_0x345
{0x38C, 1, 32, .check_relay = false}, // CCNC support frame
{0x1DA, 1, 32, .check_relay = false}, // ADRV_0x1da
};
static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = {
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
@@ -439,6 +462,8 @@ static safety_config hyundai_canfd_init(uint16_t param) {
hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
hyundai_canfd_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING);
hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);
hyundai_canfd_ccnc_angle_long = hyundai_longitudinal && hyundai_canfd_lka_steering &&
hyundai_canfd_lka_steering_alt && hyundai_canfd_angle_steering && hyundai_ccnc;
hyundai_canfd_lka_alt_drive_gear = false;
hyundai_canfd_inactive_accel_tx_count = 0U;
@@ -458,7 +483,9 @@ static safety_config hyundai_canfd_init(uint16_t param) {
} else {
SET_RX_CHECKS(hyundai_canfd_lka_steering_long_rx_checks, ret);
}
if (hyundai_canfd_lka_steering_alt) {
if (hyundai_canfd_ccnc_angle_long) {
SET_TX_MSGS(HYUNDAI_CANFD_CCNC_ANGLE_LONG_TX_MSGS, ret);
} else if (hyundai_canfd_lka_steering_alt) {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_LONG_TX_MSGS, ret);
} else {
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS, ret);
opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+12
View File
@@ -740,6 +740,18 @@ class TestHyundaiCanfdLKASteeringAltAngleLongEV(HyundaiLongitudinalBase, TestHyu
self.assertEqual(controls_allowed, self._tx(self._angle_cmd_msg(angle_cmd, True)))
self.assertEqual(controls_allowed and angle_cmd == angle_meas, self._tx(self._angle_cmd_msg(angle_cmd, False)))
def test_ccnc_angle_long_tx_messages(self):
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, self.SAFETY_PARAM | HyundaiSafetyFlags.CCNC)
self.safety.init_tests()
for address, length in ((0x161, 32), (0x162, 32), (0x1BA, 24), (0x1E5, 16), (0x38C, 32)):
with self.subTest(address=address):
self.assertTrue(self._tx(common.make_msg(1, address, length)))
for address, length in ((0x51, 32), (0x31A, 32), (0x3B5, 32), (0x3C1, 8)):
with self.subTest(address=address):
self.assertFalse(self._tx(common.make_msg(1 if address != 0x51 else 0, address, length)))
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
values = {
"aReqRaw": accel,