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Share banked Hyundai CAN-FD RX workspace to recover Panda RAM

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This commit is contained in:
Dom
2026-10-30 09:07:01 -05:00
parent 18432adb3d
commit b64d7cf9e9
39 changed files with 204 additions and 35 deletions
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opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+69 -32
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@@ -1880,183 +1880,220 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
}
}
// Only one banked profile is active; keep its mutable RX status in RAM,
// while the alternative configuration templates remain in flash.
static RxCheck banked_rx_workspace[7];
if (ioniq6_stock_aol_requested && (param != 0x0811U) && (param != 0x0891U)) {
RxCheck *selected = NULL;
const RxCheck *selected = NULL;
if (hyundai_canfd_lka_steer_msg) {
if (hyundai_hybrid_gas_signal) {
static RxCheck torque_hda2_hybrid_alt[] = {
static const RxCheck torque_hda2_hybrid_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
static RxCheck torque_hda2_hybrid_std[] = {
_Static_assert((sizeof(torque_hda2_hybrid_alt) / sizeof(torque_hda2_hybrid_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_hda2_hybrid_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
_Static_assert((sizeof(torque_hda2_hybrid_std) / sizeof(torque_hda2_hybrid_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_hda2_hybrid_alt : torque_hda2_hybrid_std;
} else {
static RxCheck torque_hda2_ice_alt[] = {
static const RxCheck torque_hda2_ice_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
static RxCheck torque_hda2_ice_std[] = {
_Static_assert((sizeof(torque_hda2_ice_alt) / sizeof(torque_hda2_ice_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_hda2_ice_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
_Static_assert((sizeof(torque_hda2_ice_std) / sizeof(torque_hda2_ice_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_hda2_ice_alt : torque_hda2_ice_std;
}
} else if (hyundai_camera_scc) {
if (hyundai_ev_gas_signal) {
static RxCheck torque_camera_ev_alt[] = {
static const RxCheck torque_camera_ev_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
static RxCheck torque_camera_ev_std[] = {
_Static_assert((sizeof(torque_camera_ev_alt) / sizeof(torque_camera_ev_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_camera_ev_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
_Static_assert((sizeof(torque_camera_ev_std) / sizeof(torque_camera_ev_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_camera_ev_alt : torque_camera_ev_std;
} else if (hyundai_hybrid_gas_signal) {
static RxCheck torque_camera_hybrid_alt[] = {
static const RxCheck torque_camera_hybrid_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
static RxCheck torque_camera_hybrid_std[] = {
_Static_assert((sizeof(torque_camera_hybrid_alt) / sizeof(torque_camera_hybrid_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_camera_hybrid_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
_Static_assert((sizeof(torque_camera_hybrid_std) / sizeof(torque_camera_hybrid_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_camera_hybrid_alt : torque_camera_hybrid_std;
} else {
static RxCheck torque_camera_ice_alt[] = {
static const RxCheck torque_camera_ice_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
static RxCheck torque_camera_ice_std[] = {
_Static_assert((sizeof(torque_camera_ice_alt) / sizeof(torque_camera_ice_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_camera_ice_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
_Static_assert((sizeof(torque_camera_ice_std) / sizeof(torque_camera_ice_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_camera_ice_alt : torque_camera_ice_std;
}
} else {
if (hyundai_ev_gas_signal) {
static RxCheck torque_radar_ev_alt[] = {
static const RxCheck torque_radar_ev_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
static RxCheck torque_radar_ev_std[] = {
_Static_assert((sizeof(torque_radar_ev_alt) / sizeof(torque_radar_ev_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_radar_ev_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
_Static_assert((sizeof(torque_radar_ev_std) / sizeof(torque_radar_ev_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_radar_ev_alt : torque_radar_ev_std;
} else if (hyundai_hybrid_gas_signal) {
static RxCheck torque_radar_hybrid_alt[] = {
static const RxCheck torque_radar_hybrid_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
static RxCheck torque_radar_hybrid_std[] = {
_Static_assert((sizeof(torque_radar_hybrid_alt) / sizeof(torque_radar_hybrid_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_radar_hybrid_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
_Static_assert((sizeof(torque_radar_hybrid_std) / sizeof(torque_radar_hybrid_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_radar_hybrid_alt : torque_radar_hybrid_std;
} else {
static RxCheck torque_radar_ice_alt[] = {
static const RxCheck torque_radar_ice_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
static RxCheck torque_radar_ice_std[] = {
_Static_assert((sizeof(torque_radar_ice_alt) / sizeof(torque_radar_ice_alt[0])) == 6U, "Banked RX template size");
static const RxCheck torque_radar_ice_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
_Static_assert((sizeof(torque_radar_ice_std) / sizeof(torque_radar_ice_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? torque_radar_ice_alt : torque_radar_ice_std;
}
}
ret.rx_checks = selected;
ret.rx_checks_len = 6;
for (int i = 0; i < ret.rx_checks_len; i++) {
banked_rx_workspace[i] = selected[i];
}
ret.rx_checks = banked_rx_workspace;
}
if (angle_aol_requested && hyundai_canfd_angle_steering && !hyundai_longitudinal) {
static CanMsg independent_tx_msgs[64];
const bool bounded = hyundai_canfd_angle_aol_capacity(&ret);
if (bounded) {
RxCheck *selected = NULL;
const RxCheck *selected = NULL;
if (hyundai_canfd_lka_steer_msg) {
if (hyundai_ev_gas_signal) {
static RxCheck angle_hda2_ev_alt[] = {
static const RxCheck angle_hda2_ev_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
static RxCheck angle_hda2_ev_std[] = {
_Static_assert((sizeof(angle_hda2_ev_alt) / sizeof(angle_hda2_ev_alt[0])) == 6U, "Banked RX template size");
static const RxCheck angle_hda2_ev_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
_Static_assert((sizeof(angle_hda2_ev_std) / sizeof(angle_hda2_ev_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? angle_hda2_ev_alt : angle_hda2_ev_std;
}
else if (hyundai_hybrid_gas_signal) {
static RxCheck angle_hda2_hybrid_alt[] = {
static const RxCheck angle_hda2_hybrid_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
{.msg = {{0x70, 1, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
static RxCheck angle_hda2_hybrid_std[] = {
_Static_assert((sizeof(angle_hda2_hybrid_alt) / sizeof(angle_hda2_hybrid_alt[0])) == 7U, "Banked RX template size");
static const RxCheck angle_hda2_hybrid_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
{.msg = {{0x70, 1, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
_Static_assert((sizeof(angle_hda2_hybrid_std) / sizeof(angle_hda2_hybrid_std[0])) == 7U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? angle_hda2_hybrid_alt : angle_hda2_hybrid_std;
}
else {
static RxCheck angle_hda2_ice_alt[] = {
static const RxCheck angle_hda2_ice_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
{.msg = {{0x70, 1, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
static RxCheck angle_hda2_ice_std[] = {
_Static_assert((sizeof(angle_hda2_ice_alt) / sizeof(angle_hda2_ice_alt[0])) == 7U, "Banked RX template size");
static const RxCheck angle_hda2_ice_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
{.msg = {{0x70, 1, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
_Static_assert((sizeof(angle_hda2_ice_std) / sizeof(angle_hda2_ice_std[0])) == 7U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? angle_hda2_ice_alt : angle_hda2_ice_std;
}
}
else {
if (hyundai_ev_gas_signal) {
static RxCheck angle_camera_ev_alt[] = {
static const RxCheck angle_camera_ev_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
static RxCheck angle_camera_ev_std[] = {
_Static_assert((sizeof(angle_camera_ev_alt) / sizeof(angle_camera_ev_alt[0])) == 6U, "Banked RX template size");
static const RxCheck angle_camera_ev_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x35)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
_Static_assert((sizeof(angle_camera_ev_std) / sizeof(angle_camera_ev_std[0])) == 6U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? angle_camera_ev_alt : angle_camera_ev_std;
}
else if (hyundai_hybrid_gas_signal) {
static RxCheck angle_camera_hybrid_alt[] = {
static const RxCheck angle_camera_hybrid_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
{.msg = {{0x70, 0, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
static RxCheck angle_camera_hybrid_std[] = {
_Static_assert((sizeof(angle_camera_hybrid_alt) / sizeof(angle_camera_hybrid_alt[0])) == 7U, "Banked RX template size");
static const RxCheck angle_camera_hybrid_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x105)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
{.msg = {{0x70, 0, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
_Static_assert((sizeof(angle_camera_hybrid_std) / sizeof(angle_camera_hybrid_std[0])) == 7U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? angle_camera_hybrid_alt : angle_camera_hybrid_std;
}
else {
static RxCheck angle_camera_ice_alt[] = {
static const RxCheck angle_camera_ice_alt[] = {
HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
{.msg = {{0x70, 0, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
static RxCheck angle_camera_ice_std[] = {
_Static_assert((sizeof(angle_camera_ice_alt) / sizeof(angle_camera_ice_alt[0])) == 7U, "Banked RX template size");
static const RxCheck angle_camera_ice_std[] = {
HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x100)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
{.msg = {{0x70, 0, 32, 100U, .max_counter = 0xffU, .ignore_quality_flag = true}, {0}, {0}}},
};
_Static_assert((sizeof(angle_camera_ice_std) / sizeof(angle_camera_ice_std[0])) == 7U, "Banked RX template size");
selected = hyundai_canfd_alt_buttons ? angle_camera_ice_alt : angle_camera_ice_std;
}
}
ret.rx_checks = selected;
ret.rx_checks_len = hyundai_ev_gas_signal ? 6 : 7;
for (int i = 0; i < ret.rx_checks_len; i++) {
banked_rx_workspace[i] = selected[i];
}
ret.rx_checks = banked_rx_workspace;
for (int i = 0; i < ret.tx_msgs_len; i++) {
independent_tx_msgs[i] = ret.tx_msgs[i];
const unsigned int addr = independent_tx_msgs[i].addr;
opendbc_repo/opendbc/safety/tests/test_hyundai_banked_rx_workspace.py
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"""Banked CAN-FD RX definitions and status must survive warm profile switches."""
import unittest
from opendbc.safety.tests.libsafety import libsafety_py
libsafety_py.ffi.cdef('extern safety_config current_safety_config;', override=True)
# word, powertrain bus, fuel address, SCC bus, alternate buttons, separate gear
PROFILES = (
(0x0810, 1, 0x100, 1, False, False),
(0x0812, 1, 0x105, 1, False, False),
(0x2830, 1, 0x100, 1, True, False),
(0x2832, 1, 0x105, 1, True, False),
(0x0808, 0, 0x100, 2, False, False),
(0x0809, 0, 0x035, 2, False, False),
(0x080A, 0, 0x105, 2, False, False),
(0x0828, 0, 0x100, 2, True, False),
(0x0829, 0, 0x035, 2, True, False),
(0x082A, 0, 0x105, 2, True, False),
(0x0800, 0, 0x100, 0, False, False),
(0x0801, 0, 0x035, 0, False, False),
(0x0802, 0, 0x105, 0, False, False),
(0x0820, 0, 0x100, 0, True, False),
(0x0821, 0, 0x035, 0, True, False),
(0x0822, 0, 0x105, 0, True, False),
(0x4010, 1, 0x100, 1, False, True),
(0x4412, 1, 0x105, 1, False, True),
(0x4811, 1, 0x035, 1, False, False),
(0x4008, 0, 0x100, 2, False, True),
(0x440A, 0, 0x105, 2, False, True),
(0x4809, 0, 0x035, 2, False, False),
(0x4028, 0, 0x100, 2, True, True),
(0x442A, 0, 0x105, 2, True, True),
(0x4829, 0, 0x035, 2, True, False),
)
PROFILE_BY_WORD = {profile[0]: profile for profile in PROFILES}
def _message(msg):
return (msg.addr, msg.bus, msg.len, msg.frequency, msg.ignore_checksum,
msg.ignore_counter, msg.max_counter, msg.ignore_quality_flag)
def _status(status):
return (status.msg_seen, status.index, status.valid_checksum, status.wrong_counters,
status.valid_quality_flag, status.last_counter, status.last_timestamp, status.lagging)
def _assert_profile(safety, profile):
_, bus, fuel, scc_bus, alternate, gear = profile
expected = [
(fuel, bus, 32, 100, False, False, 255, True),
(0x175, bus, 24, 50, False, False, 255, True),
(0x0A0, bus, 24, 100, False, False, 255, True),
(0x0EA, bus, 24, 100, False, False, 255, True),
(0x1AA, bus, 16, 50, True, False, 255, True) if alternate else
(0x1CF, bus, 8, 50, True, False, 15, True),
(0x1A0, scc_bus, 32, 50, False, False, 255, True),
]
if gear:
expected.append((0x70, bus, 32, 100, False, False, 255, True))
config = safety.current_safety_config
assert config.rx_checks_len == len(expected)
assert config.rx_checks != libsafety_py.ffi.NULL
for index, message in enumerate(expected):
check = config.rx_checks[index]
assert _message(check.msg[0]) == message
assert _message(check.msg[1]) == (0, 0, 0, 0, False, False, 0, False)
assert _message(check.msg[2]) == (0, 0, 0, 0, False, False, 0, False)
assert _status(check.status) == (False, 0, False, 0, False, 0, 0, False)
def _dirty_status(safety):
config = safety.current_safety_config
for index in range(config.rx_checks_len):
status = config.rx_checks[index].status
# Valid C values dirty every field, without relying on structure padding.
status.msg_seen = True
status.index = 2
status.valid_checksum = True
status.wrong_counters = 5
status.valid_quality_flag = True
status.last_counter = 7
status.last_timestamp = 123_456 + index
status.lagging = True
assert _status(status) == (True, 2, True, 5, True, 7, 123_456 + index, True)
def _select(safety, word):
safety.set_alternative_experience(32)
assert safety.set_safety_hooks(safety.SAFETY_HYUNDAI_CANFD, word) == 0
# Do not call init_tests: the production mode-init path must reset the status.
_assert_profile(safety, PROFILE_BY_WORD[word])
class TestHyundaiBankedRxWorkspace(unittest.TestCase):
RELEASE = False
@classmethod
def setUpClass(cls):
# Separate real native libraries exercise both build policies.
cls.safety = libsafety_py.ffi.dlopen(libsafety_py._build_libsafety(release=cls.RELEASE))
@classmethod
def tearDownClass(cls):
cls.safety.set_alternative_experience(0)
assert cls.safety.set_safety_hooks(cls.safety.SAFETY_SILENT, 0) == 0
def test_same_mode_reinitialization_restores_every_status_field(self):
for profile in PROFILES:
with self.subTest(word=hex(profile[0])):
_select(self.safety, profile[0])
_dirty_status(self.safety)
_select(self.safety, profile[0])
def test_seven_six_seven_switches_replace_definitions_and_status(self):
for words in ((0x4412, 0x4829, 0x4008, 0x0810, 0x442A),
(0x4028, 0x2832, 0x4010, 0x0801, 0x440A),
(0x4412, 0x0820, 0x442A, 0x4811, 0x4010)):
with self.subTest(words=tuple(hex(word) for word in words)):
for word in words:
_select(self.safety, word)
_dirty_status(self.safety)
class TestHyundaiBankedRxWorkspaceRelease(TestHyundaiBankedRxWorkspace):
RELEASE = True
if __name__ == '__main__':
unittest.main()
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#pragma once
extern const uint8_t gitversion[29];
const uint8_t gitversion[29] = "DEV-fae3f5cc-Pa5919516-DEBUG";
const uint8_t gitversion[29] = "DEV-b3b96ade-Pa5919516-DEBUG";
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{"protected_inventory_sha256": "f1566fdd59080d87bfd9d41359e007a06fc87b2794d44baf38797707aa07aae4", "schema_version": 1}
{"protected_inventory_sha256": "ec0401c5357c5677794ac4bfa02c5e1460253602b010d91d177b7df180cd6c24", "schema_version": 1}