Hyundai CAN Longitudinal: Enable for Camera SCC cars

board/safety/safety_hyundai.h

@@ -32,6 +32,16 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
   {0x485, 0, 4}, // LFAHDA_MFC Bus 0
 };
 
+#define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \
+  {0x340, 0,       8},                       \
+  {0x4F1, scc_bus, 4},                       \
+  {0x485, 0,       4},                       \
+  {0x420, 0,       8},                       \
+  {0x421, 0,       8},                       \
+  {0x50A, 0,       8},                       \
+  {0x389, 0,       8},                       \
+  {0x4A2, 0,       2},                       \
+
 #define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                              \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U},                                       \
            {0x371, 0, 8, .frequency = 100U}, { 0 }}},                                                                         \
@@ -120,7 +130,7 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
   // SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
-  if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
+  if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc && !hyundai_longitudinal))) {
     // 2 bits: 13-14
     int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
     hyundai_common_cruise_state_check(cruise_engaged);
@@ -165,7 +175,7 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 
     // If openpilot is controlling longitudinal we need to ensure the radar is turned off
     // Enforce by checking we don't see SCC12
-    if (hyundai_longitudinal && (addr == 0x421)) {
+    if (hyundai_longitudinal && !hyundai_camera_scc && (addr == 0x421)) {
       stock_ecu_detected = true;
     }
     generic_rx_checks(stock_ecu_detected);
@@ -250,23 +260,24 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
   if (bus_num == 0) {
     bus_fwd = 2;
   }
-  if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
-    bus_fwd = 0;
+
+  if (bus_num == 2) {
+    bool is_lkas11_msg = (addr == 0x340);
+    bool is_lfahda_mfc_msg = (addr == 0x485);
+    bool is_scc_msg = (addr == 0x420) || (addr == 0x421) || (addr == 0x50A) || (addr == 0x389);
+
+    bool block_msg = is_lkas11_msg || is_lfahda_mfc_msg || (is_scc_msg && hyundai_longitudinal && hyundai_camera_scc);
+    if (!block_msg) {
+      bus_fwd = 0;
+    }
   }
 
   return bus_fwd;
 }
 
 static safety_config hyundai_init(uint16_t param) {
   static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
-    {0x340, 0, 8}, // LKAS11 Bus 0
-    {0x4F1, 0, 4}, // CLU11 Bus 0
-    {0x485, 0, 4}, // LFAHDA_MFC Bus 0
-    {0x420, 0, 8}, // SCC11 Bus 0
-    {0x421, 0, 8}, // SCC12 Bus 0
-    {0x50A, 0, 8}, // SCC13 Bus 0
-    {0x389, 0, 8}, // SCC14 Bus 0
-    {0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
+    HYUNDAI_LONG_COMMON_TX_MSGS(0)
     {0x38D, 0, 8}, // FCA11 Bus 0
     {0x483, 0, 8}, // FCA12 Bus 0
     {0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
@@ -278,13 +289,13 @@ static safety_config hyundai_init(uint16_t param) {
     {0x485, 0, 4}, // LFAHDA_MFC Bus 0
   };
 
+  static const CanMsg HYUNDAI_CAMERA_SCC_LONG_TX_MSGS[] = {
+    HYUNDAI_LONG_COMMON_TX_MSGS(2)
+  };
+
   hyundai_common_init(param);
   hyundai_legacy = false;
 
-  if (hyundai_camera_scc) {
-    hyundai_longitudinal = false;
-  }
-
   safety_config ret;
   if (hyundai_longitudinal) {
     static RxCheck hyundai_long_rx_checks[] = {
@@ -293,7 +304,8 @@ static safety_config hyundai_init(uint16_t param) {
       {.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
     };
 
-    ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
+    ret = hyundai_camera_scc ? BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_CAMERA_SCC_LONG_TX_MSGS) : \
+                               BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
   } else if (hyundai_camera_scc) {
     static RxCheck hyundai_cam_scc_rx_checks[] = {
       HYUNDAI_COMMON_RX_CHECKS(false)

tests/safety/common.py

@@ -792,6 +792,11 @@ def test_tx_hook_on_wrong_safety_mode(self):
             if attr.startswith('TestHonda'):
               # exceptions for common msgs across different hondas
               tx = list(filter(lambda m: m[0] not in [0x1FA, 0x30C, 0x33D, 0x33DB], tx))
+
+            # TODO: Temporary, should be fixed in panda firmware, safety_hyundai.h
+            if attr.startswith('TestHyundaiLongitudinal'):
+              # exceptions for common msgs across different Hyundai CAN platforms
+              tx = list(filter(lambda m: m[0] not in [0x420, 0x50A, 0x389, 0x4A2], tx))
             all_tx.append([[m[0], m[1], attr] for m in tx])
 
     # make sure we got all the msgs

tests/safety/test_hyundai.py

@@ -212,5 +212,37 @@ def test_no_aeb_scc12(self):
     self.assertFalse(self._tx(self._accel_msg(0, aeb_decel=1.0)))
 
 
+class TestHyundaiLongitudinalSafetyCameraSCC(HyundaiLongitudinalBase, TestHyundaiSafety):
+  TX_MSGS = [[0x340, 0], [0x4F1, 2], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0]]
+
+  FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485, 0x420, 0x421, 0x50A, 0x389]}
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_CAMERA_SCC)
+    self.safety.init_tests()
+
+  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
+    values = {
+      "aReqRaw": accel,
+      "aReqValue": accel,
+      "AEB_CmdAct": int(aeb_req),
+      "CR_VSM_DecCmd": aeb_decel,
+    }
+    return self.packer.make_can_msg_panda("SCC12", self.SCC_BUS, values)
+
+  def test_no_aeb_scc12(self):
+    self.assertTrue(self._tx(self._accel_msg(0)))
+    self.assertFalse(self._tx(self._accel_msg(0, aeb_req=True)))
+    self.assertFalse(self._tx(self._accel_msg(0, aeb_decel=1.0)))
+
+  def test_tester_present_allowed(self):
+    pass
+
+  def test_disabled_ecu_alive(self):
+    pass
+
+
 if __name__ == "__main__":
   unittest.main()