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Hyundai: dashcam FCEV #1973

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Merged
merged 4 commits into from
Mar 11, 2025
Merged

Hyundai: dashcam FCEV #1973

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0f735f4
Disable FCEV
sshane Mar 11, 2025
fc6271b
coverage
sshane Mar 11, 2025
4887d66
fixme
sshane Mar 11, 2025
f3461ed
misra
sshane Mar 11, 2025
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2 changes: 2 additions & 0 deletions opendbc/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -129,6 +129,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.EV_GAS.value
elif ret.flags & HyundaiFlags.FCEV:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value
# The safety is not properly implemented
ret.dashcamOnly = True

# Car specific configuration overrides

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5 changes: 3 additions & 2 deletions opendbc/safety/safety/safety_hyundai.h
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Expand Up @@ -159,8 +159,9 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
} else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
gas_pressed = GET_BYTE(to_push, 7) != 0U;
} else if ((addr == 0x91) && hyundai_fcev_gas_signal) {
gas_pressed = GET_BYTE(to_push, 6) != 0U;
// FIXME: fix missing rx check
// } else if ((addr == 0x91) && hyundai_fcev_gas_signal) {
// gas_pressed = GET_BYTE(to_push, 6) != 0U;
} else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
} else {
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8 changes: 4 additions & 4 deletions opendbc/safety/safety/safety_hyundai_common.h
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Expand Up @@ -36,8 +36,8 @@ bool hyundai_canfd_lka_steering = false;
extern bool hyundai_alt_limits;
bool hyundai_alt_limits = false;

extern bool hyundai_fcev_gas_signal;
bool hyundai_fcev_gas_signal = false;
//extern bool hyundai_fcev_gas_signal;
//bool hyundai_fcev_gas_signal = false;

extern bool hyundai_alt_limits_2;
bool hyundai_alt_limits_2 = false;
Expand All @@ -50,15 +50,15 @@ void hyundai_common_init(uint16_t param) {
const int HYUNDAI_PARAM_CAMERA_SCC = 8;
const int HYUNDAI_PARAM_CANFD_LKA_STEERING = 16;
const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
const int HYUNDAI_PARAM_FCEV_GAS = 256;
// const int HYUNDAI_PARAM_FCEV_GAS = 256;
const int HYUNDAI_PARAM_ALT_LIMITS_2 = 512;

hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
hyundai_canfd_lka_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING);
hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
// hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);

hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
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20 changes: 10 additions & 10 deletions opendbc/safety/tests/test_hyundai.py
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Expand Up @@ -149,16 +149,16 @@ def setUp(self):
self.safety.init_tests()


class TestHyundaiSafetyFCEV(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS)
self.safety.init_tests()

def _user_gas_msg(self, gas):
values = {"ACCELERATOR_PEDAL": gas}
return self.packer.make_can_msg_panda("FCEV_ACCELERATOR", 0, values)
# class TestHyundaiSafetyFCEV(TestHyundaiSafety):
# def setUp(self):
# self.packer = CANPackerPanda("hyundai_kia_generic")
# self.safety = libsafety_py.libsafety
# self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS)
# self.safety.init_tests()
#
# def _user_gas_msg(self, gas):
# values = {"ACCELERATOR_PEDAL": gas}
# return self.packer.make_can_msg_panda("FCEV_ACCELERATOR", 0, values)


class TestHyundaiLegacySafety(TestHyundaiSafety):
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