Hyundai: remove 90° steering lockout (#24108)

* avoid 90 degree fault

* use 50 frames

* no panda mods

* clean up

* absolutely no faults. zero. zilch. nada

* fix initial value and comments

* try glitching at double rate instead of two in a row

* bump panda

* cut for two frames

* clean up

* bump panda

* clean up

* not today!

* bump panda to master

* prefix and simple lat_active

* prefix

panda

@@ -1 +1 @@
-Subproject commit 1303af2db29a72eee180b10c6097fa5b19c29207
+Subproject commit d68b1b0a98d5cefad438180e3c2ffcdcbcffdd76

selfdrive/car/hyundai/carcontroller.py

@@ -10,6 +10,12 @@ from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerPar
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
+# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
+# All slightly below EPS thresholds to avoid fault
+MAX_ANGLE = 85
+MAX_ANGLE_FRAMES = 89
+MAX_ANGLE_CONSECUTIVE_FRAMES = 2
+
 
 def process_hud_alert(enabled, fingerprint, hud_control):
   sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
@@ -40,6 +46,7 @@ class CarController:
     self.CP = CP
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
+    self.angle_limit_counter = 0
     self.frame = 0
 
     self.apply_steer_last = 0
@@ -107,10 +114,23 @@ class CarController:
         if self.frame % 100 == 0:
           can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
 
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
-                                     CS.lkas11, sys_warning, sys_state, CC.enabled,
-                                     hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                     left_lane_warning, right_lane_warning))
+      # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
+      if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
+        self.angle_limit_counter += 1
+      else:
+        self.angle_limit_counter = 0
+
+      # Cut steer actuation bit for two frames and hold torque with induced temporary fault
+      torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
+      lat_active = CC.latActive and not torque_fault
+
+      if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
+        self.angle_limit_counter = 0
+
+      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
+                                                torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
+                                                hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                left_lane_warning, right_lane_warning))
 
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:

selfdrive/car/hyundai/hyundaican.py

@@ -4,7 +4,7 @@ from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
 def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
-                  lkas11, sys_warning, sys_state, enabled,
+                  torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
                   left_lane_depart, right_lane_depart):
   values = lkas11
@@ -14,6 +14,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
   values["CR_Lkas_StrToqReq"] = apply_steer
   values["CF_Lkas_ActToi"] = steer_req
+  values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
   if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,