openpilot_comma/board/safety/safety_hyundai.h

const int HYUNDAI_MAX_STEER = 250;
const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
const int32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
const int HYUNDAI_MAX_RATE_UP = 3;
const int HYUNDAI_MAX_RATE_DOWN = 7;
const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;

int hyundai_camera_detected = 0;
int hyundai_giraffe_switch_2 = 0;          // is giraffe switch 2 high?
int hyundai_rt_torque_last = 0;
int hyundai_desired_torque_last = 0;
int hyundai_cruise_engaged_last = 0;
uint32_t hyundai_ts_last = 0;
struct sample_t hyundai_torque_driver;         // last few driver torques measured

static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  int bus = (to_push->RDTR >> 4) & 0xFF;
  uint32_t addr;
  if (to_push->RIR & 4) {
    // Extended
    // Not looked at, but have to be separated
    // to avoid address collision
    addr = to_push->RIR >> 3;
  } else {
    // Normal
    addr = to_push->RIR >> 21;
  }

  if (addr == 897) {
    int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
    // update array of samples
    update_sample(&hyundai_torque_driver, torque_driver_new);
  }

  // check if stock camera ECU is still online
  if (bus == 0 && addr == 832) {
    hyundai_camera_detected = 1;
    controls_allowed = 0;
  }

  // enter controls on rising edge of ACC, exit controls on ACC off
  if ((to_push->RIR>>21) == 1057) {
    // 2 bits: 13-14
    int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
    if (cruise_engaged && !hyundai_cruise_engaged_last) {
      controls_allowed = 1;
    } else if (!cruise_engaged) {
      controls_allowed = 0;
    }
    hyundai_cruise_engaged_last = cruise_engaged;
  }

  // 832 is lkas cmd. If it is on bus 2, then giraffe switch 2 is high
  if ((to_push->RIR>>21) == 832 && (bus == 2)) {
    hyundai_giraffe_switch_2 = 1;
  }
}

static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // There can be only one! (camera)
  if (hyundai_camera_detected) {
    return 0;
  }

  uint32_t addr;
  if (to_send->RIR & 4) {
    // Extended
    addr = to_send->RIR >> 3;
  } else {
    // Normal
    addr = to_send->RIR >> 21;
  }

  // LKA STEER: safety check
  if (addr == 832) {
    int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
    uint32_t ts = TIM2->CNT;
    int violation = 0;

    if (controls_allowed) {

      // *** global torque limit check ***
      violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);

      // *** torque rate limit check ***
      violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
        HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
        HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);

      // used next time
      hyundai_desired_torque_last = desired_torque;

      // *** torque real time rate limit check ***
      violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);

      // every RT_INTERVAL set the new limits
      uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
      if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
        hyundai_rt_torque_last = desired_torque;
        hyundai_ts_last = ts;
      }
    }

    // no torque if controls is not allowed
    if (!controls_allowed && (desired_torque != 0)) {
      violation = 1;
    }

    // reset to 0 if either controls is not allowed or there's a violation
    if (violation || !controls_allowed) {
      hyundai_desired_torque_last = 0;
      hyundai_rt_torque_last = 0;
      hyundai_ts_last = ts;
    }

    if (violation) {
      return false;
    }
  }

  // FORCE CANCEL: safety check only relevant when spamming the cancel button.
  // ensuring that only the cancel button press is sent (VAL 4) when controls are off.
  // This avoids unintended engagements while still allowing resume spam
  if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
    if ((to_send->RDLR & 0x7) != 4) return 0;
  }

  // 1 allows the message through
  return true;
}

static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {

  // forward cam to ccan and viceversa, except lkas cmd
  if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
    int addr = to_fwd->RIR>>21;
    bool is_lkas_msg = addr == 832 && bus_num == 2;
    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
  }
  return -1;
}

static void hyundai_init(int16_t param) {
  controls_allowed = 0;
  hyundai_giraffe_switch_2 = 0;
}

const safety_hooks hyundai_hooks = {
  .init = hyundai_init,
  .rx = hyundai_rx_hook,
  .tx = hyundai_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = hyundai_fwd_hook,
};