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IQ.Pilot Release Commit @ 6d177d4

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IQ.Lvbs CI [bot]
2026-07-22 23:21:13 -05:00
parent ff4dfcb728
commit 401cac1028
93 changed files with 9223 additions and 4600 deletions
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134
iqdbc_repo/iqdbc/safety/modes/hyundai_common.h
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@@ -2,11 +2,20 @@
#include "iqdbc/safety/declarations.h"
#define GET_ADDR(msg) ((msg)->addr)
#define GET_BUS(msg) ((msg)->bus)
#define GET_BYTE(msg, b) ((msg)->data[(b)])
static int cruise_main_prev = 0;
static void generic_rx_checks(void);
static void stock_ecu_check(bool stock_ecu_detected);
extern uint16_t hyundai_canfd_crc_lut[256];
uint16_t hyundai_canfd_crc_lut[256];
static const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms
//
extern const uint32_t HYUNDAI_STANDSTILL_THRSLD;
const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12; // 0.375 kph
@@ -17,13 +26,6 @@ enum {
HYUNDAI_BTN_CANCEL = 4,
};
enum {
HYUNDAI_PARAM_IQ_ESCC = 16,
HYUNDAI_PARAM_IQ_MAIN_BTN_LONG_TOGGLE = 32,
HYUNDAI_PARAM_IQ_HAS_LDA_BUTTON = 64,
HYUNDAI_PARAM_IQ_NON_SCC = 128,
};
// common state
extern bool hyundai_ev_gas_signal;
bool hyundai_ev_gas_signal = false;
@@ -37,8 +39,8 @@ bool hyundai_longitudinal = false;
extern bool hyundai_camera_scc;
bool hyundai_camera_scc = false;
extern bool hyundai_canfd_lka_steering;
bool hyundai_canfd_lka_steering = false;
extern bool hyundai_canfd_hda2;
bool hyundai_canfd_hda2 = false;
extern bool hyundai_alt_limits;
bool hyundai_alt_limits = false;
@@ -49,57 +51,29 @@ bool hyundai_fcev_gas_signal = false;
extern bool hyundai_alt_limits_2;
bool hyundai_alt_limits_2 = false;
// ESCC
extern bool hyundai_escc;
bool hyundai_escc = false;
extern bool hyundai_main_btn_long_toggle;
bool hyundai_main_btn_long_toggle = false;
extern bool hyundai_has_lda_button;
bool hyundai_has_lda_button = false;
extern bool hyundai_non_scc;
bool hyundai_non_scc = false;
static uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
static bool main_button_prev;
static bool acc_main_on_prev;
static bool acc_main_on_tx;
static uint32_t acc_main_on_mismatches;
void hyundai_common_init(uint16_t param) {
const uint16_t HYUNDAI_PARAM_EV_GAS = 1;
const uint16_t HYUNDAI_PARAM_HYBRID_GAS = 2;
const uint16_t HYUNDAI_PARAM_CAMERA_SCC = 8;
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING = 16;
const uint16_t HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
const uint16_t HYUNDAI_PARAM_FCEV_GAS = 256;
const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
const int HYUNDAI_PARAM_EV_GAS = 1;
const int HYUNDAI_PARAM_HYBRID_GAS = 2;
const int HYUNDAI_PARAM_CAMERA_SCC = 8;
const int HYUNDAI_PARAM_CANFD_HDA2 = 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_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_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
hyundai_escc = GET_FLAG(current_safety_param_iq, HYUNDAI_PARAM_IQ_ESCC);
hyundai_main_btn_long_toggle = GET_FLAG(current_safety_param_iq, HYUNDAI_PARAM_IQ_MAIN_BTN_LONG_TOGGLE);
hyundai_has_lda_button = GET_FLAG(current_safety_param_iq, HYUNDAI_PARAM_IQ_HAS_LDA_BUTTON);
hyundai_non_scc = GET_FLAG(current_safety_param_iq, HYUNDAI_PARAM_IQ_NON_SCC);
hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
main_button_prev = false;
acc_main_on_prev = false;
acc_main_on_tx = false;
acc_main_on_mismatches = 0U;
#ifdef ALLOW_DEBUG
const uint16_t HYUNDAI_PARAM_LONGITUDINAL = 4;
const int HYUNDAI_PARAM_LONGITUDINAL = 4;
hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
#else
hyundai_longitudinal = false;
@@ -112,19 +86,27 @@ void hyundai_common_cruise_state_check(const bool cruise_engaged) {
// enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
if (!hyundai_longitudinal) {
if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
hyundai_last_button_interaction = 0U; // carrot
//if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
if (cruise_engaged) {
controls_allowed = true;
}
if (!cruise_engaged) {
controls_allowed = false;
}
cruise_engaged_prev = cruise_engaged;
}
}
void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) {
if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) {
if(main_button && main_button != cruise_main_prev) {
acc_main_on = !acc_main_on;
}
cruise_main_prev = main_button;
if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
(main_button)) {
hyundai_last_button_interaction = 0U;
} else {
hyundai_last_button_interaction = SAFETY_MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
@@ -141,66 +123,38 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
// exit controls on cancel press
if (cruise_button == HYUNDAI_BTN_CANCEL) {
controls_allowed = false;
}
// toggle main cruise state on rising edge of main cruise button
if (main_button && !main_button_prev && hyundai_main_btn_long_toggle) {
acc_main_on = !acc_main_on;
}
cruise_button_prev = cruise_button;
main_button_prev = main_button;
}
}
uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *msg) {
int len = GET_LEN(msg);
uint32_t address = msg->addr;
uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
int len = GET_LEN(to_push);
uint32_t address = GET_ADDR(to_push);
uint16_t crc = 0;
for (int i = 2; i < len; i++) {
crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ msg->data[i]];
crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
}
// Add address to crc
crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
if (len == 24) {
if (len == 8) {
crc ^= 0x5f29U;
}
else if (len == 16) {
crc ^= 0x041dU;
}
else if (len == 24) {
crc ^= 0x819dU;
} else if (len == 32) {
}
else if (len == 32) {
crc ^= 0x9f5bU;
} else {
}
return crc;
}
// reset mismatches on rising edge of acc_main_on to avoid rare race conditions when using non-PCM main cruise state
void hyundai_common_reset_acc_main_on_mismatches(void) {
if (acc_main_on && !acc_main_on_prev) {
acc_main_on_mismatches = 0U;
}
acc_main_on_prev = acc_main_on;
}
// exit lateral controls allowed if iqpilot and panda main cruise states are desynced
void hyundai_common_acc_main_on_sync(void) {
if (acc_main_on && !acc_main_on_tx) {
acc_main_on_mismatches += 1U;
if (acc_main_on_mismatches >= 3U) { // desync by 3 frames
acc_main_on = false;
aol_exit_controls(AOL_DISENGAGE_REASON_NON_PCM_ACC_MAIN_DESYNC);
}
} else {
acc_main_on_mismatches = 0U;
}
}
uint32_t get_acc_main_on_mismatches(void) {
return acc_main_on_mismatches;
}