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HKG: Car Port for Genesis G70 2024 #2045

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HKG: Car Port for Genesis G70 2024 #2045

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92e9ae8
update panda
sunnyhaibin Sep 26, 2024
929c458
only camera scc, update unit test
sunnyhaibin Sep 26, 2024
a4aceb2
Merge remote-tracking branch 'commaai/panda/master' into g70-2024-port
sunnyhaibin Sep 27, 2024
e70b6fb
Merge remote-tracking branch 'commaai/panda/master' into g70-2024-port
sunnyhaibin Oct 3, 2024
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13 changes: 11 additions & 2 deletions board/safety/safety_hyundai.h
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Original file line number Diff line number Diff line change
Expand Up @@ -250,8 +250,16 @@ 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_lkas_11 = (addr == 0x340);
bool is_hda11_mfc = (addr == 0x484) && hyundai_camera_scc && !hyundai_longitudinal;
bool is_lfahda_mfc = (addr == 0x485);

bool block_msg = is_lkas_11 || is_hda11_mfc || is_lfahda_mfc;
if (!block_msg) {
bus_fwd = 0;
}
}

return bus_fwd;
Expand All @@ -275,6 +283,7 @@ static safety_config hyundai_init(uint16_t param) {
static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 2, 4}, // CLU11 Bus 2
{0x484, 0, 8}, // HDA11_MFC Bus 0
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
};

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3 changes: 3 additions & 0 deletions tests/safety/test_hyundai.py
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Expand Up @@ -129,6 +129,9 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
BUTTONS_TX_BUS = 2 # tx on 2, rx on 0
SCC_BUS = 2 # rx on 2

TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x484, 0], [0x485, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x484, 0x485]}

def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
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