Hyundai: Second alt steering limits

commaai · Sep 23, 2024 · 9903299 · 9903299
1 parent afafb0b
commit 9903299
Show file tree

Hide file tree

Showing 3 changed files with 16 additions and 1 deletion.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -175,6 +175,7 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
   const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
+  const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
 
   bool tx = true;
   int addr = GET_ADDR(to_send);
@@ -215,7 +216,15 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
     int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
     bool steer_req = GET_BIT(to_send, 27U);
 
-    const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
+    SteeringLimits limits;
+    if (hyundai_alt_limits) {
+      limits = HYUNDAI_STEERING_LIMITS_ALT;
+    } else if (hyundai_alt_limits_2) {
+      limits = HYUNDAI_STEERING_LIMITS_ALT_2;
+    } else {
+      limits = HYUNDAI_STEERING_LIMITS;
+    }
+
     if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
       tx = false;
     }

diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
@@ -36,6 +36,9 @@ bool hyundai_canfd_hda2 = false;
 extern bool hyundai_alt_limits;
 bool hyundai_alt_limits = false;
 
+extern bool hyundai_alt_limits_2;
+bool hyundai_alt_limits_2 = false;
+
 static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 
 void hyundai_common_init(uint16_t param) {
@@ -44,12 +47,14 @@ void hyundai_common_init(uint16_t param) {
   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_ALT_LIMITS_2 = 256;
 
   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_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
   hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
+  hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
 
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
 

diff --git a/python/__init__.py b/python/__init__.py
@@ -201,6 +201,7 @@ class Panda:
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
   FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
+  FLAG_HYUNDAI_ALT_LIMITS_2 = 256
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2