Add escc flag to the scons build args

Add initial README for ESCC board This commit introduces a new README for the ESCC board detailing the pinout configurations and connections between the Molex connector and IONIQ harness and radar components. The documentation provides a clear, structured guide to assist with proper wiring and setup. Improving comments for clarity and explicitness IDE is behaving now. Wd don't need this hack anymore Add ESCC build option and refine ESCC specific code Introduce --escc option in SCons to conditionally build ESCC firmware. Update build_project to support CPPDEFINES and modify main.c to handle ESCC-specific safety modes and behaviors more cleanly. Remove unnecessary send_escc_msg calls in Hyundai safety code The updates in the code remove redundant send_escc_msg calls in the Hyundai safety code. We don't really need to send the FCA or AEB data through the ESCC packet because we don't block it at all. So we don't really need to "package" it anymore on the ESCC message Add send_escc_msg call in case blocks The send_escc_msg function is now called within the individual case blocks for SCC11, SCC12, and FCA11, enhancing code readability. Before, it was called on any message that the radar sends, but this strategy was inefficient as it was piggybacking on their frequencies. Refactor `escc_tx_hook` function in Hyundai safety code The commented-out `escc_tx_hook` function in Hyundai ESCC safety code has been refactored and is now in use again, replacing the formerly used `alloutput_tx_hook`. Debugging functionality has been preserved and conditions for when the function is unused have also been handled. The resulting code is now cleaner and more efficient. Add ESCC firmware and build files, and safety mode for Hyundai ESCC This commit introduces ESCC firmware and the corresponding build files. We have also defined a new safety mode for Hyundai ESCC. The necessary scripts for flashing and recovery have been added, alongside the gitignore file for the ESCC board. Additionally, we have implemented new message processing and forwarding logic to handle ESCC specific messages in main and safety files.
sunnypilot · Feb 1, 2025 · 3cf59d6 · 3cf59d6
1 parent 4ca9633
commit 3cf59d6
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Showing 14 changed files with 481 additions and 12 deletions.
diff --git a/SConscript b/SConscript
@@ -62,7 +62,9 @@ def to_c_uint32(x):
   return "{" + 'U,'.join(map(str, nums)) + "U}"
 
 
-def build_project(project_name, project, extra_flags):
+def build_project(project_name, project, extra_flags, cppdefines=None):
+  cppdefines = cppdefines or []
+  print(f"{project_name} -> CPPDEFINES [{', '.join(cppdefines)}]")
   linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
 
   flags = project["PROJECT_FLAGS"] + extra_flags + common_flags + [
@@ -101,6 +103,7 @@ def build_project(project_name, project, extra_flags):
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
     },
     tools=["default", "compilation_db"],
+    CPPDEFINES=cppdefines,
   )
 
   startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])
@@ -179,12 +182,15 @@ with open("board/obj/cert.h", "w") as f:
   for cert in certs:
     f.write("\n".join(cert) + "\n")
 
-# panda fw
-SConscript('board/SConscript')
-
-# panda jungle fw
-SConscript('board/jungle/SConscript')
-
-# test files
-if GetOption('extras'):
-  SConscript('tests/libpanda/SConscript')
+if not GetOption('escc'): # if we are building ESCC, we don't build anything else
+  # panda fw
+  SConscript('board/SConscript')
+
+  # panda jungle fw
+  SConscript('board/jungle/SConscript')
+
+  # test files
+  if GetOption('extras'):
+    SConscript('tests/libpanda/SConscript')
+else:
+  SConscript('board/escc/SConscript')
diff --git a/SConstruct b/SConstruct
@@ -20,6 +20,10 @@ AddOption('--mutation',
           action='store_true',
           help='generate mutation-ready code')
 
+AddOption('--escc',
+          action='store_true',
+          help='build escc firmware')
+
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],

diff --git a/board/config.h b/board/config.h
@@ -9,6 +9,7 @@
 //#define DEBUG_FAULTS
 //#define DEBUG_COMMS
 //#define DEBUG_FAN
+//#define DEBUG_CAN_LOOP
 
 #define CAN_INIT_TIMEOUT_MS 500U
 #define USBPACKET_MAX_SIZE 0x40U

diff --git a/board/escc/.gitignore b/board/escc/.gitignore
@@ -0,0 +1 @@
+obj/*
diff --git a/board/escc/README.MD b/board/escc/README.MD
@@ -0,0 +1,81 @@
+## Documentation
+[see more](https://github.com/sunnypilot/sunnypilot/blob/5d754169a6285e88e755ff9a592a851cb92b0abc/docs/escc/ESCC%20IONIQ%20PHEV%20Guide.md)
+
+### Detailed Connection List
+
+#### Molex 5018762640 Pinout:
+
+- Pin 1: GND
+- Pin 2: IGN
+- Pin 3: internal 120 Ohm Resistor, simply bridge to Pin 5
+- Pin 4: C-CAN HIGH
+- Pin 5: internal 120 Ohm Resistor, simply bridge to Pin 3
+- Pin 6: C-CAN LOW
+- Pin 8: L-CAN HIGH
+- Pin 10: L-CAN LOW
+- Pin 12: 12v
+- Pin 14: 12v
+- Pin 16: IGN
+- Pin 18: L-CAN HIGH
+- Pin 20: L-CAN LOW
+- Pin 22: C-CAN HIGH
+- Pin 24: C-CAN LOW
+- Pin 26: GND
+
+#### **IONIQ 2203663 (Car Harness, Female):**
+
+- Pin 1: 12v -> Molex Pin 12
+- Pin 4: GND -> Molex Pin 1
+- Pin 7: C-CAN LOW -> Molex Pin 6
+- Pin 8: C-CAN HIGH -> Molex Pin 4
+- Pin 9: L-CAN LOW -> Molex Pin 10
+- Pin 10: IGPM (IGN) -> Molex Pin 2
+- Pin 18: L-CAN HIGH -> Molex Pin 8
+
+#### **IONIQ 2203663 (Car Radar, Male):**
+
+- Molex Pin: 14 -> Pin 1: 12v
+- Molex Pin: 26 -> Pin 4: GND
+- Molex Pin: 24 -> Pin 7: C-CAN LOW
+- Molex Pin: 22 -> Pin 8: C-CAN HIGH
+- Molex Pin: 20 -> Pin 9: L-CAN LOW
+- Molex Pin: 16 -> Pin 10: IGN
+- Molex Pin: 18 -> Pin 18: L-CAN HIGH
+
+
+```
+IONIQ 2203663               Molex 5018762640         IONIQ 2203663 
+Car Harness (Female)                                 Car Radar (Male)
++-----+-----+               +-----+-----+            +-----+-----+
+| 18  |  9  |               |  2  |  1  |            | 10  |  1  |
+| 17  |  8  |               |  4  |  3  |            | 11  |  2  |
+| 16  |  7  |               |  6  |  5  |            | 12  |  3  |
+| 15  |  6  |               |  8  |  7  |            | 13  |  4  |
+| 14  |  5  | NOTCH         | 10  |  9  |            | 14  |  5  | NOTCH
+| 13  |  4  |               | 12  | 11  |            | 15  |  6  |
+| 12  |  3  |               | 14  | 13  | NOTCH      | 16  |  7  |
+| 11  |  2  |               | 16  | 15  |            | 17  |  8  |
+| 10  |  1  |               | 18  | 17  |            | 18  |  9  |
++-----+-----+               | 20  | 19  |            +-----+-----+
+                            | 22  | 21  |
+                            | 24  | 23  |
+                            | 26  | 25  |
+                            +-----+-----+           
+
+Connections:
+Molex Pin 3 (120 Ohm)    <-->  Molex Pin 5  (120 Ohm)
+Harness Pin 1  (12V)     <--> Molex Pin 12 (12V)
+Harness Pin 4  (GND)     <--> Molex Pin 1  (GND)
+Harness Pin 10 (IGN)     <--> Molex Pin 2  (IGN)            
+Harness Pin 8  (C-CAN H) <--> Molex Pin 4  (C-CAN H)
+Harness Pin 7  (C-CAN L) <--> Molex Pin 6  (C-CAN L)
+Harness Pin 18 (L-CAN H) <--> Molex Pin 8  (L-CAN H)
+Harness Pin 9  (L-CAN L) <--> Molex Pin 10 (L-CAN L)
+                              Molex Pin 20 (L-CAN L) <-->  Radar Pin 9  (L-CAN L)
+                              Molex Pin 18 (L-CAN H) <-->  Radar Pin 18 (L-CAN H)
+                              Molex Pin 24 (C-CAN L) <-->  Radar Pin 7  (C-CAN L)
+                              Molex Pin 22 (C-CAN H) <-->  Radar Pin 8  (C-CAN H)
+                              Molex Pin 16 (IGN)     <-->  Radar Pin 10 (IGN)
+                              Molex Pin 14 (12V)     <-->  Radar Pin 1  (12V)
+                              Molex Pin 26 (GND)     <-->  Radar Pin 4  (GND)
+```
diff --git a/board/escc/SConscript b/board/escc/SConscript
@@ -0,0 +1,34 @@
+import os
+import copy
+
+Import('build_project')
+
+build_projects = {}
+
+build_projects["escc"] = {
+  "MAIN": "../main.c",
+  "BOOTSTUB": "../bootstub.c",
+  "STARTUP_FILE": File("../stm32f4/startup_stm32f413xx.s"),
+  "LINKER_SCRIPT": File("../stm32f4/stm32f4_flash.ld"),
+  "APP_START_ADDRESS": "0x8004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+for project_name, project in build_projects.items():
+  flags = [
+    "-DPANDA",
+    "-DESCC",
+  ]
+  if ("ENABLE_SPI" in os.environ or "h7" in project_name) and not project_name.startswith('pedal'):
+    flags.append('-DENABLE_SPI')
+
+  build_project(project_name, project, flags, ["ESCC"])
diff --git a/board/escc/flash.py b/board/escc/flash.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+
+from panda import Panda
+
+board_path = os.path.dirname(os.path.realpath(__file__))
+
+if __name__ == "__main__":
+  print(board_path)
+  subprocess.check_call(f"scons -C {board_path}/../.. -j$(nproc) {board_path} --escc", shell=True)
+
+  serials = Panda.list()
+  print(f"found {len(serials)} panda(s) - {serials}")
+  for s in serials:
+    print("flashing", s)
+    with Panda(serial=s) as p:
+      p.flash("obj/escc.bin.signed")
diff --git a/board/escc/flash_can.sh b/board/escc/flash_can.sh
@@ -0,0 +1,8 @@
+#!/usr/bin/env sh
+set -e
+
+cd ..
+scons -u -j$(nproc) --escc
+cd escc
+
+../../tests/escc/enter_canloader.py obj/escc.bin.signed
diff --git a/board/escc/recover.sh b/board/escc/recover.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env sh
+set -e
+
+DFU_UTIL="dfu-util"
+
+cd ..
+scons -u -j$(nproc) --escc
+cd escc
+
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D obj/escc.bin.signed
+$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.escc.bin
diff --git a/board/main.c b/board/main.c
@@ -124,6 +124,61 @@ bool is_car_safety_mode(uint16_t mode) {
          (mode != SAFETY_ELM327);
 }
 
+#ifdef ESCC
+// ***************************** ESCC code *****************************
+bool is_car_safety_mode_escc(uint16_t mode) {
+  return is_car_safety_mode(mode) && (mode != SAFETY_HYUNDAI_ESCC);
+}
+#define is_car_safety_mode is_car_safety_mode_escc
+
+#define CAN_ESCC_INPUT  0x2AC
+#define CAN_ESCC_OUTPUT 0x2ABU
+
+void send_escc_msg(const ESCC_Msg *msg, const int bus_number) {
+#ifdef DEBUG
+
+  print("send_escc_msg\n");
+  print("fca_cmd_act: "); putui(msg->fca_cmd_act); print("\n");
+  print("aeb_cmd_act: "); putui(msg->aeb_cmd_act); print("\n");
+  print("cf_vsm_warn_fca11: "); putui(msg->cf_vsm_warn_fca11); print("\n");
+  print("cf_vsm_warn_scc12: "); putui(msg->cf_vsm_warn_scc12); print("\n");
+  print("cf_vsm_deccmdact_scc12: "); putui(msg->cf_vsm_deccmdact_scc12); print("\n");
+  print("cf_vsm_deccmdact_fca11: "); putui(msg->cf_vsm_deccmdact_fca11); print("\n");
+  print("cr_vsm_deccmd_scc12: "); putui(msg->cr_vsm_deccmd_scc12); print("\n");
+  print("cr_vsm_deccmd_fca11: "); putui(msg->cr_vsm_deccmd_fca11); print("\n");
+  print("obj_valid: "); putui(msg->obj_valid); print("\n");
+  print("acc_objstatus: "); putui(msg->acc_objstatus); print("\n");
+  print("acc_obj_lat_pos_1: "); putui(msg->acc_obj_lat_pos_1); print("\n");
+  print("acc_obj_lat_pos_2: "); putui(msg->acc_obj_lat_pos_2); print("\n");
+  print("acc_obj_dist_1: "); putui(msg->acc_obj_dist_1); print("\n");
+  print("acc_obj_dist_2: "); putui(msg->acc_obj_dist_2); print("\n");
+  print("acc_obj_rel_spd_1: "); putui(msg->acc_obj_rel_spd_1); print("\n");
+  print("acc_obj_rel_spd_2: "); putui(msg->acc_obj_rel_spd_2); print("\n");
+#endif
+
+  uint8_t dat[8];
+  dat[0] = (msg->fca_cmd_act) | (msg->cf_vsm_warn_fca11 << 1) | (msg->aeb_cmd_act << 3) | 
+           (msg->cf_vsm_warn_scc12 << 4) | (msg->cf_vsm_deccmdact_scc12 << 6) | (msg->cf_vsm_deccmdact_fca11 << 7);
+  dat[1] = (msg->cr_vsm_deccmd_scc12);
+  dat[2] = (msg->obj_valid) | (msg->acc_objstatus << 1);
+  dat[3] = (msg->acc_obj_lat_pos_1);
+  dat[4] = (msg->acc_obj_lat_pos_2) | (msg->acc_obj_dist_1 << 1);
+  dat[5] = (msg->acc_obj_dist_2) | (msg->acc_obj_rel_spd_1 << 4);
+  dat[6] = (msg->acc_obj_rel_spd_2);
+  dat[7] = (msg->cr_vsm_deccmd_fca11);
+
+  CANPacket_t to_send;
+  to_send.extended = CAN_ESCC_OUTPUT >= 0x800 ? 1 : 0;
+  to_send.addr = CAN_ESCC_OUTPUT;
+  to_send.bus = bus_number;
+  to_send.data_len_code = sizeof(dat);
+  memcpy(to_send.data, dat, sizeof(dat));
+
+  can_set_checksum(&to_send);
+  can_send(&to_send, bus_number, true);
+}
+#endif
+
 // ***************************** main code *****************************
 
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
@@ -186,7 +241,9 @@ static void tick_handler(void) {
         print("rx:"); puth4(can_rx_q.r_ptr); print("-"); puth4(can_rx_q.w_ptr); print("  ");
         print("tx1:"); puth4(can_tx1_q.r_ptr); print("-"); puth4(can_tx1_q.w_ptr); print("  ");
         print("tx2:"); puth4(can_tx2_q.r_ptr); print("-"); puth4(can_tx2_q.w_ptr); print("  ");
-        print("tx3:"); puth4(can_tx3_q.r_ptr); print("-"); puth4(can_tx3_q.w_ptr); print("\n");
+        print("tx3:"); puth4(can_tx3_q.r_ptr); print("-"); puth4(can_tx3_q.w_ptr); print("  ");
+        print("SAFETY MODE:"); putui(current_safety_mode);
+        print("\n");
       #endif
 
       // set green LED to be controls allowed
@@ -235,6 +292,7 @@ static void tick_handler(void) {
 
       mads_heartbeat_engaged_check();
 
+#ifndef ESCC // Hearbet disabled when ESCC
       if (!heartbeat_disabled) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
         if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
@@ -273,6 +331,7 @@ static void tick_handler(void) {
           fan_set_power(enabled ? 50U : 0U);
         }
       }
+#endif
 
       // check registers
       check_registers();
@@ -335,8 +394,13 @@ int main(void) {
     fan_init();
   }
 
+#ifdef ESCC
+  // init to SAFETY_HYUNDAI_ESCC and can all output
+  set_safety_mode(SAFETY_HYUNDAI_ESCC, 1U);
+#else
   // init to SILENT and can silent
   set_safety_mode(SAFETY_SILENT, 0U);
+#endif
 
   // enable CAN TXs
   current_board->enable_can_transceivers(true);
@@ -367,7 +431,35 @@ int main(void) {
   enable_interrupts();
 
   // LED should keep on blinking all the time
+#if defined(ESCC) && defined(DEBUG_CAN_LOOP) 
+  ESCC_Msg escc;
+  escc.fca_cmd_act = 1;
+  escc.aeb_cmd_act = 1;
+  escc.cf_vsm_warn_fca11 = 1;
+  escc.cf_vsm_warn_scc12 = 1;
+  escc.cf_vsm_deccmdact_scc12 = 1;
+  escc.cf_vsm_deccmdact_fca11 = 1;
+  escc.cr_vsm_deccmd_scc12 = 1;
+  escc.cr_vsm_deccmd_fca11 = 1;
+  escc.obj_valid = 1;
+  escc.acc_objstatus = 1;
+  escc.acc_obj_lat_pos_1 = 1;
+  escc.acc_obj_lat_pos_2 = 1;
+  escc.acc_obj_dist_1 = 1;
+  escc.acc_obj_dist_2 = 1;
+  escc.acc_obj_rel_spd_1 = 1;
+  escc.acc_obj_rel_spd_2 = 1;
+  int i = 0;
+#endif
+
   while (true) {
+
+#if defined(ESCC) && defined(DEBUG_CAN_LOOP)
+    send_escc_msg(&escc, i++);
+    if(i > 3)
+      i = 0;
+#endif
+
     if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
       #ifdef DEBUG_FAULTS
       if (fault_status == FAULT_STATUS_NONE) {

diff --git a/board/safety.h b/board/safety.h
@@ -23,6 +23,10 @@
 #include "safety/safety_elm327.h"
 #include "safety/safety_body.h"
 
+#ifdef ESCC
+#include "safety/safety_hyundai_escc.h"
+#endif
+
 // CAN-FD only safety modes
 #ifdef CANFD
 #include "safety/safety_hyundai_canfd.h"
@@ -56,6 +60,10 @@
 #define SAFETY_BODY 27U
 #define SAFETY_HYUNDAI_CANFD 28U
 
+#ifdef ESCC
+#define SAFETY_HYUNDAI_ESCC 29U
+#endif
+
 uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
   uint32_t ret = 0U;
   for (int i = 0; i < len; i++) {
@@ -375,7 +383,9 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
     {SAFETY_GM, &gm_hooks},
     {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
     {SAFETY_HYUNDAI, &hyundai_hooks},
-    {SAFETY_CHRYSLER, &chrysler_hooks},
+#ifdef ESCC
+    {SAFETY_HYUNDAI_ESCC, &hyundai_escc_hooks},
+#endif  {SAFETY_CHRYSLER, &chrysler_hooks},
     {SAFETY_SUBARU, &subaru_hooks},
     {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
     {SAFETY_NISSAN, &nissan_hooks},