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2024-04-27 03:19:19 -05:00
parent df418b503f
commit 03af7b6107
306 changed files with 108529 additions and 119 deletions
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panda/board/safety/safety_volkswagen_pq.h Normal file
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#include "safety_volkswagen_common.h"
// lateral limits
const SteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = {
.max_steer = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
.max_rt_delta = 113, // 6 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 75 ; 125 * 1.5 for safety pad = 113
.max_rt_interval = 250000, // 250ms between real time checks
.max_rate_up = 6, // 3.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
.max_rate_down = 10, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
.driver_torque_factor = 3,
.driver_torque_allowance = 80,
.type = TorqueDriverLimited,
};
// longitudinal limits
// acceleration in m/s2 * 1000 to avoid floating point math
const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
.max_accel = 2000,
.min_accel = -3500,
.inactive_accel = 3010, // VW sends one increment above the max range when inactive
};
const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS_SPORT = {
.max_accel = 4000,
.min_accel = -3500,
.inactive_accel = 3010, // VW sends one increment above the max range when inactive
};
#define MSG_LENKHILFE_3 0x0D0 // RX from EPS, for steering angle and driver steering torque
#define MSG_HCA_1 0x0D2 // TX by OP, Heading Control Assist steering torque
#define MSG_BREMSE_1 0x1A0 // RX from ABS, for ego speed
#define MSG_MOTOR_2 0x288 // RX from ECU, for CC state and brake switch state
#define MSG_ACC_SYSTEM 0x368 // TX by OP, longitudinal acceleration controls
#define MSG_MOTOR_3 0x380 // RX from ECU, for driver throttle input
#define MSG_GRA_NEU 0x38A // TX by OP, ACC control buttons for cancel/resume
#define MSG_MOTOR_5 0x480 // RX from ECU, for ACC main switch state
#define MSG_ACC_GRA_ANZEIGE 0x56A // TX by OP, ACC HUD
#define MSG_LDW_1 0x5BE // TX by OP, Lane line recognition and text alerts
// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8},
{MSG_GRA_NEU, 0, 4}, {MSG_GRA_NEU, 2, 4}};
const CanMsg VOLKSWAGEN_PQ_LONG_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8},
{MSG_ACC_SYSTEM, 0, 8}, {MSG_ACC_GRA_ANZEIGE, 0, 8}};
RxCheck volkswagen_pq_rx_checks[] = {
{.msg = {{MSG_LENKHILFE_3, 0, 6, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MSG_BREMSE_1, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_2, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_3, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_5, 0, 8, .check_checksum = true, .max_counter = 0U, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{MSG_GRA_NEU, 0, 4, .check_checksum = true, .max_counter = 15U, .frequency = 30U}, { 0 }, { 0 }}},
};
static uint32_t volkswagen_pq_get_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
return (uint32_t)GET_BYTE(to_push, (addr == MSG_MOTOR_5) ? 7 : 0);
}
static uint8_t volkswagen_pq_get_counter(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t counter = 0U;
if (addr == MSG_LENKHILFE_3) {
counter = (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
} else if (addr == MSG_GRA_NEU) {
counter = (uint8_t)(GET_BYTE(to_push, 2) & 0xF0U) >> 4;
} else {
}
return counter;
}
static uint32_t volkswagen_pq_compute_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
uint8_t checksum = 0U;
int checksum_byte = (addr == MSG_MOTOR_5) ? 7 : 0;
// Simple XOR over the payload, except for the byte where the checksum lives.
for (int i = 0; i < len; i++) {
if (i != checksum_byte) {
checksum ^= (uint8_t)GET_BYTE(to_push, i);
}
}
return checksum;
}
static safety_config volkswagen_pq_init(uint16_t param) {
UNUSED(param);
volkswagen_set_button_prev = false;
volkswagen_resume_button_prev = false;
#ifdef ALLOW_DEBUG
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
#endif
return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_STOCK_TX_MSGS);
}
static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) {
if (GET_BUS(to_push) == 0U) {
int addr = GET_ADDR(to_push);
// Update in-motion state from speed value.
// Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
if (addr == MSG_BREMSE_1) {
int speed = ((GET_BYTE(to_push, 2) & 0xFEU) >> 1) | (GET_BYTE(to_push, 3) << 7);
vehicle_moving = speed > 0;
}
// Update driver input torque samples
// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
// Signal: Lenkhilfe_3.LH3_LMSign (direction)
if (addr == MSG_LENKHILFE_3) {
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3U) << 8);
int sign = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
if (sign == 1) {
torque_driver_new *= -1;
}
update_sample(&torque_driver, torque_driver_new);
}
if (volkswagen_longitudinal) {
if (addr == MSG_MOTOR_5) {
// ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
// Signal: Motor_5.GRA_Hauptschalter
acc_main_on = GET_BIT(to_push, 50U);
if (!acc_main_on) {
controls_allowed = false;
}
}
if (addr == MSG_GRA_NEU) {
// If ACC main switch is on, enter controls on falling edge of Set or Resume
// Signal: GRA_Neu.GRA_Neu_Setzen
// Signal: GRA_Neu.GRA_Neu_Recall
bool set_button = GET_BIT(to_push, 16U);
bool resume_button = GET_BIT(to_push, 17U);
if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
controls_allowed = acc_main_on;
}
volkswagen_set_button_prev = set_button;
volkswagen_resume_button_prev = resume_button;
// Exit controls on rising edge of Cancel, override Set/Resume if present simultaneously
// Signal: GRA_ACC_01.GRA_Abbrechen
if (GET_BIT(to_push, 9U)) {
controls_allowed = false;
}
}
} else {
if (addr == MSG_MOTOR_2) {
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
// Signal: Motor_2.GRA_Status
int acc_status = (GET_BYTE(to_push, 2) & 0xC0U) >> 6;
bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
pcm_cruise_check(cruise_engaged);
}
}
// Signal: Motor_3.Fahrpedal_Rohsignal
if (addr == MSG_MOTOR_3) {
gas_pressed = (GET_BYTE(to_push, 2));
}
// Signal: Motor_2.Bremslichtschalter
if (addr == MSG_MOTOR_2) {
brake_pressed = (GET_BYTE(to_push, 2) & 0x1U);
}
generic_rx_checks((addr == MSG_HCA_1));
}
}
static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
int addr = GET_ADDR(to_send);
bool tx = true;
// Safety check for HCA_1 Heading Control Assist torque
// Signal: HCA_1.LM_Offset (absolute torque)
// Signal: HCA_1.LM_Offsign (direction)
if (addr == MSG_HCA_1) {
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7FU) << 8);
desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm
int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
if (sign == 1) {
desired_torque *= -1;
}
uint32_t hca_status = ((GET_BYTE(to_send, 1) >> 4) & 0xFU);
bool steer_req = ((hca_status == 5U) || (hca_status == 7U));
if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_PQ_STEERING_LIMITS)) {
tx = false;
}
}
// Safety check for acceleration commands
// To avoid floating point math, scale upward and compare to pre-scaled safety m/s2 boundaries
if (addr == MSG_ACC_SYSTEM) {
// Signal: ACC_System.ACS_Sollbeschl (acceleration in m/s2, scale 0.005, offset -7.22)
int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
if (sport_mode) {
if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS_SPORT)) {
tx = false;
}
} else {
if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
tx = false;
}
}
}
// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
// This avoids unintended engagements while still allowing resume spam
if ((addr == MSG_GRA_NEU) && !controls_allowed) {
// Signal: GRA_Neu.GRA_Neu_Setzen
// Signal: GRA_Neu.GRA_Neu_Recall
if (GET_BIT(to_send, 16U) || GET_BIT(to_send, 17U)) {
tx = false;
}
}
return tx;
}
static int volkswagen_pq_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1;
switch (bus_num) {
case 0:
// Forward all traffic from the Extended CAN onward
bus_fwd = 2;
break;
case 2:
if ((addr == MSG_HCA_1) || (addr == MSG_LDW_1)) {
// openpilot takes over LKAS steering control and related HUD messages from the camera
bus_fwd = -1;
} else if (volkswagen_longitudinal && ((addr == MSG_ACC_SYSTEM) || (addr == MSG_ACC_GRA_ANZEIGE))) {
// openpilot takes over acceleration/braking control and related HUD messages from the stock ACC radar
} else {
// Forward all remaining traffic from Extended CAN devices to J533 gateway
bus_fwd = 0;
}
break;
default:
// No other buses should be in use; fallback to do-not-forward
bus_fwd = -1;
break;
}
return bus_fwd;
}
const safety_hooks volkswagen_pq_hooks = {
.init = volkswagen_pq_init,
.rx = volkswagen_pq_rx_hook,
.tx = volkswagen_pq_tx_hook,
.fwd = volkswagen_pq_fwd_hook,
.get_counter = volkswagen_pq_get_counter,
.get_checksum = volkswagen_pq_get_checksum,
.compute_checksum = volkswagen_pq_compute_checksum,
};