openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
46
panda/board/safety/safety_body.h
Normal file
46
panda/board/safety/safety_body.h
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@@ -0,0 +1,46 @@
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const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8}, {0x250, 0, 6}, {0x251, 0, 5}, // body
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{0x350, 0, 8}, {0x350, 0, 6}, {0x351, 0, 5}, // knee
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{0x1, 0, 8}}; // CAN flasher
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RxCheck body_rx_checks[] = {
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{.msg = {{0x201, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
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};
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static void body_rx_hook(CANPacket_t *to_push) {
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// body is never at standstill
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vehicle_moving = true;
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if (GET_ADDR(to_push) == 0x201U) {
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controls_allowed = true;
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}
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}
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static bool body_tx_hook(CANPacket_t *to_send) {
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bool tx = true;
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int addr = GET_ADDR(to_send);
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int len = GET_LEN(to_send);
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if (!controls_allowed && (addr != 0x1)) {
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tx = false;
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}
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// Allow going into CAN flashing mode for base & knee even if controls are not allowed
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bool flash_msg = ((addr == 0x250) || (addr == 0x350)) && (len == 8);
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if (!controls_allowed && (GET_BYTES(to_send, 0, 4) == 0xdeadfaceU) && (GET_BYTES(to_send, 4, 4) == 0x0ab00b1eU) && flash_msg) {
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tx = true;
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}
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return tx;
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}
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static safety_config body_init(uint16_t param) {
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UNUSED(param);
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return BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
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}
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const safety_hooks body_hooks = {
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.init = body_init,
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.rx = body_rx_hook,
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.tx = body_tx_hook,
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.fwd = default_fwd_hook,
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};
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293
panda/board/safety/safety_chrysler.h
Normal file
293
panda/board/safety/safety_chrysler.h
Normal file
@@ -0,0 +1,293 @@
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const SteeringLimits CHRYSLER_STEERING_LIMITS = {
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.max_steer = 261,
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.max_rt_delta = 112,
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.max_rt_interval = 250000,
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.max_rate_up = 3,
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.max_rate_down = 3,
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.max_torque_error = 80,
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.type = TorqueMotorLimited,
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};
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const SteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
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.max_steer = 350,
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.max_rt_delta = 112,
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.max_rt_interval = 250000,
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.max_rate_up = 6,
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.max_rate_down = 6,
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.max_torque_error = 80,
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.type = TorqueMotorLimited,
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};
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const SteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
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.max_steer = 361,
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.max_rt_delta = 182,
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.max_rt_interval = 250000,
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.max_rate_up = 14,
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.max_rate_down = 14,
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.max_torque_error = 80,
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.type = TorqueMotorLimited,
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};
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typedef struct {
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const int EPS_2;
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const int ESP_1;
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const int ESP_8;
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const int ECM_5;
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const int DAS_3;
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const int DAS_6;
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const int LKAS_COMMAND;
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const int CRUISE_BUTTONS;
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} ChryslerAddrs;
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// CAN messages for Chrysler/Jeep platforms
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const ChryslerAddrs CHRYSLER_ADDRS = {
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.EPS_2 = 0x220, // EPS driver input torque
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.ESP_1 = 0x140, // Brake pedal and vehicle speed
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.ESP_8 = 0x11C, // Brake pedal and vehicle speed
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.ECM_5 = 0x22F, // Throttle position sensor
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.DAS_3 = 0x1F4, // ACC engagement states from DASM
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.DAS_6 = 0x2A6, // LKAS HUD and auto headlight control from DASM
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.LKAS_COMMAND = 0x292, // LKAS controls from DASM
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.CRUISE_BUTTONS = 0x23B, // Cruise control buttons
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};
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// CAN messages for the 5th gen RAM DT platform
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const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = {
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.EPS_2 = 0x31, // EPS driver input torque
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.ESP_1 = 0x83, // Brake pedal and vehicle speed
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.ESP_8 = 0x79, // Brake pedal and vehicle speed
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.ECM_5 = 0x9D, // Throttle position sensor
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.DAS_3 = 0x99, // ACC engagement states from DASM
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.DAS_6 = 0xFA, // LKAS HUD and auto headlight control from DASM
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.LKAS_COMMAND = 0xA6, // LKAS controls from DASM
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.CRUISE_BUTTONS = 0xB1, // Cruise control buttons
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};
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// CAN messages for the 5th gen RAM HD platform
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const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
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.EPS_2 = 0x220, // EPS driver input torque
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.ESP_1 = 0x140, // Brake pedal and vehicle speed
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.ESP_8 = 0x11C, // Brake pedal and vehicle speed
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.ECM_5 = 0x22F, // Throttle position sensor
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.DAS_3 = 0x1F4, // ACC engagement states from DASM
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.DAS_6 = 0x275, // LKAS HUD and auto headlight control from DASM
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.LKAS_COMMAND = 0x276, // LKAS controls from DASM
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.CRUISE_BUTTONS = 0x23A, // Cruise control buttons
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};
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const CanMsg CHRYSLER_TX_MSGS[] = {
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{CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3},
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{CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6},
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{CHRYSLER_ADDRS.DAS_6, 0, 8},
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};
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const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
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{CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3},
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{CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8},
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{CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
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};
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const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
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{CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
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{CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
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{CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
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};
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RxCheck chrysler_rx_checks[] = {
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{.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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//{.msg = {{ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}}},
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{.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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};
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RxCheck chrysler_ram_dt_rx_checks[] = {
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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};
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RxCheck chrysler_ram_hd_rx_checks[] = {
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
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};
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const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
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const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
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enum {
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CHRYSLER_RAM_DT,
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CHRYSLER_RAM_HD,
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CHRYSLER_PACIFICA, // plus Jeep
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} chrysler_platform = CHRYSLER_PACIFICA;
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const ChryslerAddrs *chrysler_addrs = &CHRYSLER_ADDRS;
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static uint32_t chrysler_get_checksum(CANPacket_t *to_push) {
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int checksum_byte = GET_LEN(to_push) - 1U;
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return (uint8_t)(GET_BYTE(to_push, checksum_byte));
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}
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static uint32_t chrysler_compute_checksum(CANPacket_t *to_push) {
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// TODO: clean this up
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// http://illmatics.com/Remote%20Car%20Hacking.pdf
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uint8_t checksum = 0xFFU;
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int len = GET_LEN(to_push);
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for (int j = 0; j < (len - 1); j++) {
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uint8_t shift = 0x80U;
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uint8_t curr = (uint8_t)GET_BYTE(to_push, j);
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for (int i=0; i<8; i++) {
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uint8_t bit_sum = curr & shift;
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uint8_t temp_chk = checksum & 0x80U;
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if (bit_sum != 0U) {
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bit_sum = 0x1C;
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if (temp_chk != 0U) {
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bit_sum = 1;
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}
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checksum = checksum << 1;
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temp_chk = checksum | 1U;
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bit_sum ^= temp_chk;
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} else {
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if (temp_chk != 0U) {
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bit_sum = 0x1D;
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}
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checksum = checksum << 1;
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bit_sum ^= checksum;
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}
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checksum = bit_sum;
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shift = shift >> 1;
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}
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}
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return (uint8_t)(~checksum);
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}
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static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
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return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
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}
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static void chrysler_rx_hook(CANPacket_t *to_push) {
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const int bus = GET_BUS(to_push);
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const int addr = GET_ADDR(to_push);
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// Measured EPS torque
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if ((bus == 0) && (addr == chrysler_addrs->EPS_2)) {
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int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
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update_sample(&torque_meas, torque_meas_new);
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}
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// enter controls on rising edge of ACC, exit controls on ACC off
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const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
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if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
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bool cruise_engaged = GET_BIT(to_push, 21U) == 1U;
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pcm_cruise_check(cruise_engaged);
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}
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// TODO: use the same message for both
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// update vehicle moving
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if ((chrysler_platform != CHRYSLER_PACIFICA) && (bus == 0) && (addr == chrysler_addrs->ESP_8)) {
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vehicle_moving = ((GET_BYTE(to_push, 4) << 8) + GET_BYTE(to_push, 5)) != 0U;
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}
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if ((chrysler_platform == CHRYSLER_PACIFICA) && (bus == 0) && (addr == 514)) {
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int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
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int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
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vehicle_moving = (speed_l != 0) || (speed_r != 0);
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}
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// exit controls on rising edge of gas press
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if ((bus == 0) && (addr == chrysler_addrs->ECM_5)) {
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gas_pressed = GET_BYTE(to_push, 0U) != 0U;
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}
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// exit controls on rising edge of brake press
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if ((bus == 0) && (addr == chrysler_addrs->ESP_1)) {
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brake_pressed = ((GET_BYTE(to_push, 0U) & 0xFU) >> 2U) == 1U;
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}
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generic_rx_checks((bus == 0) && (addr == chrysler_addrs->LKAS_COMMAND));
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}
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static bool chrysler_tx_hook(CANPacket_t *to_send) {
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bool tx = true;
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int addr = GET_ADDR(to_send);
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// STEERING
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if (addr == chrysler_addrs->LKAS_COMMAND) {
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int start_byte = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 1;
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int desired_torque = ((GET_BYTE(to_send, start_byte) & 0x7U) << 8) | GET_BYTE(to_send, start_byte + 1);
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desired_torque -= 1024;
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const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
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(chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;
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bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? (GET_BIT(to_send, 4U) != 0U) : ((GET_BYTE(to_send, 3) & 0x7U) == 2U);
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if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
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tx = false;
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}
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}
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// FORCE CANCEL: only the cancel button press is allowed
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if (addr == chrysler_addrs->CRUISE_BUTTONS) {
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const bool is_cancel = GET_BYTE(to_send, 0) == 1U;
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const bool is_resume = GET_BYTE(to_send, 0) == 0x10U;
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const bool allowed = is_cancel || (is_resume && controls_allowed);
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if (!allowed) {
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tx = false;
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}
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}
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return tx;
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}
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static int chrysler_fwd_hook(int bus_num, int addr) {
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int bus_fwd = -1;
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// forward to camera
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if (bus_num == 0) {
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bus_fwd = 2;
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}
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||||
// forward all messages from camera except LKAS messages
|
||||
const bool is_lkas = ((addr == chrysler_addrs->LKAS_COMMAND) || (addr == chrysler_addrs->DAS_6));
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if ((bus_num == 2) && !is_lkas){
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bus_fwd = 0;
|
||||
}
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||||
return bus_fwd;
|
||||
}
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||||
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||||
static safety_config chrysler_init(uint16_t param) {
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||||
safety_config ret;
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if (GET_FLAG(param, CHRYSLER_PARAM_RAM_DT)) {
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||||
chrysler_platform = CHRYSLER_RAM_DT;
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chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS;
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ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
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#ifdef ALLOW_DEBUG
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} else if (GET_FLAG(param, CHRYSLER_PARAM_RAM_HD)) {
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||||
chrysler_platform = CHRYSLER_RAM_HD;
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chrysler_addrs = &CHRYSLER_RAM_HD_ADDRS;
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ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS);
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#endif
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||||
} else {
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||||
chrysler_platform = CHRYSLER_PACIFICA;
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chrysler_addrs = &CHRYSLER_ADDRS;
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ret = BUILD_SAFETY_CFG(chrysler_rx_checks, CHRYSLER_TX_MSGS);
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}
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||||
return ret;
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||||
}
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||||
|
||||
const safety_hooks chrysler_hooks = {
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.init = chrysler_init,
|
||||
.rx = chrysler_rx_hook,
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.tx = chrysler_tx_hook,
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.fwd = chrysler_fwd_hook,
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.get_counter = chrysler_get_counter,
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||||
.get_checksum = chrysler_get_checksum,
|
||||
.compute_checksum = chrysler_compute_checksum,
|
||||
};
|
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68
panda/board/safety/safety_defaults.h
Normal file
68
panda/board/safety/safety_defaults.h
Normal file
@@ -0,0 +1,68 @@
|
||||
void default_rx_hook(CANPacket_t *to_push) {
|
||||
UNUSED(to_push);
|
||||
}
|
||||
|
||||
// *** no output safety mode ***
|
||||
|
||||
static safety_config nooutput_init(uint16_t param) {
|
||||
UNUSED(param);
|
||||
return (safety_config){NULL, 0, NULL, 0};
|
||||
}
|
||||
|
||||
static bool nooutput_tx_hook(CANPacket_t *to_send) {
|
||||
UNUSED(to_send);
|
||||
return false;
|
||||
}
|
||||
|
||||
static int default_fwd_hook(int bus_num, int addr) {
|
||||
UNUSED(bus_num);
|
||||
UNUSED(addr);
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks nooutput_hooks = {
|
||||
.init = nooutput_init,
|
||||
.rx = default_rx_hook,
|
||||
.tx = nooutput_tx_hook,
|
||||
.fwd = default_fwd_hook,
|
||||
};
|
||||
|
||||
// *** all output safety mode ***
|
||||
|
||||
// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
|
||||
const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
|
||||
bool alloutput_passthrough = false;
|
||||
|
||||
static safety_config alloutput_init(uint16_t param) {
|
||||
controls_allowed = true;
|
||||
alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
|
||||
return (safety_config){NULL, 0, NULL, 0};
|
||||
}
|
||||
|
||||
static bool alloutput_tx_hook(CANPacket_t *to_send) {
|
||||
UNUSED(to_send);
|
||||
return true;
|
||||
}
|
||||
|
||||
static int alloutput_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
UNUSED(addr);
|
||||
|
||||
if (alloutput_passthrough) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
const safety_hooks alloutput_hooks = {
|
||||
.init = alloutput_init,
|
||||
.rx = default_rx_hook,
|
||||
.tx = alloutput_tx_hook,
|
||||
.fwd = alloutput_fwd_hook,
|
||||
};
|
||||
26
panda/board/safety/safety_elm327.h
Normal file
26
panda/board/safety/safety_elm327.h
Normal file
@@ -0,0 +1,26 @@
|
||||
static bool elm327_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int len = GET_LEN(to_send);
|
||||
|
||||
// All ISO 15765-4 messages must be 8 bytes long
|
||||
if (len != 8) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
// Check valid 29 bit send addresses for ISO 15765-4
|
||||
// Check valid 11 bit send addresses for ISO 15765-4
|
||||
if ((addr != 0x18DB33F1) && ((addr & 0x1FFF00FF) != 0x18DA00F1) &&
|
||||
((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700)) {
|
||||
tx = false;
|
||||
}
|
||||
return tx;
|
||||
}
|
||||
|
||||
// If current_board->has_obd and safety_param == 0, bus 1 is multiplexed to the OBD-II port
|
||||
const safety_hooks elm327_hooks = {
|
||||
.init = nooutput_init,
|
||||
.rx = default_rx_hook,
|
||||
.tx = elm327_tx_hook,
|
||||
.fwd = default_fwd_hook,
|
||||
};
|
||||
428
panda/board/safety/safety_ford.h
Normal file
428
panda/board/safety/safety_ford.h
Normal file
@@ -0,0 +1,428 @@
|
||||
// Safety-relevant CAN messages for Ford vehicles.
|
||||
#define FORD_EngBrakeData 0x165 // RX from PCM, for driver brake pedal and cruise state
|
||||
#define FORD_EngVehicleSpThrottle 0x204 // RX from PCM, for driver throttle input
|
||||
#define FORD_DesiredTorqBrk 0x213 // RX from ABS, for standstill state
|
||||
#define FORD_BrakeSysFeatures 0x415 // RX from ABS, for vehicle speed
|
||||
#define FORD_EngVehicleSpThrottle2 0x202 // RX from PCM, for second vehicle speed
|
||||
#define FORD_Yaw_Data_FD1 0x91 // RX from RCM, for yaw rate
|
||||
#define FORD_Steering_Data_FD1 0x083 // TX by OP, various driver switches and LKAS/CC buttons
|
||||
#define FORD_ACCDATA 0x186 // TX by OP, ACC controls
|
||||
#define FORD_ACCDATA_3 0x18A // TX by OP, ACC/TJA user interface
|
||||
#define FORD_Lane_Assist_Data1 0x3CA // TX by OP, Lane Keep Assist
|
||||
#define FORD_LateralMotionControl 0x3D3 // TX by OP, Lateral Control message
|
||||
#define FORD_LateralMotionControl2 0x3D6 // TX by OP, alternate Lateral Control message
|
||||
#define FORD_IPMA_Data 0x3D8 // TX by OP, IPMA and LKAS user interface
|
||||
|
||||
// CAN bus numbers.
|
||||
#define FORD_MAIN_BUS 0U
|
||||
#define FORD_CAM_BUS 2U
|
||||
|
||||
const CanMsg FORD_STOCK_TX_MSGS[] = {
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
|
||||
const CanMsg FORD_LONG_TX_MSGS[] = {
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA, 0, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
|
||||
const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl2, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
|
||||
const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA, 0, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl2, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
|
||||
// warning: quality flags are not yet checked in openpilot's CAN parser,
|
||||
// this may be the cause of blocked messages
|
||||
RxCheck ford_rx_checks[] = {
|
||||
{.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
// TODO: FORD_EngVehicleSpThrottle2 has a counter that skips by 2, understand and enable counter check
|
||||
{.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = true, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
|
||||
// These messages have no counter or checksum
|
||||
{.msg = {{FORD_EngBrakeData, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_DesiredTorqBrk, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static uint8_t ford_get_counter(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t cnt = 0;
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
// Signal: VehVActlBrk_No_Cnt
|
||||
cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
// Signal: VehRollYaw_No_Cnt
|
||||
cnt = GET_BYTE(to_push, 5);
|
||||
} else {
|
||||
}
|
||||
return cnt;
|
||||
}
|
||||
|
||||
static uint32_t ford_get_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum = 0;
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
// Signal: VehVActlBrk_No_Cs
|
||||
chksum = GET_BYTE(to_push, 3);
|
||||
} else if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
// Signal: VehVActlEng_No_Cs
|
||||
chksum = GET_BYTE(to_push, 1);
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
// Signal: VehRollYawW_No_Cs
|
||||
chksum = GET_BYTE(to_push, 4);
|
||||
} else {
|
||||
}
|
||||
return chksum;
|
||||
}
|
||||
|
||||
static uint32_t ford_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum = 0;
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // Veh_V_ActlBrk
|
||||
chksum += GET_BYTE(to_push, 2) >> 6; // VehVActlBrk_D_Qf
|
||||
chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU; // VehVActlBrk_No_Cnt
|
||||
chksum = 0xFFU - chksum;
|
||||
} else if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
chksum += (GET_BYTE(to_push, 2) >> 3) & 0xFU; // VehVActlEng_No_Cnt
|
||||
chksum += (GET_BYTE(to_push, 4) >> 5) & 0x3U; // VehVActlEng_D_Qf
|
||||
chksum += GET_BYTE(to_push, 6) + GET_BYTE(to_push, 7); // Veh_V_ActlEng
|
||||
chksum = 0xFFU - chksum;
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // VehRol_W_Actl
|
||||
chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3); // VehYaw_W_Actl
|
||||
chksum += GET_BYTE(to_push, 5); // VehRollYaw_No_Cnt
|
||||
chksum += GET_BYTE(to_push, 6) >> 6; // VehRolWActl_D_Qf
|
||||
chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U; // VehYawWActl_D_Qf
|
||||
chksum = 0xFFU - chksum;
|
||||
} else {
|
||||
}
|
||||
|
||||
return chksum;
|
||||
}
|
||||
|
||||
static bool ford_get_quality_flag_valid(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
bool valid = false;
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U; // VehVActlBrk_D_Qf
|
||||
} else if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf
|
||||
} else {
|
||||
}
|
||||
return valid;
|
||||
}
|
||||
|
||||
const uint16_t FORD_PARAM_LONGITUDINAL = 1;
|
||||
const uint16_t FORD_PARAM_CANFD = 2;
|
||||
|
||||
bool ford_longitudinal = false;
|
||||
bool ford_canfd = false;
|
||||
|
||||
const LongitudinalLimits FORD_LONG_LIMITS = {
|
||||
// acceleration cmd limits (used for brakes)
|
||||
// Signal: AccBrkTot_A_Rq
|
||||
.max_accel = 5641, // 1.9999 m/s^s
|
||||
.min_accel = 4231, // -3.4991 m/s^2
|
||||
.inactive_accel = 5128, // -0.0008 m/s^2
|
||||
|
||||
// gas cmd limits
|
||||
// Signal: AccPrpl_A_Rq & AccPrpl_A_Pred
|
||||
.max_gas = 700, // 2.0 m/s^2
|
||||
.min_gas = 450, // -0.5 m/s^2
|
||||
.inactive_gas = 0, // -5.0 m/s^2
|
||||
};
|
||||
|
||||
#define FORD_INACTIVE_CURVATURE 1000U
|
||||
#define FORD_INACTIVE_CURVATURE_RATE 4096U
|
||||
#define FORD_INACTIVE_PATH_OFFSET 512U
|
||||
#define FORD_INACTIVE_PATH_ANGLE 1000U
|
||||
|
||||
#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
|
||||
|
||||
#define FORD_MAX_SPEED_DELTA 2.0 // m/s
|
||||
|
||||
static bool ford_lkas_msg_check(int addr) {
|
||||
return (addr == FORD_ACCDATA_3)
|
||||
|| (addr == FORD_Lane_Assist_Data1)
|
||||
|| (addr == FORD_LateralMotionControl)
|
||||
|| (addr == FORD_LateralMotionControl2)
|
||||
|| (addr == FORD_IPMA_Data);
|
||||
}
|
||||
|
||||
// Curvature rate limits
|
||||
const SteeringLimits FORD_STEERING_LIMITS = {
|
||||
.max_steer = 1000,
|
||||
.angle_deg_to_can = 50000, // 1 / (2e-5) rad to can
|
||||
.max_angle_error = 100, // 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can
|
||||
.angle_rate_up_lookup = {
|
||||
{5., 25., 25.},
|
||||
{0.0002, 0.0001, 0.0001}
|
||||
},
|
||||
.angle_rate_down_lookup = {
|
||||
{5., 25., 25.},
|
||||
{0.000225, 0.00015, 0.00015}
|
||||
},
|
||||
|
||||
// no blending at low speed due to lack of torque wind-up and inaccurate current curvature
|
||||
.angle_error_min_speed = 10.0, // m/s
|
||||
|
||||
.enforce_angle_error = true,
|
||||
.inactive_angle_is_zero = true,
|
||||
};
|
||||
|
||||
static void ford_rx_hook(CANPacket_t *to_push) {
|
||||
if (GET_BUS(to_push) == FORD_MAIN_BUS) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in motion state from standstill signal
|
||||
if (addr == FORD_DesiredTorqBrk) {
|
||||
// Signal: VehStop_D_Stat
|
||||
vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) != 1U;
|
||||
}
|
||||
|
||||
// Update vehicle speed
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
// Signal: Veh_V_ActlBrk
|
||||
UPDATE_VEHICLE_SPEED(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6);
|
||||
}
|
||||
|
||||
// Check vehicle speed against a second source
|
||||
if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
// Disable controls if speeds from ABS and PCM ECUs are too far apart.
|
||||
// Signal: Veh_V_ActlEng
|
||||
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
|
||||
if (ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Update vehicle yaw rate
|
||||
if (addr == FORD_Yaw_Data_FD1) {
|
||||
// Signal: VehYaw_W_Actl
|
||||
float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
|
||||
float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
|
||||
// convert current curvature into units on CAN for comparison with desired curvature
|
||||
update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can));
|
||||
}
|
||||
|
||||
// Update gas pedal
|
||||
if (addr == FORD_EngVehicleSpThrottle) {
|
||||
// Pedal position: (0.1 * val) in percent
|
||||
// Signal: ApedPos_Pc_ActlArb
|
||||
gas_pressed = (((GET_BYTE(to_push, 0) & 0x03U) << 8) | GET_BYTE(to_push, 1)) > 0U;
|
||||
}
|
||||
|
||||
// Update brake pedal and cruise state
|
||||
if (addr == FORD_EngBrakeData) {
|
||||
// Signal: BpedDrvAppl_D_Actl
|
||||
brake_pressed = ((GET_BYTE(to_push, 0) >> 4) & 0x3U) == 2U;
|
||||
|
||||
// Signal: CcStat_D_Actl
|
||||
unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U;
|
||||
bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
// If steering controls messages are received on the destination bus, it's an indication
|
||||
// that the relay might be malfunctioning.
|
||||
bool stock_ecu_detected = ford_lkas_msg_check(addr);
|
||||
if (ford_longitudinal) {
|
||||
stock_ecu_detected = stock_ecu_detected || (addr == FORD_ACCDATA);
|
||||
}
|
||||
generic_rx_checks(stock_ecu_detected);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static bool ford_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
// Safety check for ACCDATA accel and brake requests
|
||||
if (addr == FORD_ACCDATA) {
|
||||
// Signal: AccPrpl_A_Rq
|
||||
int gas = ((GET_BYTE(to_send, 6) & 0x3U) << 8) | GET_BYTE(to_send, 7);
|
||||
// Signal: AccPrpl_A_Pred
|
||||
int gas_pred = ((GET_BYTE(to_send, 2) & 0x3U) << 8) | GET_BYTE(to_send, 3);
|
||||
// Signal: AccBrkTot_A_Rq
|
||||
int accel = ((GET_BYTE(to_send, 0) & 0x1FU) << 8) | GET_BYTE(to_send, 1);
|
||||
// Signal: CmbbDeny_B_Actl
|
||||
int cmbb_deny = GET_BIT(to_send, 37U);
|
||||
|
||||
bool violation = false;
|
||||
violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
|
||||
violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
|
||||
violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS);
|
||||
|
||||
// Safety check for stock AEB
|
||||
violation |= cmbb_deny != 0; // do not prevent stock AEB actuation
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for Steering_Data_FD1 button signals
|
||||
// Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam)
|
||||
// which we passthru in OP.
|
||||
if (addr == FORD_Steering_Data_FD1) {
|
||||
// Violation if resume button is pressed while controls not allowed, or
|
||||
// if cancel button is pressed when cruise isn't engaged.
|
||||
bool violation = false;
|
||||
violation |= (GET_BIT(to_send, 8U) == 1U) && !cruise_engaged_prev; // Signal: CcAslButtnCnclPress (cancel)
|
||||
violation |= (GET_BIT(to_send, 25U) == 1U) && !controls_allowed; // Signal: CcAsllButtnResPress (resume)
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for Lane_Assist_Data1 action
|
||||
if (addr == FORD_Lane_Assist_Data1) {
|
||||
// Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid).
|
||||
// This message must be sent for Lane Centering to work, and can include
|
||||
// values such as the steering angle or lane curvature for debugging,
|
||||
// but the action (LkaActvStats_D2_Req) must be set to zero.
|
||||
unsigned int action = GET_BYTE(to_send, 0) >> 5;
|
||||
if (action != 0U) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for LateralMotionControl action
|
||||
if (addr == FORD_LateralMotionControl) {
|
||||
// Signal: LatCtl_D_Rq
|
||||
bool steer_control_enabled = ((GET_BYTE(to_send, 4) >> 2) & 0x7U) != 0U;
|
||||
unsigned int raw_curvature = (GET_BYTE(to_send, 0) << 3) | (GET_BYTE(to_send, 1) >> 5);
|
||||
unsigned int raw_curvature_rate = ((GET_BYTE(to_send, 1) & 0x1FU) << 8) | GET_BYTE(to_send, 2);
|
||||
unsigned int raw_path_angle = (GET_BYTE(to_send, 3) << 3) | (GET_BYTE(to_send, 4) >> 5);
|
||||
unsigned int raw_path_offset = (GET_BYTE(to_send, 5) << 2) | (GET_BYTE(to_send, 6) >> 6);
|
||||
|
||||
// These signals are not yet tested with the current safety limits
|
||||
bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
|
||||
|
||||
// Check angle error and steer_control_enabled
|
||||
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
|
||||
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for LateralMotionControl2 action
|
||||
if (addr == FORD_LateralMotionControl2) {
|
||||
// Signal: LatCtl_D2_Rq
|
||||
bool steer_control_enabled = ((GET_BYTE(to_send, 0) >> 4) & 0x7U) != 0U;
|
||||
unsigned int raw_curvature = (GET_BYTE(to_send, 2) << 3) | (GET_BYTE(to_send, 3) >> 5);
|
||||
unsigned int raw_curvature_rate = (GET_BYTE(to_send, 6) << 3) | (GET_BYTE(to_send, 7) >> 5);
|
||||
unsigned int raw_path_angle = ((GET_BYTE(to_send, 3) & 0x1FU) << 6) | (GET_BYTE(to_send, 4) >> 2);
|
||||
unsigned int raw_path_offset = ((GET_BYTE(to_send, 4) & 0x3U) << 8) | GET_BYTE(to_send, 5);
|
||||
|
||||
// These signals are not yet tested with the current safety limits
|
||||
bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
|
||||
|
||||
// Check angle error and steer_control_enabled
|
||||
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
|
||||
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int ford_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
switch (bus_num) {
|
||||
case FORD_MAIN_BUS: {
|
||||
// Forward all traffic from bus 0 onward
|
||||
bus_fwd = FORD_CAM_BUS;
|
||||
break;
|
||||
}
|
||||
case FORD_CAM_BUS: {
|
||||
if (ford_lkas_msg_check(addr)) {
|
||||
// Block stock LKAS and UI messages
|
||||
bus_fwd = -1;
|
||||
} else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
|
||||
// Block stock ACC message
|
||||
bus_fwd = -1;
|
||||
} else {
|
||||
// Forward remaining traffic
|
||||
bus_fwd = FORD_MAIN_BUS;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
// No other buses should be in use; fallback to do-not-forward
|
||||
bus_fwd = -1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config ford_init(uint16_t param) {
|
||||
UNUSED(param);
|
||||
#ifdef ALLOW_DEBUG
|
||||
ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
|
||||
ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
|
||||
#endif
|
||||
|
||||
safety_config ret;
|
||||
if (ford_canfd) {
|
||||
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
|
||||
} else {
|
||||
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
const safety_hooks ford_hooks = {
|
||||
.init = ford_init,
|
||||
.rx = ford_rx_hook,
|
||||
.tx = ford_tx_hook,
|
||||
.fwd = ford_fwd_hook,
|
||||
.get_counter = ford_get_counter,
|
||||
.get_checksum = ford_get_checksum,
|
||||
.compute_checksum = ford_compute_checksum,
|
||||
.get_quality_flag_valid = ford_get_quality_flag_valid,
|
||||
};
|
||||
244
panda/board/safety/safety_gm.h
Normal file
244
panda/board/safety/safety_gm.h
Normal file
@@ -0,0 +1,244 @@
|
||||
const SteeringLimits GM_STEERING_LIMITS = {
|
||||
.max_steer = 300,
|
||||
.max_rate_up = 10,
|
||||
.max_rate_down = 15,
|
||||
.driver_torque_allowance = 65,
|
||||
.driver_torque_factor = 4,
|
||||
.max_rt_delta = 128,
|
||||
.max_rt_interval = 250000,
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
|
||||
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
|
||||
.max_gas = 3072,
|
||||
.min_gas = 1404,
|
||||
.inactive_gas = 1404,
|
||||
.max_brake = 400,
|
||||
};
|
||||
|
||||
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
|
||||
.max_gas = 3400,
|
||||
.min_gas = 1514,
|
||||
.inactive_gas = 1554,
|
||||
.max_brake = 400,
|
||||
};
|
||||
|
||||
const LongitudinalLimits *gm_long_limits;
|
||||
|
||||
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
|
||||
|
||||
const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
|
||||
{0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2}, // obs bus
|
||||
{0x315, 2, 5}, // ch bus
|
||||
{0x104c006c, 3, 3}, {0x10400060, 3, 5}}; // gmlan
|
||||
|
||||
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, // pt bus
|
||||
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
|
||||
|
||||
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
|
||||
{0x184, 2, 8}}; // camera bus
|
||||
|
||||
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
|
||||
RxCheck gm_rx_checks[] = {
|
||||
{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
|
||||
{0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
|
||||
{0xBE, 0, 8, .frequency = 10U}}}, // Escalade
|
||||
{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
const uint16_t GM_PARAM_HW_CAM = 1;
|
||||
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
|
||||
|
||||
enum {
|
||||
GM_BTN_UNPRESS = 1,
|
||||
GM_BTN_RESUME = 2,
|
||||
GM_BTN_SET = 3,
|
||||
GM_BTN_CANCEL = 6,
|
||||
};
|
||||
|
||||
enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
|
||||
bool gm_cam_long = false;
|
||||
bool gm_pcm_cruise = false;
|
||||
|
||||
static void gm_rx_hook(CANPacket_t *to_push) {
|
||||
if (GET_BUS(to_push) == 0U) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 0x184) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// sample rear wheel speeds
|
||||
if (addr == 0x34A) {
|
||||
int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
|
||||
int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
|
||||
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
|
||||
}
|
||||
|
||||
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
|
||||
if ((addr == 0x1E1) && !gm_pcm_cruise) {
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
|
||||
|
||||
// enter controls on falling edge of set or rising edge of resume (avoids fault)
|
||||
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
|
||||
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
|
||||
if (set || res) {
|
||||
controls_allowed = true;
|
||||
}
|
||||
|
||||
// exit controls on cancel press
|
||||
if (button == GM_BTN_CANCEL) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
|
||||
cruise_button_prev = button;
|
||||
}
|
||||
|
||||
// Reference for brake pressed signals:
|
||||
// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
|
||||
if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
|
||||
brake_pressed = GET_BYTE(to_push, 1) >= 8U;
|
||||
}
|
||||
|
||||
if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
|
||||
brake_pressed = GET_BIT(to_push, 40U) != 0U;
|
||||
}
|
||||
|
||||
if (addr == 0x1C4) {
|
||||
gas_pressed = GET_BYTE(to_push, 5) != 0U;
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls when ACC off
|
||||
if (gm_pcm_cruise) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 1) >> 5) != 0U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
}
|
||||
|
||||
if (addr == 0xBD) {
|
||||
regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
|
||||
}
|
||||
|
||||
bool stock_ecu_detected = (addr == 0x180); // ASCMLKASteeringCmd
|
||||
|
||||
// Check ASCMGasRegenCmd only if we're blocking it
|
||||
if (!gm_pcm_cruise && (addr == 0x2CB)) {
|
||||
stock_ecu_detected = true;
|
||||
}
|
||||
generic_rx_checks(stock_ecu_detected);
|
||||
}
|
||||
}
|
||||
|
||||
static bool gm_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
// BRAKE: safety check
|
||||
if (addr == 0x315) {
|
||||
int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
|
||||
brake = (0x1000 - brake) & 0xFFF;
|
||||
if (longitudinal_brake_checks(brake, *gm_long_limits)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// LKA STEER: safety check
|
||||
if (addr == 0x180) {
|
||||
int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
|
||||
desired_torque = to_signed(desired_torque, 11);
|
||||
|
||||
bool steer_req = (GET_BIT(to_send, 3U) != 0U);
|
||||
|
||||
if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// GAS/REGEN: safety check
|
||||
if (addr == 0x2CB) {
|
||||
bool apply = GET_BIT(to_send, 0U) != 0U;
|
||||
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
|
||||
|
||||
bool violation = false;
|
||||
// Allow apply bit in pre-enabled and overriding states
|
||||
violation |= !controls_allowed && apply;
|
||||
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
|
||||
if ((addr == 0x1E1) && gm_pcm_cruise) {
|
||||
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
|
||||
|
||||
bool allowed_cancel = (button == 6) && cruise_engaged_prev;
|
||||
if (!allowed_cancel) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int gm_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (gm_hw == GM_CAM) {
|
||||
if (bus_num == 0) {
|
||||
// block PSCMStatus; forwarded through openpilot to hide an alert from the camera
|
||||
bool is_pscm_msg = (addr == 0x184);
|
||||
if (!is_pscm_msg) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// block lkas message and acc messages if gm_cam_long, forward all others
|
||||
bool is_lkas_msg = (addr == 0x180);
|
||||
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
|
||||
int block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config gm_init(uint16_t param) {
|
||||
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
|
||||
|
||||
if (gm_hw == GM_ASCM) {
|
||||
gm_long_limits = &GM_ASCM_LONG_LIMITS;
|
||||
} else if (gm_hw == GM_CAM) {
|
||||
gm_long_limits = &GM_CAM_LONG_LIMITS;
|
||||
} else {
|
||||
}
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
|
||||
#endif
|
||||
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
|
||||
|
||||
safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
|
||||
if (gm_hw == GM_CAM) {
|
||||
ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
const safety_hooks gm_hooks = {
|
||||
.init = gm_init,
|
||||
.rx = gm_rx_hook,
|
||||
.tx = gm_tx_hook,
|
||||
.fwd = gm_fwd_hook,
|
||||
};
|
||||
495
panda/board/safety/safety_honda.h
Normal file
495
panda/board/safety/safety_honda.h
Normal file
@@ -0,0 +1,495 @@
|
||||
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}};
|
||||
const CanMsg HONDA_N_INTERCEPTOR_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
|
||||
const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch
|
||||
const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes
|
||||
const CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}}; // Bosch radarless
|
||||
const CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}}; // Bosch radarless w/ gas and brakes
|
||||
|
||||
// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
|
||||
// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
|
||||
// Threshold calculated from DBC gains: round(((83.3 / 0.253984064) + (83.3 / 0.126992032)) / 2) = 492
|
||||
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 492;
|
||||
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
|
||||
|
||||
const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
|
||||
.max_accel = 200, // accel is used for brakes
|
||||
.min_accel = -350,
|
||||
|
||||
.max_gas = 2000,
|
||||
.inactive_gas = -30000,
|
||||
};
|
||||
|
||||
const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
|
||||
.max_gas = 198, // 0xc6
|
||||
.max_brake = 255,
|
||||
|
||||
.inactive_speed = 0,
|
||||
};
|
||||
|
||||
// All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
|
||||
#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
|
||||
{.msg = {{0x1A6, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, /* SCM_BUTTONS */ \
|
||||
{0x296, (pt_bus), 4, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, { 0 }}}, \
|
||||
{.msg = {{0x158, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \
|
||||
{.msg = {{0x17C, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \
|
||||
|
||||
#define HONDA_COMMON_RX_CHECKS(pt_bus) \
|
||||
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
|
||||
{.msg = {{0x326, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}}, /* SCM_FEEDBACK */ \
|
||||
|
||||
// Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
|
||||
#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus) \
|
||||
{.msg = {{0x1BE, (pt_bus), 3, .check_checksum = true, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}}, /* BRAKE_MODULE */ \
|
||||
|
||||
|
||||
// Nidec and bosch radarless has the powertrain bus on bus 0
|
||||
RxCheck honda_common_rx_checks[] = {
|
||||
HONDA_COMMON_RX_CHECKS(0)
|
||||
};
|
||||
|
||||
RxCheck honda_common_interceptor_rx_checks[] = {
|
||||
HONDA_COMMON_RX_CHECKS(0)
|
||||
{.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
RxCheck honda_common_alt_brake_rx_checks[] = {
|
||||
HONDA_COMMON_RX_CHECKS(0)
|
||||
HONDA_ALT_BRAKE_ADDR_CHECK(0)
|
||||
};
|
||||
|
||||
// For Nidecs with main on signal on an alternate msg (missing 0x326)
|
||||
RxCheck honda_nidec_alt_rx_checks[] = {
|
||||
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
|
||||
};
|
||||
|
||||
RxCheck honda_nidec_alt_interceptor_rx_checks[] = {
|
||||
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
|
||||
{.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
// Bosch has pt on bus 1, verified 0x1A6 does not exist
|
||||
RxCheck honda_bosch_rx_checks[] = {
|
||||
HONDA_COMMON_RX_CHECKS(1)
|
||||
};
|
||||
|
||||
RxCheck honda_bosch_alt_brake_rx_checks[] = {
|
||||
HONDA_COMMON_RX_CHECKS(1)
|
||||
HONDA_ALT_BRAKE_ADDR_CHECK(1)
|
||||
};
|
||||
|
||||
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
|
||||
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
|
||||
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
|
||||
const uint16_t HONDA_PARAM_RADARLESS = 8;
|
||||
const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 16;
|
||||
|
||||
enum {
|
||||
HONDA_BTN_NONE = 0,
|
||||
HONDA_BTN_MAIN = 1,
|
||||
HONDA_BTN_CANCEL = 2,
|
||||
HONDA_BTN_SET = 3,
|
||||
HONDA_BTN_RESUME = 4,
|
||||
};
|
||||
|
||||
int honda_brake = 0;
|
||||
bool honda_brake_switch_prev = false;
|
||||
bool honda_alt_brake_msg = false;
|
||||
bool honda_fwd_brake = false;
|
||||
bool honda_bosch_long = false;
|
||||
bool honda_bosch_radarless = false;
|
||||
enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
|
||||
|
||||
|
||||
int honda_get_pt_bus(void) {
|
||||
return ((honda_hw == HONDA_BOSCH) && !honda_bosch_radarless) ? 1 : 0;
|
||||
}
|
||||
|
||||
static uint32_t honda_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
|
||||
}
|
||||
|
||||
static uint32_t honda_compute_checksum(CANPacket_t *to_push) {
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = 0U;
|
||||
unsigned int addr = GET_ADDR(to_push);
|
||||
while (addr > 0U) {
|
||||
checksum += (addr & 0xFU); addr >>= 4;
|
||||
}
|
||||
for (int j = 0; j < len; j++) {
|
||||
uint8_t byte = GET_BYTE(to_push, j);
|
||||
checksum += (byte & 0xFU) + (byte >> 4U);
|
||||
if (j == (len - 1)) {
|
||||
checksum -= (byte & 0xFU); // remove checksum in message
|
||||
}
|
||||
}
|
||||
return (uint8_t)((8U - checksum) & 0xFU);
|
||||
}
|
||||
|
||||
static uint8_t honda_get_counter(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t cnt = 0U;
|
||||
if (addr == 0x201) {
|
||||
// Signal: COUNTER_PEDAL
|
||||
cnt = GET_BYTE(to_push, 4) & 0x0FU;
|
||||
} else {
|
||||
int counter_byte = GET_LEN(to_push) - 1U;
|
||||
cnt = (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U;
|
||||
}
|
||||
return cnt;
|
||||
}
|
||||
|
||||
static void honda_rx_hook(CANPacket_t *to_push) {
|
||||
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || \
|
||||
((honda_hw == HONDA_NIDEC) && !enable_gas_interceptor);
|
||||
int pt_bus = honda_get_pt_bus();
|
||||
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
int bus = GET_BUS(to_push);
|
||||
|
||||
// sample speed
|
||||
if (addr == 0x158) {
|
||||
// first 2 bytes
|
||||
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
||||
}
|
||||
|
||||
// check ACC main state
|
||||
// 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
|
||||
if ((addr == 0x326) || (addr == 0x1A6)) {
|
||||
acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
}
|
||||
|
||||
// enter controls when PCM enters cruise state
|
||||
if (pcm_cruise && (addr == 0x17C)) {
|
||||
const bool cruise_engaged = GET_BIT(to_push, 38U) != 0U;
|
||||
// engage on rising edge
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = true;
|
||||
}
|
||||
|
||||
// Since some Nidec cars can brake down to 0 after the PCM disengages,
|
||||
// we don't disengage when the PCM does.
|
||||
if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
}
|
||||
|
||||
// state machine to enter and exit controls for button enabling
|
||||
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
||||
if (((addr == 0x1A6) || (addr == 0x296)) && (bus == pt_bus)) {
|
||||
int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5;
|
||||
|
||||
// enter controls on the falling edge of set or resume
|
||||
bool set = (button != HONDA_BTN_SET) && (cruise_button_prev == HONDA_BTN_SET);
|
||||
bool res = (button != HONDA_BTN_RESUME) && (cruise_button_prev == HONDA_BTN_RESUME);
|
||||
if (acc_main_on && !pcm_cruise && (set || res)) {
|
||||
controls_allowed = true;
|
||||
}
|
||||
|
||||
// exit controls once main or cancel are pressed
|
||||
if ((button == HONDA_BTN_MAIN) || (button == HONDA_BTN_CANCEL)) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
cruise_button_prev = button;
|
||||
}
|
||||
|
||||
// user brake signal on 0x17C reports applied brake from computer brake on accord
|
||||
// and crv, which prevents the usual brake safety from working correctly. these
|
||||
// cars have a signal on 0x1BE which only detects user's brake being applied so
|
||||
// in these cases, this is used instead.
|
||||
// most hondas: 0x17C
|
||||
// accord, crv: 0x1BE
|
||||
if (honda_alt_brake_msg) {
|
||||
if (addr == 0x1BE) {
|
||||
brake_pressed = GET_BIT(to_push, 4U) != 0U;
|
||||
}
|
||||
} else {
|
||||
if (addr == 0x17C) {
|
||||
// also if brake switch is 1 for two CAN frames, as brake pressed is delayed
|
||||
const bool brake_switch = GET_BIT(to_push, 32U) != 0U;
|
||||
brake_pressed = (GET_BIT(to_push, 53U) != 0U) || (brake_switch && honda_brake_switch_prev);
|
||||
honda_brake_switch_prev = brake_switch;
|
||||
}
|
||||
}
|
||||
|
||||
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
|
||||
if ((addr == 0x201) && (len == 6) && enable_gas_interceptor) {
|
||||
int gas_interceptor = HONDA_GET_INTERCEPTOR(to_push);
|
||||
gas_pressed = gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD;
|
||||
gas_interceptor_prev = gas_interceptor;
|
||||
}
|
||||
|
||||
if (!enable_gas_interceptor) {
|
||||
if (addr == 0x17C) {
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0U;
|
||||
}
|
||||
}
|
||||
|
||||
// disable stock Honda AEB in alternative experience
|
||||
if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
|
||||
if ((bus == 2) && (addr == 0x1FA)) {
|
||||
bool honda_stock_aeb = GET_BIT(to_push, 29U) != 0U;
|
||||
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
|
||||
|
||||
// Forward AEB when stock braking is higher than openpilot braking
|
||||
// only stop forwarding when AEB event is over
|
||||
if (!honda_stock_aeb) {
|
||||
honda_fwd_brake = false;
|
||||
} else if (honda_stock_brake >= honda_brake) {
|
||||
honda_fwd_brake = true;
|
||||
} else {
|
||||
// Leave Honda forward brake as is
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side
|
||||
bool stock_ecu_detected = false;
|
||||
|
||||
// If steering controls messages are received on the destination bus, it's an indication
|
||||
// that the relay might be malfunctioning
|
||||
if ((addr == 0xE4) || (addr == 0x194)) {
|
||||
if (((honda_hw != HONDA_NIDEC) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_NIDEC) && (bus == 0))) {
|
||||
stock_ecu_detected = true;
|
||||
}
|
||||
}
|
||||
// If Honda Bosch longitudinal mode is selected we need to ensure the radar is turned off
|
||||
// Verify this by ensuring ACC_CONTROL (0x1DF) is not received on the PT bus
|
||||
if (honda_bosch_long && !honda_bosch_radarless && (bus == pt_bus) && (addr == 0x1DF)) {
|
||||
stock_ecu_detected = true;
|
||||
}
|
||||
|
||||
generic_rx_checks(stock_ecu_detected);
|
||||
|
||||
}
|
||||
|
||||
static bool honda_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
|
||||
int bus_pt = honda_get_pt_bus();
|
||||
int bus_buttons = (honda_bosch_radarless) ? 2 : bus_pt; // the camera controls ACC on radarless Bosch cars
|
||||
|
||||
// ACC_HUD: safety check (nidec w/o pedal)
|
||||
if ((addr == 0x30C) && (bus == bus_pt)) {
|
||||
int pcm_speed = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
|
||||
int pcm_gas = GET_BYTE(to_send, 2);
|
||||
|
||||
bool violation = false;
|
||||
violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS);
|
||||
violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS);
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// BRAKE: safety check (nidec)
|
||||
if ((addr == 0x1FA) && (bus == bus_pt)) {
|
||||
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
|
||||
if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
if (honda_fwd_brake) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// BRAKE/GAS: safety check (bosch)
|
||||
if ((addr == 0x1DF) && (bus == bus_pt)) {
|
||||
int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7U);
|
||||
accel = to_signed(accel, 11);
|
||||
|
||||
int gas = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
|
||||
gas = to_signed(gas, 16);
|
||||
|
||||
bool violation = false;
|
||||
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
|
||||
violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// ACCEL: safety check (radarless)
|
||||
if ((addr == 0x1C8) && (bus == bus_pt)) {
|
||||
int accel = (GET_BYTE(to_send, 0) << 4) | (GET_BYTE(to_send, 1) >> 4);
|
||||
accel = to_signed(accel, 12);
|
||||
|
||||
bool violation = false;
|
||||
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// STEER: safety check
|
||||
if ((addr == 0xE4) || (addr == 0x194)) {
|
||||
if (!controls_allowed) {
|
||||
bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
|
||||
if (steer_applied) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Bosch supplemental control check
|
||||
if (addr == 0xE5) {
|
||||
if ((GET_BYTES(to_send, 0, 4) != 0x10800004U) || ((GET_BYTES(to_send, 4, 4) & 0x00FFFFFFU) != 0x0U)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// GAS: safety check (interceptor)
|
||||
if (addr == 0x200) {
|
||||
if (longitudinal_interceptor_checks(to_send)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
|
||||
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) {
|
||||
if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (addr == 0x18DAB0F1) {
|
||||
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static safety_config honda_nidec_init(uint16_t param) {
|
||||
honda_hw = HONDA_NIDEC;
|
||||
honda_brake = 0;
|
||||
honda_brake_switch_prev = false;
|
||||
honda_fwd_brake = false;
|
||||
honda_alt_brake_msg = false;
|
||||
honda_bosch_long = false;
|
||||
honda_bosch_radarless = false;
|
||||
enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
|
||||
|
||||
safety_config ret;
|
||||
if (GET_FLAG(param, HONDA_PARAM_NIDEC_ALT)) {
|
||||
enable_gas_interceptor ? SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret) : \
|
||||
SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret);
|
||||
} else {
|
||||
enable_gas_interceptor ? SET_RX_CHECKS(honda_common_interceptor_rx_checks, ret) : \
|
||||
SET_RX_CHECKS(honda_common_rx_checks, ret);
|
||||
}
|
||||
|
||||
if (enable_gas_interceptor) {
|
||||
SET_TX_MSGS(HONDA_N_INTERCEPTOR_TX_MSGS, ret);
|
||||
} else {
|
||||
SET_TX_MSGS(HONDA_N_TX_MSGS, ret);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static safety_config honda_bosch_init(uint16_t param) {
|
||||
honda_hw = HONDA_BOSCH;
|
||||
honda_brake_switch_prev = false;
|
||||
honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
|
||||
// Checking for alternate brake override from safety parameter
|
||||
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
|
||||
|
||||
// radar disabled so allow gas/brakes
|
||||
#ifdef ALLOW_DEBUG
|
||||
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
|
||||
#endif
|
||||
|
||||
safety_config ret;
|
||||
if (honda_bosch_radarless && honda_alt_brake_msg) {
|
||||
SET_RX_CHECKS(honda_common_alt_brake_rx_checks, ret);
|
||||
} else if (honda_bosch_radarless) {
|
||||
SET_RX_CHECKS(honda_common_rx_checks, ret);
|
||||
} else if (honda_alt_brake_msg) {
|
||||
SET_RX_CHECKS(honda_bosch_alt_brake_rx_checks, ret);
|
||||
} else {
|
||||
SET_RX_CHECKS(honda_bosch_rx_checks, ret);
|
||||
}
|
||||
|
||||
if (honda_bosch_radarless) {
|
||||
honda_bosch_long ? SET_TX_MSGS(HONDA_RADARLESS_LONG_TX_MSGS, ret) : \
|
||||
SET_TX_MSGS(HONDA_RADARLESS_TX_MSGS, ret);
|
||||
} else {
|
||||
honda_bosch_long ? SET_TX_MSGS(HONDA_BOSCH_LONG_TX_MSGS, ret) : \
|
||||
SET_TX_MSGS(HONDA_BOSCH_TX_MSGS, ret);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int honda_nidec_fwd_hook(int bus_num, int addr) {
|
||||
// fwd from car to camera. also fwd certain msgs from camera to car
|
||||
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
|
||||
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
||||
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
|
||||
bool is_acc_hud_msg = addr == 0x30C;
|
||||
bool is_brake_msg = addr == 0x1FA;
|
||||
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
|
||||
if (!block_fwd) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static int honda_bosch_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
|
||||
int is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
|
||||
bool block_msg = is_lkas_msg || is_acc_msg;
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
const safety_hooks honda_nidec_hooks = {
|
||||
.init = honda_nidec_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.fwd = honda_nidec_fwd_hook,
|
||||
.get_counter = honda_get_counter,
|
||||
.get_checksum = honda_get_checksum,
|
||||
.compute_checksum = honda_compute_checksum,
|
||||
};
|
||||
|
||||
const safety_hooks honda_bosch_hooks = {
|
||||
.init = honda_bosch_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.fwd = honda_bosch_fwd_hook,
|
||||
.get_counter = honda_get_counter,
|
||||
.get_checksum = honda_get_checksum,
|
||||
.compute_checksum = honda_compute_checksum,
|
||||
};
|
||||
344
panda/board/safety/safety_hyundai.h
Normal file
344
panda/board/safety/safety_hyundai.h
Normal file
@@ -0,0 +1,344 @@
|
||||
#include "safety_hyundai_common.h"
|
||||
|
||||
#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
|
||||
.max_steer = (steer), \
|
||||
.max_rate_up = (rate_up), \
|
||||
.max_rate_down = (rate_down), \
|
||||
.max_rt_delta = 112, \
|
||||
.max_rt_interval = 250000, \
|
||||
.driver_torque_allowance = 50, \
|
||||
.driver_torque_factor = 2, \
|
||||
.type = TorqueDriverLimited, \
|
||||
/* the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, */ \
|
||||
/* we allow setting CF_Lkas_ActToi bit to 0 while maintaining the requested torque value for two consecutive frames */ \
|
||||
.min_valid_request_frames = 89, \
|
||||
.max_invalid_request_frames = 2, \
|
||||
.min_valid_request_rt_interval = 810000, /* 810ms; a ~10% buffer on cutting every 90 frames */ \
|
||||
.has_steer_req_tolerance = true, \
|
||||
}
|
||||
|
||||
const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
|
||||
const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
|
||||
|
||||
const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
|
||||
.max_accel = 200, // 1/100 m/s2
|
||||
.min_accel = -350, // 1/100 m/s2
|
||||
};
|
||||
|
||||
const CanMsg HYUNDAI_TX_MSGS[] = {
|
||||
{0x340, 0, 8}, // LKAS11 Bus 0
|
||||
{0x4F1, 0, 4}, // CLU11 Bus 0
|
||||
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
|
||||
};
|
||||
|
||||
const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
|
||||
{0x340, 0, 8}, // LKAS11 Bus 0
|
||||
{0x4F1, 0, 4}, // CLU11 Bus 0
|
||||
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
|
||||
{0x420, 0, 8}, // SCC11 Bus 0
|
||||
{0x421, 0, 8}, // SCC12 Bus 0
|
||||
{0x50A, 0, 8}, // SCC13 Bus 0
|
||||
{0x389, 0, 8}, // SCC14 Bus 0
|
||||
{0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
|
||||
{0x38D, 0, 8}, // FCA11 Bus 0
|
||||
{0x483, 0, 8}, // FCA12 Bus 0
|
||||
{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
|
||||
};
|
||||
|
||||
const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
|
||||
{0x340, 0, 8}, // LKAS11 Bus 0
|
||||
{0x4F1, 2, 4}, // CLU11 Bus 2
|
||||
{0x485, 0, 4}, // LFAHDA_MFC Bus 0
|
||||
};
|
||||
|
||||
#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
|
||||
{.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
|
||||
{0x371, 0, 8, .frequency = 100U}, { 0 }}}, \
|
||||
{.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \
|
||||
|
||||
#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
|
||||
{.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
|
||||
RxCheck hyundai_rx_checks[] = {
|
||||
HYUNDAI_COMMON_RX_CHECKS(false)
|
||||
HYUNDAI_SCC12_ADDR_CHECK(0)
|
||||
};
|
||||
|
||||
RxCheck hyundai_cam_scc_rx_checks[] = {
|
||||
HYUNDAI_COMMON_RX_CHECKS(false)
|
||||
HYUNDAI_SCC12_ADDR_CHECK(2)
|
||||
};
|
||||
|
||||
RxCheck hyundai_long_rx_checks[] = {
|
||||
HYUNDAI_COMMON_RX_CHECKS(false)
|
||||
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
|
||||
{.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
// older hyundai models have less checks due to missing counters and checksums
|
||||
RxCheck hyundai_legacy_rx_checks[] = {
|
||||
HYUNDAI_COMMON_RX_CHECKS(true)
|
||||
HYUNDAI_SCC12_ADDR_CHECK(0)
|
||||
};
|
||||
|
||||
bool hyundai_legacy = false;
|
||||
|
||||
|
||||
static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t cnt = 0;
|
||||
if (addr == 0x260) {
|
||||
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
|
||||
} else if (addr == 0x386) {
|
||||
cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
|
||||
} else if (addr == 0x394) {
|
||||
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
|
||||
} else if (addr == 0x421) {
|
||||
cnt = GET_BYTE(to_push, 7) & 0xFU;
|
||||
} else if (addr == 0x4F1) {
|
||||
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
|
||||
} else {
|
||||
}
|
||||
return cnt;
|
||||
}
|
||||
|
||||
static uint32_t hyundai_get_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum = 0;
|
||||
if (addr == 0x260) {
|
||||
chksum = GET_BYTE(to_push, 7) & 0xFU;
|
||||
} else if (addr == 0x386) {
|
||||
chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
|
||||
} else if (addr == 0x394) {
|
||||
chksum = GET_BYTE(to_push, 6) & 0xFU;
|
||||
} else if (addr == 0x421) {
|
||||
chksum = GET_BYTE(to_push, 7) >> 4;
|
||||
} else {
|
||||
}
|
||||
return chksum;
|
||||
}
|
||||
|
||||
static uint32_t hyundai_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum = 0;
|
||||
if (addr == 0x386) {
|
||||
// count the bits
|
||||
for (int i = 0; i < 8; i++) {
|
||||
uint8_t b = GET_BYTE(to_push, i);
|
||||
for (int j = 0; j < 8; j++) {
|
||||
uint8_t bit = 0;
|
||||
// exclude checksum and counter
|
||||
if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
|
||||
bit = (b >> (uint8_t)j) & 1U;
|
||||
}
|
||||
chksum += bit;
|
||||
}
|
||||
}
|
||||
chksum = (chksum ^ 9U) & 15U;
|
||||
} else {
|
||||
// sum of nibbles
|
||||
for (int i = 0; i < 8; i++) {
|
||||
if ((addr == 0x394) && (i == 7)) {
|
||||
continue; // exclude
|
||||
}
|
||||
uint8_t b = GET_BYTE(to_push, i);
|
||||
if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
|
||||
b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
|
||||
}
|
||||
chksum += (b % 16U) + (b / 16U);
|
||||
}
|
||||
chksum = (16U - (chksum % 16U)) % 16U;
|
||||
}
|
||||
|
||||
return chksum;
|
||||
}
|
||||
|
||||
static void hyundai_rx_hook(CANPacket_t *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
|
||||
if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
|
||||
// 2 bits: 13-14
|
||||
int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
|
||||
hyundai_common_cruise_state_check(cruise_engaged);
|
||||
}
|
||||
|
||||
if (bus == 0) {
|
||||
if (addr == 0x251) {
|
||||
int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// ACC steering wheel buttons
|
||||
if (addr == 0x4F1) {
|
||||
int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
|
||||
int main_button = GET_BIT(to_push, 3U);
|
||||
hyundai_common_cruise_buttons_check(cruise_button, main_button);
|
||||
}
|
||||
|
||||
// gas press, different for EV, hybrid, and ICE models
|
||||
if ((addr == 0x371) && hyundai_ev_gas_signal) {
|
||||
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
|
||||
} else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
|
||||
gas_pressed = GET_BYTE(to_push, 7) != 0U;
|
||||
} else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
|
||||
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
|
||||
} else {
|
||||
}
|
||||
|
||||
// sample wheel speed, averaging opposite corners
|
||||
if (addr == 0x386) {
|
||||
uint32_t front_left_speed = GET_BYTES(to_push, 0, 2) & 0x3FFFU;
|
||||
uint32_t rear_right_speed = GET_BYTES(to_push, 6, 2) & 0x3FFFU;
|
||||
vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
|
||||
}
|
||||
|
||||
if (addr == 0x394) {
|
||||
brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
|
||||
}
|
||||
|
||||
bool stock_ecu_detected = (addr == 0x340);
|
||||
|
||||
// If openpilot is controlling longitudinal we need to ensure the radar is turned off
|
||||
// Enforce by checking we don't see SCC12
|
||||
if (hyundai_longitudinal && (addr == 0x421)) {
|
||||
stock_ecu_detected = true;
|
||||
}
|
||||
generic_rx_checks(stock_ecu_detected);
|
||||
}
|
||||
}
|
||||
|
||||
static bool hyundai_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
// FCA11: Block any potential actuation
|
||||
if (addr == 0x38D) {
|
||||
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
|
||||
int FCA_CmdAct = GET_BIT(to_send, 20U);
|
||||
int CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
|
||||
|
||||
if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// ACCEL: safety check
|
||||
if (addr == 0x421) {
|
||||
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
|
||||
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
|
||||
|
||||
int aeb_decel_cmd = GET_BYTE(to_send, 2);
|
||||
int aeb_req = GET_BIT(to_send, 54U);
|
||||
|
||||
bool violation = false;
|
||||
|
||||
violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
|
||||
violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
|
||||
violation |= (aeb_decel_cmd != 0);
|
||||
violation |= (aeb_req != 0);
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// LKA STEER: safety check
|
||||
if (addr == 0x340) {
|
||||
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
|
||||
bool steer_req = GET_BIT(to_send, 27U) != 0U;
|
||||
|
||||
const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
|
||||
if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (addr == 0x7D0) {
|
||||
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// BUTTONS: used for resume spamming and cruise cancellation
|
||||
if ((addr == 0x4F1) && !hyundai_longitudinal) {
|
||||
int button = GET_BYTE(to_send, 0) & 0x7U;
|
||||
|
||||
bool allowed_resume = (button == 1) && controls_allowed;
|
||||
bool allowed_cancel = (button == 4) && cruise_engaged_prev;
|
||||
if (!(allowed_resume || allowed_cancel)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int hyundai_fwd_hook(int bus_num, int addr) {
|
||||
|
||||
int bus_fwd = -1;
|
||||
|
||||
// forward cam to ccan and viceversa, except lkas cmd
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config hyundai_init(uint16_t param) {
|
||||
hyundai_common_init(param);
|
||||
hyundai_legacy = false;
|
||||
|
||||
if (hyundai_camera_scc) {
|
||||
hyundai_longitudinal = false;
|
||||
}
|
||||
|
||||
safety_config ret;
|
||||
if (hyundai_longitudinal) {
|
||||
ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
|
||||
} else if (hyundai_camera_scc) {
|
||||
ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
|
||||
} else {
|
||||
ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static safety_config hyundai_legacy_init(uint16_t param) {
|
||||
hyundai_common_init(param);
|
||||
hyundai_legacy = true;
|
||||
hyundai_longitudinal = false;
|
||||
hyundai_camera_scc = false;
|
||||
return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
|
||||
}
|
||||
|
||||
const safety_hooks hyundai_hooks = {
|
||||
.init = hyundai_init,
|
||||
.rx = hyundai_rx_hook,
|
||||
.tx = hyundai_tx_hook,
|
||||
.fwd = hyundai_fwd_hook,
|
||||
.get_counter = hyundai_get_counter,
|
||||
.get_checksum = hyundai_get_checksum,
|
||||
.compute_checksum = hyundai_compute_checksum,
|
||||
};
|
||||
|
||||
const safety_hooks hyundai_legacy_hooks = {
|
||||
.init = hyundai_legacy_init,
|
||||
.rx = hyundai_rx_hook,
|
||||
.tx = hyundai_tx_hook,
|
||||
.fwd = hyundai_fwd_hook,
|
||||
.get_counter = hyundai_get_counter,
|
||||
.get_checksum = hyundai_get_checksum,
|
||||
.compute_checksum = hyundai_compute_checksum,
|
||||
};
|
||||
360
panda/board/safety/safety_hyundai_canfd.h
Normal file
360
panda/board/safety/safety_hyundai_canfd.h
Normal file
@@ -0,0 +1,360 @@
|
||||
#include "safety_hyundai_common.h"
|
||||
|
||||
const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
|
||||
.max_steer = 270,
|
||||
.max_rt_delta = 112,
|
||||
.max_rt_interval = 250000,
|
||||
.max_rate_up = 2,
|
||||
.max_rate_down = 3,
|
||||
.driver_torque_allowance = 250,
|
||||
.driver_torque_factor = 2,
|
||||
.type = TorqueDriverLimited,
|
||||
|
||||
// the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
|
||||
// we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
|
||||
.min_valid_request_frames = 89,
|
||||
.max_invalid_request_frames = 2,
|
||||
.min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames
|
||||
.has_steer_req_tolerance = true,
|
||||
};
|
||||
|
||||
const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
|
||||
{0x50, 0, 16}, // LKAS
|
||||
{0x1CF, 1, 8}, // CRUISE_BUTTON
|
||||
{0x2A4, 0, 24}, // CAM_0x2A4
|
||||
};
|
||||
|
||||
const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
|
||||
{0x110, 0, 32}, // LKAS_ALT
|
||||
{0x1CF, 1, 8}, // CRUISE_BUTTON
|
||||
{0x362, 0, 32}, // CAM_0x362
|
||||
};
|
||||
|
||||
const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
|
||||
{0x50, 0, 16}, // LKAS
|
||||
{0x1CF, 1, 8}, // CRUISE_BUTTON
|
||||
{0x2A4, 0, 24}, // CAM_0x2A4
|
||||
{0x51, 0, 32}, // ADRV_0x51
|
||||
{0x730, 1, 8}, // tester present for ADAS ECU disable
|
||||
{0x12A, 1, 16}, // LFA
|
||||
{0x160, 1, 16}, // ADRV_0x160
|
||||
{0x1E0, 1, 16}, // LFAHDA_CLUSTER
|
||||
{0x1A0, 1, 32}, // CRUISE_INFO
|
||||
{0x1EA, 1, 32}, // ADRV_0x1ea
|
||||
{0x200, 1, 8}, // ADRV_0x200
|
||||
{0x345, 1, 8}, // ADRV_0x345
|
||||
{0x1DA, 1, 32}, // ADRV_0x1da
|
||||
};
|
||||
|
||||
const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
|
||||
{0x12A, 0, 16}, // LFA
|
||||
{0x1A0, 0, 32}, // CRUISE_INFO
|
||||
{0x1CF, 2, 8}, // CRUISE_BUTTON
|
||||
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
|
||||
};
|
||||
|
||||
|
||||
// *** Addresses checked in rx hook ***
|
||||
// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
|
||||
#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
|
||||
{.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
|
||||
{0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
|
||||
{0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}}, \
|
||||
{.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
|
||||
|
||||
#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus) \
|
||||
{.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
|
||||
#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
|
||||
{.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
|
||||
// SCC_CONTROL (from ADAS unit or camera)
|
||||
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
|
||||
{.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
|
||||
|
||||
// *** Non-HDA2 checks ***
|
||||
// Camera sends SCC messages on HDA1.
|
||||
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
|
||||
RxCheck hyundai_canfd_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
|
||||
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
|
||||
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
|
||||
};
|
||||
RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
|
||||
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
|
||||
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
|
||||
};
|
||||
|
||||
// Longitudinal checks for HDA1
|
||||
RxCheck hyundai_canfd_long_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
|
||||
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
|
||||
};
|
||||
RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
|
||||
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
|
||||
};
|
||||
|
||||
// Radar sends SCC messages on these cars instead of camera
|
||||
RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
|
||||
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
|
||||
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
|
||||
};
|
||||
RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
|
||||
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
|
||||
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
|
||||
};
|
||||
|
||||
|
||||
// *** HDA2 checks ***
|
||||
// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
|
||||
// Does not use the alt buttons message
|
||||
RxCheck hyundai_canfd_hda2_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
|
||||
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
|
||||
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
|
||||
};
|
||||
RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
|
||||
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
|
||||
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
|
||||
};
|
||||
|
||||
|
||||
|
||||
const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
|
||||
const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
|
||||
bool hyundai_canfd_alt_buttons = false;
|
||||
bool hyundai_canfd_hda2_alt_steering = false;
|
||||
|
||||
|
||||
int hyundai_canfd_hda2_get_lkas_addr(void) {
|
||||
return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
|
||||
}
|
||||
|
||||
static uint8_t hyundai_canfd_get_counter(CANPacket_t *to_push) {
|
||||
uint8_t ret = 0;
|
||||
if (GET_LEN(to_push) == 8U) {
|
||||
ret = GET_BYTE(to_push, 1) >> 4;
|
||||
} else {
|
||||
ret = GET_BYTE(to_push, 2);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static uint32_t hyundai_canfd_get_checksum(CANPacket_t *to_push) {
|
||||
uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8);
|
||||
return chksum;
|
||||
}
|
||||
|
||||
static void hyundai_canfd_rx_hook(CANPacket_t *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
|
||||
const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
|
||||
|
||||
if (bus == pt_bus) {
|
||||
// driver torque
|
||||
if (addr == 0xea) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
|
||||
torque_driver_new -= 4095;
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// cruise buttons
|
||||
const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
|
||||
if (addr == button_addr) {
|
||||
int main_button = 0;
|
||||
int cruise_button = 0;
|
||||
if (addr == 0x1cf) {
|
||||
cruise_button = GET_BYTE(to_push, 2) & 0x7U;
|
||||
main_button = GET_BIT(to_push, 19U);
|
||||
} else {
|
||||
cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
|
||||
main_button = GET_BIT(to_push, 34U);
|
||||
}
|
||||
hyundai_common_cruise_buttons_check(cruise_button, main_button);
|
||||
}
|
||||
|
||||
// gas press, different for EV, hybrid, and ICE models
|
||||
if ((addr == 0x35) && hyundai_ev_gas_signal) {
|
||||
gas_pressed = GET_BYTE(to_push, 5) != 0U;
|
||||
} else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
|
||||
gas_pressed = (GET_BIT(to_push, 103U) != 0U) || (GET_BYTE(to_push, 13) != 0U) || (GET_BIT(to_push, 112U) != 0U);
|
||||
} else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
|
||||
gas_pressed = GET_BIT(to_push, 176U) != 0U;
|
||||
} else {
|
||||
}
|
||||
|
||||
// brake press
|
||||
if (addr == 0x175) {
|
||||
brake_pressed = GET_BIT(to_push, 81U) != 0U;
|
||||
}
|
||||
|
||||
// vehicle moving
|
||||
if (addr == 0xa0) {
|
||||
uint32_t front_left_speed = GET_BYTES(to_push, 8, 2);
|
||||
uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2);
|
||||
vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
|
||||
}
|
||||
}
|
||||
|
||||
if (bus == scc_bus) {
|
||||
// cruise state
|
||||
if ((addr == 0x1a0) && !hyundai_longitudinal) {
|
||||
// 1=enabled, 2=driver override
|
||||
int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U);
|
||||
bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
|
||||
hyundai_common_cruise_state_check(cruise_engaged);
|
||||
}
|
||||
}
|
||||
|
||||
const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
|
||||
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
|
||||
if (hyundai_longitudinal) {
|
||||
// on HDA2, ensure ADRV ECU is still knocked out
|
||||
// on others, ensure accel msg is blocked from camera
|
||||
const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
|
||||
stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
|
||||
}
|
||||
generic_rx_checks(stock_ecu_detected);
|
||||
|
||||
}
|
||||
|
||||
static bool hyundai_canfd_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
// steering
|
||||
const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
|
||||
if (addr == steer_addr) {
|
||||
int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
|
||||
bool steer_req = GET_BIT(to_send, 52U) != 0U;
|
||||
|
||||
if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// cruise buttons check
|
||||
if (addr == 0x1cf) {
|
||||
int button = GET_BYTE(to_send, 2) & 0x7U;
|
||||
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
|
||||
bool is_resume = (button == HYUNDAI_BTN_RESUME);
|
||||
|
||||
bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
|
||||
if (!allowed) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if ((addr == 0x730) && hyundai_canfd_hda2) {
|
||||
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// ACCEL: safety check
|
||||
if (addr == 0x1a0) {
|
||||
int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U;
|
||||
int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U;
|
||||
|
||||
bool violation = false;
|
||||
|
||||
if (hyundai_longitudinal) {
|
||||
violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
|
||||
violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
|
||||
} else {
|
||||
// only used to cancel on here
|
||||
if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
// LKAS for HDA2, LFA for HDA1
|
||||
int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;
|
||||
bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2;
|
||||
bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
|
||||
|
||||
// HUD icons
|
||||
bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
|
||||
|
||||
// CRUISE_INFO for non-HDA2, we send our own longitudinal commands
|
||||
bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
|
||||
|
||||
bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
hyundai_common_init(param);
|
||||
|
||||
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
|
||||
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
|
||||
hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);
|
||||
|
||||
// no long for radar-SCC HDA1 yet
|
||||
if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
|
||||
hyundai_longitudinal = false;
|
||||
}
|
||||
|
||||
safety_config ret;
|
||||
if (hyundai_longitudinal) {
|
||||
if (hyundai_canfd_hda2) {
|
||||
ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
|
||||
} else {
|
||||
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
|
||||
}
|
||||
} else {
|
||||
if (hyundai_canfd_hda2) {
|
||||
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
|
||||
} else if (!hyundai_camera_scc) {
|
||||
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
|
||||
} else {
|
||||
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
const safety_hooks hyundai_canfd_hooks = {
|
||||
.init = hyundai_canfd_init,
|
||||
.rx = hyundai_canfd_rx_hook,
|
||||
.tx = hyundai_canfd_tx_hook,
|
||||
.fwd = hyundai_canfd_fwd_hook,
|
||||
.get_counter = hyundai_canfd_get_counter,
|
||||
.get_checksum = hyundai_canfd_get_checksum,
|
||||
.compute_checksum = hyundai_common_canfd_compute_checksum,
|
||||
};
|
||||
115
panda/board/safety/safety_hyundai_common.h
Normal file
115
panda/board/safety/safety_hyundai_common.h
Normal file
@@ -0,0 +1,115 @@
|
||||
#ifndef SAFETY_HYUNDAI_COMMON_H
|
||||
#define SAFETY_HYUNDAI_COMMON_H
|
||||
|
||||
const int HYUNDAI_PARAM_EV_GAS = 1;
|
||||
const int HYUNDAI_PARAM_HYBRID_GAS = 2;
|
||||
const int HYUNDAI_PARAM_LONGITUDINAL = 4;
|
||||
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 uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms
|
||||
const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12; // 0.375 kph
|
||||
|
||||
enum {
|
||||
HYUNDAI_BTN_NONE = 0,
|
||||
HYUNDAI_BTN_RESUME = 1,
|
||||
HYUNDAI_BTN_SET = 2,
|
||||
HYUNDAI_BTN_CANCEL = 4,
|
||||
};
|
||||
|
||||
// common state
|
||||
bool hyundai_ev_gas_signal = false;
|
||||
bool hyundai_hybrid_gas_signal = false;
|
||||
bool hyundai_longitudinal = false;
|
||||
bool hyundai_camera_scc = false;
|
||||
bool hyundai_canfd_hda2 = false;
|
||||
bool hyundai_alt_limits = false;
|
||||
uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
|
||||
|
||||
uint16_t hyundai_canfd_crc_lut[256];
|
||||
|
||||
void hyundai_common_init(uint16_t param) {
|
||||
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_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
|
||||
#else
|
||||
hyundai_longitudinal = false;
|
||||
#endif
|
||||
}
|
||||
|
||||
void hyundai_common_cruise_state_check(const int cruise_engaged) {
|
||||
// some newer HKG models can re-enable after spamming cancel button,
|
||||
// so keep track of user button presses to deny engagement if no interaction
|
||||
|
||||
// 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)) {
|
||||
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 int main_button) {
|
||||
if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
|
||||
(main_button != 0)) {
|
||||
hyundai_last_button_interaction = 0U;
|
||||
} else {
|
||||
hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
|
||||
}
|
||||
|
||||
if (hyundai_longitudinal) {
|
||||
// enter controls on falling edge of resume or set
|
||||
bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
|
||||
bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
|
||||
if (set || res) {
|
||||
controls_allowed = true;
|
||||
}
|
||||
|
||||
// exit controls on cancel press
|
||||
if (cruise_button == HYUNDAI_BTN_CANCEL) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
|
||||
cruise_button_prev = cruise_button;
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t hyundai_common_canfd_compute_checksum(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) ^ 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) {
|
||||
crc ^= 0x819dU;
|
||||
} else if (len == 32) {
|
||||
crc ^= 0x9f5bU;
|
||||
} else {
|
||||
|
||||
}
|
||||
|
||||
return crc;
|
||||
}
|
||||
|
||||
#endif
|
||||
129
panda/board/safety/safety_mazda.h
Normal file
129
panda/board/safety/safety_mazda.h
Normal file
@@ -0,0 +1,129 @@
|
||||
// CAN msgs we care about
|
||||
#define MAZDA_LKAS 0x243
|
||||
#define MAZDA_LKAS_HUD 0x440
|
||||
#define MAZDA_CRZ_CTRL 0x21c
|
||||
#define MAZDA_CRZ_BTNS 0x09d
|
||||
#define MAZDA_STEER_TORQUE 0x240
|
||||
#define MAZDA_ENGINE_DATA 0x202
|
||||
#define MAZDA_PEDALS 0x165
|
||||
|
||||
// CAN bus numbers
|
||||
#define MAZDA_MAIN 0
|
||||
#define MAZDA_AUX 1
|
||||
#define MAZDA_CAM 2
|
||||
|
||||
const SteeringLimits MAZDA_STEERING_LIMITS = {
|
||||
.max_steer = 800,
|
||||
.max_rate_up = 10,
|
||||
.max_rate_down = 25,
|
||||
.max_rt_delta = 300,
|
||||
.max_rt_interval = 250000,
|
||||
.driver_torque_factor = 1,
|
||||
.driver_torque_allowance = 15,
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
|
||||
const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
|
||||
|
||||
RxCheck mazda_rx_checks[] = {
|
||||
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MAZDA_CRZ_BTNS, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MAZDA_ENGINE_DATA, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MAZDA_PEDALS, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
|
||||
static void mazda_rx_hook(CANPacket_t *to_push) {
|
||||
if ((int)GET_BUS(to_push) == MAZDA_MAIN) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == MAZDA_ENGINE_DATA) {
|
||||
// sample speed: scale by 0.01 to get kph
|
||||
int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
|
||||
vehicle_moving = speed > 10; // moving when speed > 0.1 kph
|
||||
}
|
||||
|
||||
if (addr == MAZDA_STEER_TORQUE) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 0) - 127U;
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == MAZDA_CRZ_CTRL) {
|
||||
bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
if (addr == MAZDA_ENGINE_DATA) {
|
||||
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0U));
|
||||
}
|
||||
|
||||
if (addr == MAZDA_PEDALS) {
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x10U);
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MAZDA_LKAS));
|
||||
}
|
||||
}
|
||||
|
||||
static bool mazda_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
|
||||
// Check if msg is sent on the main BUS
|
||||
if (bus == MAZDA_MAIN) {
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == MAZDA_LKAS) {
|
||||
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - 2048U;
|
||||
|
||||
if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// cruise buttons check
|
||||
if (addr == MAZDA_CRZ_BTNS) {
|
||||
// allow resume spamming while controls allowed, but
|
||||
// only allow cancel while contrls not allowed
|
||||
bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
|
||||
if (!controls_allowed && !cancel_cmd) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int mazda_fwd_hook(int bus, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus == MAZDA_MAIN) {
|
||||
bus_fwd = MAZDA_CAM;
|
||||
} else if (bus == MAZDA_CAM) {
|
||||
bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
|
||||
if (!block) {
|
||||
bus_fwd = MAZDA_MAIN;
|
||||
}
|
||||
} else {
|
||||
// don't fwd
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config mazda_init(uint16_t param) {
|
||||
UNUSED(param);
|
||||
return BUILD_SAFETY_CFG(mazda_rx_checks, MAZDA_TX_MSGS);
|
||||
}
|
||||
|
||||
const safety_hooks mazda_hooks = {
|
||||
.init = mazda_init,
|
||||
.rx = mazda_rx_hook,
|
||||
.tx = mazda_tx_hook,
|
||||
.fwd = mazda_fwd_hook,
|
||||
};
|
||||
159
panda/board/safety/safety_nissan.h
Normal file
159
panda/board/safety/safety_nissan.h
Normal file
@@ -0,0 +1,159 @@
|
||||
const SteeringLimits NISSAN_STEERING_LIMITS = {
|
||||
.angle_deg_to_can = 100,
|
||||
.angle_rate_up_lookup = {
|
||||
{0., 5., 15.},
|
||||
{5., .8, .15}
|
||||
},
|
||||
.angle_rate_down_lookup = {
|
||||
{0., 5., 15.},
|
||||
{5., 3.5, .4}
|
||||
},
|
||||
};
|
||||
|
||||
const CanMsg NISSAN_TX_MSGS[] = {
|
||||
{0x169, 0, 8}, // LKAS
|
||||
{0x2b1, 0, 8}, // PROPILOT_HUD
|
||||
{0x4cc, 0, 8}, // PROPILOT_HUD_INFO_MSG
|
||||
{0x20b, 2, 6}, // CRUISE_THROTTLE (X-Trail)
|
||||
{0x20b, 1, 6}, // CRUISE_THROTTLE (Altima)
|
||||
{0x280, 2, 8} // CANCEL_MSG (Leaf)
|
||||
};
|
||||
|
||||
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
|
||||
RxCheck nissan_rx_checks[] = {
|
||||
{.msg = {{0x2, 0, 5, .frequency = 100U},
|
||||
{0x2, 1, 5, .frequency = 100U}, { 0 }}}, // STEER_ANGLE_SENSOR
|
||||
{.msg = {{0x285, 0, 8, .frequency = 50U},
|
||||
{0x285, 1, 8, .frequency = 50U}, { 0 }}}, // WHEEL_SPEEDS_REAR
|
||||
{.msg = {{0x30f, 2, 3, .frequency = 10U},
|
||||
{0x30f, 1, 3, .frequency = 10U}, { 0 }}}, // CRUISE_STATE
|
||||
{.msg = {{0x15c, 0, 8, .frequency = 50U},
|
||||
{0x15c, 1, 8, .frequency = 50U},
|
||||
{0x239, 0, 8, .frequency = 50U}}}, // GAS_PEDAL
|
||||
{.msg = {{0x454, 0, 8, .frequency = 10U},
|
||||
{0x454, 1, 8, .frequency = 10U},
|
||||
{0x1cc, 0, 4, .frequency = 100U}}}, // DOORS_LIGHTS / BRAKE
|
||||
};
|
||||
|
||||
// EPS Location. false = V-CAN, true = C-CAN
|
||||
const int NISSAN_PARAM_ALT_EPS_BUS = 1;
|
||||
|
||||
bool nissan_alt_eps = false;
|
||||
|
||||
static void nissan_rx_hook(CANPacket_t *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (bus == (nissan_alt_eps ? 1 : 0)) {
|
||||
if (addr == 0x2) {
|
||||
// Current steering angle
|
||||
// Factor -0.1, little endian
|
||||
int angle_meas_new = (GET_BYTES(to_push, 0, 4) & 0xFFFFU);
|
||||
// Multiply by -10 to match scale of LKAS angle
|
||||
angle_meas_new = to_signed(angle_meas_new, 16) * -10;
|
||||
|
||||
// update array of samples
|
||||
update_sample(&angle_meas, angle_meas_new);
|
||||
}
|
||||
|
||||
if (addr == 0x285) {
|
||||
// Get current speed and standstill
|
||||
uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1));
|
||||
uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3));
|
||||
vehicle_moving = (right_rear | left_rear) != 0U;
|
||||
UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6);
|
||||
}
|
||||
|
||||
// X-Trail 0x15c, Leaf 0x239
|
||||
if ((addr == 0x15c) || (addr == 0x239)) {
|
||||
if (addr == 0x15c){
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U;
|
||||
} else {
|
||||
gas_pressed = GET_BYTE(to_push, 0) > 3U;
|
||||
}
|
||||
}
|
||||
|
||||
// X-trail 0x454, Leaf 0x239
|
||||
if ((addr == 0x454) || (addr == 0x239)) {
|
||||
if (addr == 0x454){
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x80U) != 0U;
|
||||
} else {
|
||||
brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1U) != 0U;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Handle cruise enabled
|
||||
if ((addr == 0x30f) && (bus == (nissan_alt_eps ? 1 : 2))) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x169) && (bus == 0));
|
||||
}
|
||||
|
||||
|
||||
static bool nissan_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
bool violation = false;
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == 0x169) {
|
||||
int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3U));
|
||||
bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1U;
|
||||
|
||||
// Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
|
||||
desired_angle = -desired_angle + (1310 * NISSAN_STEERING_LIMITS.angle_deg_to_can);
|
||||
|
||||
if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
// acc button check, only allow cancel button to be sent
|
||||
if (addr == 0x20b) {
|
||||
// Violation of any button other than cancel is pressed
|
||||
violation |= ((GET_BYTE(to_send, 1) & 0x3dU) > 0U);
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
|
||||
static int nissan_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
int block_msg = (addr == 0x280); // CANCEL_MSG
|
||||
if (!block_msg) {
|
||||
bus_fwd = 2; // ADAS
|
||||
}
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
|
||||
int block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0; // V-CAN
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config nissan_init(uint16_t param) {
|
||||
nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS);
|
||||
return BUILD_SAFETY_CFG(nissan_rx_checks, NISSAN_TX_MSGS);
|
||||
}
|
||||
|
||||
const safety_hooks nissan_hooks = {
|
||||
.init = nissan_init,
|
||||
.rx = nissan_rx_hook,
|
||||
.tx = nissan_tx_hook,
|
||||
.fwd = nissan_fwd_hook,
|
||||
};
|
||||
294
panda/board/safety/safety_subaru.h
Normal file
294
panda/board/safety/safety_subaru.h
Normal file
@@ -0,0 +1,294 @@
|
||||
#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down) \
|
||||
{ \
|
||||
.max_steer = (steer_max), \
|
||||
.max_rt_delta = 940, \
|
||||
.max_rt_interval = 250000, \
|
||||
.max_rate_up = (rate_up), \
|
||||
.max_rate_down = (rate_down), \
|
||||
.driver_torque_factor = 50, \
|
||||
.driver_torque_allowance = 60, \
|
||||
.type = TorqueDriverLimited, \
|
||||
/* the EPS will temporary fault if the steering rate is too high, so we cut the \
|
||||
the steering torque every 7 frames for 1 frame if the steering rate is high */ \
|
||||
.min_valid_request_frames = 7, \
|
||||
.max_invalid_request_frames = 1, \
|
||||
.min_valid_request_rt_interval = 144000, /* 10% tolerance */ \
|
||||
.has_steer_req_tolerance = true, \
|
||||
}
|
||||
|
||||
|
||||
const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
|
||||
const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
|
||||
|
||||
|
||||
const LongitudinalLimits SUBARU_LONG_LIMITS = {
|
||||
.min_gas = 808, // appears to be engine braking
|
||||
.max_gas = 3400, // approx 2 m/s^2 when maxing cruise_rpm and cruise_throttle
|
||||
.inactive_gas = 1818, // this is zero acceleration
|
||||
.max_brake = 600, // approx -3.5 m/s^2
|
||||
|
||||
.min_transmission_rpm = 0,
|
||||
.max_transmission_rpm = 2400,
|
||||
};
|
||||
|
||||
#define MSG_SUBARU_Brake_Status 0x13c
|
||||
#define MSG_SUBARU_CruiseControl 0x240
|
||||
#define MSG_SUBARU_Throttle 0x40
|
||||
#define MSG_SUBARU_Steering_Torque 0x119
|
||||
#define MSG_SUBARU_Wheel_Speeds 0x13a
|
||||
|
||||
#define MSG_SUBARU_ES_LKAS 0x122
|
||||
#define MSG_SUBARU_ES_LKAS_ANGLE 0x124
|
||||
#define MSG_SUBARU_ES_Brake 0x220
|
||||
#define MSG_SUBARU_ES_Distance 0x221
|
||||
#define MSG_SUBARU_ES_Status 0x222
|
||||
#define MSG_SUBARU_ES_DashStatus 0x321
|
||||
#define MSG_SUBARU_ES_LKAS_State 0x322
|
||||
#define MSG_SUBARU_ES_Infotainment 0x323
|
||||
|
||||
#define MSG_SUBARU_ES_UDS_Request 0x787
|
||||
|
||||
#define MSG_SUBARU_ES_HighBeamAssist 0x121
|
||||
#define MSG_SUBARU_ES_STATIC_1 0x22a
|
||||
#define MSG_SUBARU_ES_STATIC_2 0x325
|
||||
|
||||
#define SUBARU_MAIN_BUS 0
|
||||
#define SUBARU_ALT_BUS 1
|
||||
#define SUBARU_CAM_BUS 2
|
||||
|
||||
#define SUBARU_COMMON_TX_MSGS(alt_bus, lkas_msg) \
|
||||
{lkas_msg, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_Distance, alt_bus, 8}, \
|
||||
{MSG_SUBARU_ES_DashStatus, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
|
||||
|
||||
#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
|
||||
{MSG_SUBARU_ES_Brake, alt_bus, 8}, \
|
||||
{MSG_SUBARU_ES_Status, alt_bus, 8}, \
|
||||
|
||||
#define SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS() \
|
||||
{MSG_SUBARU_ES_UDS_Request, SUBARU_CAM_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_HighBeamAssist, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_STATIC_1, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_STATIC_2, SUBARU_MAIN_BUS, 8}, \
|
||||
|
||||
#define SUBARU_COMMON_RX_CHECKS(alt_bus) \
|
||||
{.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_Wheel_Speeds, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_Brake_Status, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_CruiseControl, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 20U}, { 0 }, { 0 }}}, \
|
||||
|
||||
const CanMsg SUBARU_TX_MSGS[] = {
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
|
||||
};
|
||||
|
||||
const CanMsg SUBARU_LONG_TX_MSGS[] = {
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
|
||||
SUBARU_COMMON_LONG_TX_MSGS(SUBARU_MAIN_BUS)
|
||||
};
|
||||
|
||||
const CanMsg SUBARU_GEN2_TX_MSGS[] = {
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
|
||||
};
|
||||
|
||||
const CanMsg SUBARU_GEN2_LONG_TX_MSGS[] = {
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
|
||||
SUBARU_COMMON_LONG_TX_MSGS(SUBARU_ALT_BUS)
|
||||
SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()
|
||||
};
|
||||
|
||||
RxCheck subaru_rx_checks[] = {
|
||||
SUBARU_COMMON_RX_CHECKS(SUBARU_MAIN_BUS)
|
||||
};
|
||||
|
||||
RxCheck subaru_gen2_rx_checks[] = {
|
||||
SUBARU_COMMON_RX_CHECKS(SUBARU_ALT_BUS)
|
||||
};
|
||||
|
||||
|
||||
const uint16_t SUBARU_PARAM_GEN2 = 1;
|
||||
const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
|
||||
|
||||
bool subaru_gen2 = false;
|
||||
bool subaru_longitudinal = false;
|
||||
|
||||
|
||||
static uint32_t subaru_get_checksum(CANPacket_t *to_push) {
|
||||
return (uint8_t)GET_BYTE(to_push, 0);
|
||||
}
|
||||
|
||||
static uint8_t subaru_get_counter(CANPacket_t *to_push) {
|
||||
return (uint8_t)(GET_BYTE(to_push, 1) & 0xFU);
|
||||
}
|
||||
|
||||
static uint32_t subaru_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U);
|
||||
for (int i = 1; i < len; i++) {
|
||||
checksum += (uint8_t)GET_BYTE(to_push, i);
|
||||
}
|
||||
return checksum;
|
||||
}
|
||||
|
||||
static void subaru_rx_hook(CANPacket_t *to_push) {
|
||||
const int bus = GET_BUS(to_push);
|
||||
const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
|
||||
|
||||
int addr = GET_ADDR(to_push);
|
||||
if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
|
||||
int torque_driver_new;
|
||||
torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 16) & 0x7FFU);
|
||||
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
|
||||
int angle_meas_new = (GET_BYTES(to_push, 4, 2) & 0xFFFFU);
|
||||
// convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
|
||||
angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);
|
||||
update_sample(&angle_meas, angle_meas_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
|
||||
bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
// update vehicle moving with any non-zero wheel speed
|
||||
if ((addr == MSG_SUBARU_Wheel_Speeds) && (bus == alt_main_bus)) {
|
||||
uint32_t fr = (GET_BYTES(to_push, 1, 3) >> 4) & 0x1FFFU;
|
||||
uint32_t rr = (GET_BYTES(to_push, 3, 3) >> 1) & 0x1FFFU;
|
||||
uint32_t rl = (GET_BYTES(to_push, 4, 3) >> 6) & 0x1FFFU;
|
||||
uint32_t fl = (GET_BYTES(to_push, 6, 2) >> 3) & 0x1FFFU;
|
||||
|
||||
vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
|
||||
|
||||
UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4U * 0.057);
|
||||
}
|
||||
|
||||
if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_main_bus)) {
|
||||
brake_pressed = GET_BIT(to_push, 62U) != 0U;
|
||||
}
|
||||
|
||||
if ((addr == MSG_SUBARU_Throttle) && (bus == SUBARU_MAIN_BUS)) {
|
||||
gas_pressed = GET_BYTE(to_push, 4) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MSG_SUBARU_ES_LKAS) && (bus == SUBARU_MAIN_BUS));
|
||||
}
|
||||
|
||||
static bool subaru_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
bool violation = false;
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == MSG_SUBARU_ES_LKAS) {
|
||||
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x1FFFU);
|
||||
desired_torque = -1 * to_signed(desired_torque, 13);
|
||||
|
||||
bool steer_req = GET_BIT(to_send, 29U) != 0U;
|
||||
|
||||
const SteeringLimits limits = subaru_gen2 ? SUBARU_GEN2_STEERING_LIMITS : SUBARU_STEERING_LIMITS;
|
||||
violation |= steer_torque_cmd_checks(desired_torque, steer_req, limits);
|
||||
}
|
||||
|
||||
// check es_brake brake_pressure limits
|
||||
if (addr == MSG_SUBARU_ES_Brake) {
|
||||
int es_brake_pressure = GET_BYTES(to_send, 2, 2);
|
||||
violation |= longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
|
||||
}
|
||||
|
||||
// check es_distance cruise_throttle limits
|
||||
if (addr == MSG_SUBARU_ES_Distance) {
|
||||
int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0x1FFFU);
|
||||
bool cruise_cancel = GET_BIT(to_send, 56U) != 0U;
|
||||
|
||||
if (subaru_longitudinal) {
|
||||
violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
|
||||
} else {
|
||||
// If openpilot is not controlling long, only allow ES_Distance for cruise cancel requests,
|
||||
// (when Cruise_Cancel is true, and Cruise_Throttle is inactive)
|
||||
violation |= (cruise_throttle != SUBARU_LONG_LIMITS.inactive_gas);
|
||||
violation |= (!cruise_cancel);
|
||||
}
|
||||
}
|
||||
|
||||
// check es_status transmission_rpm limits
|
||||
if (addr == MSG_SUBARU_ES_Status) {
|
||||
int transmission_rpm = (GET_BYTES(to_send, 2, 2) & 0x1FFFU);
|
||||
violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS);
|
||||
}
|
||||
|
||||
if (addr == MSG_SUBARU_ES_UDS_Request) {
|
||||
// tester present ('\x02\x3E\x80\x00\x00\x00\x00\x00') is allowed for gen2 longitudinal to keep eyesight disabled
|
||||
bool is_tester_present = (GET_BYTES(to_send, 0, 4) == 0x00803E02U) && (GET_BYTES(to_send, 4, 4) == 0x0U);
|
||||
|
||||
// reading ES button data by identifier (b'\x03\x22\x11\x30\x00\x00\x00\x00') is also allowed (DID 0x1130)
|
||||
bool is_button_rdbi = (GET_BYTES(to_send, 0, 4) == 0x30112203U) && (GET_BYTES(to_send, 4, 4) == 0x0U);
|
||||
|
||||
violation |= !(is_tester_present || is_button_rdbi);
|
||||
}
|
||||
|
||||
if (violation){
|
||||
tx = false;
|
||||
}
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int subaru_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == SUBARU_MAIN_BUS) {
|
||||
bus_fwd = SUBARU_CAM_BUS; // to the eyesight camera
|
||||
}
|
||||
|
||||
if (bus_num == SUBARU_CAM_BUS) {
|
||||
// Global platform
|
||||
bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
|
||||
(addr == MSG_SUBARU_ES_DashStatus) ||
|
||||
(addr == MSG_SUBARU_ES_LKAS_State) ||
|
||||
(addr == MSG_SUBARU_ES_Infotainment));
|
||||
|
||||
bool block_long = ((addr == MSG_SUBARU_ES_Brake) ||
|
||||
(addr == MSG_SUBARU_ES_Distance) ||
|
||||
(addr == MSG_SUBARU_ES_Status));
|
||||
|
||||
bool block_msg = block_lkas || (subaru_longitudinal && block_long);
|
||||
if (!block_msg) {
|
||||
bus_fwd = SUBARU_MAIN_BUS; // Main CAN
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config subaru_init(uint16_t param) {
|
||||
subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
|
||||
#endif
|
||||
|
||||
safety_config ret;
|
||||
if (subaru_gen2) {
|
||||
ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_TX_MSGS);
|
||||
} else {
|
||||
ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
const safety_hooks subaru_hooks = {
|
||||
.init = subaru_init,
|
||||
.rx = subaru_rx_hook,
|
||||
.tx = subaru_tx_hook,
|
||||
.fwd = subaru_fwd_hook,
|
||||
.get_counter = subaru_get_counter,
|
||||
.get_checksum = subaru_get_checksum,
|
||||
.compute_checksum = subaru_compute_checksum,
|
||||
};
|
||||
126
panda/board/safety/safety_subaru_preglobal.h
Normal file
126
panda/board/safety/safety_subaru_preglobal.h
Normal file
@@ -0,0 +1,126 @@
|
||||
const SteeringLimits SUBARU_PG_STEERING_LIMITS = {
|
||||
.max_steer = 2047,
|
||||
.max_rt_delta = 940,
|
||||
.max_rt_interval = 250000,
|
||||
.max_rate_up = 50,
|
||||
.max_rate_down = 70,
|
||||
.driver_torque_factor = 10,
|
||||
.driver_torque_allowance = 75,
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
|
||||
// Preglobal platform
|
||||
// 0x161 is ES_CruiseThrottle
|
||||
// 0x164 is ES_LKAS
|
||||
|
||||
#define MSG_SUBARU_PG_CruiseControl 0x144
|
||||
#define MSG_SUBARU_PG_Throttle 0x140
|
||||
#define MSG_SUBARU_PG_Wheel_Speeds 0xD4
|
||||
#define MSG_SUBARU_PG_Brake_Pedal 0xD1
|
||||
#define MSG_SUBARU_PG_ES_LKAS 0x164
|
||||
#define MSG_SUBARU_PG_ES_Distance 0x161
|
||||
#define MSG_SUBARU_PG_Steering_Torque 0x371
|
||||
|
||||
#define SUBARU_PG_MAIN_BUS 0
|
||||
#define SUBARU_PG_CAM_BUS 2
|
||||
|
||||
const CanMsg SUBARU_PG_TX_MSGS[] = {
|
||||
{MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8},
|
||||
{MSG_SUBARU_PG_ES_LKAS, SUBARU_PG_MAIN_BUS, 8}
|
||||
};
|
||||
|
||||
// TODO: do checksum and counter checks after adding the signals to the outback dbc file
|
||||
RxCheck subaru_preglobal_rx_checks[] = {
|
||||
{.msg = {{MSG_SUBARU_PG_Throttle, SUBARU_PG_MAIN_BUS, 8, .frequency = 100U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS, 8, .frequency = 20U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
|
||||
const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
|
||||
bool subaru_pg_reversed_driver_torque = false;
|
||||
|
||||
|
||||
static void subaru_preglobal_rx_hook(CANPacket_t *to_push) {
|
||||
const int bus = GET_BUS(to_push);
|
||||
|
||||
if (bus == SUBARU_PG_MAIN_BUS) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
if (addr == MSG_SUBARU_PG_Steering_Torque) {
|
||||
int torque_driver_new;
|
||||
torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new;
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == MSG_SUBARU_PG_CruiseControl) {
|
||||
bool cruise_engaged = GET_BIT(to_push, 49U) != 0U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
// update vehicle moving with any non-zero wheel speed
|
||||
if (addr == MSG_SUBARU_PG_Wheel_Speeds) {
|
||||
vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
|
||||
}
|
||||
|
||||
if (addr == MSG_SUBARU_PG_Brake_Pedal) {
|
||||
brake_pressed = ((GET_BYTES(to_push, 0, 4) >> 16) & 0xFFU) > 0U;
|
||||
}
|
||||
|
||||
if (addr == MSG_SUBARU_PG_Throttle) {
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MSG_SUBARU_PG_ES_LKAS));
|
||||
}
|
||||
}
|
||||
|
||||
static bool subaru_preglobal_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == MSG_SUBARU_PG_ES_LKAS) {
|
||||
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 8) & 0x1FFFU);
|
||||
desired_torque = -1 * to_signed(desired_torque, 13);
|
||||
|
||||
bool steer_req = (GET_BIT(to_send, 24U) != 0U);
|
||||
|
||||
if (steer_torque_cmd_checks(desired_torque, steer_req, SUBARU_PG_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
}
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int subaru_preglobal_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == SUBARU_PG_MAIN_BUS) {
|
||||
bus_fwd = SUBARU_PG_CAM_BUS; // Camera CAN
|
||||
}
|
||||
|
||||
if (bus_num == SUBARU_PG_CAM_BUS) {
|
||||
int block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS));
|
||||
if (!block_msg) {
|
||||
bus_fwd = SUBARU_PG_MAIN_BUS; // Main CAN
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config subaru_preglobal_init(uint16_t param) {
|
||||
subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
|
||||
return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
|
||||
}
|
||||
|
||||
const safety_hooks subaru_preglobal_hooks = {
|
||||
.init = subaru_preglobal_init,
|
||||
.rx = subaru_preglobal_rx_hook,
|
||||
.tx = subaru_preglobal_tx_hook,
|
||||
.fwd = subaru_preglobal_fwd_hook,
|
||||
};
|
||||
226
panda/board/safety/safety_tesla.h
Normal file
226
panda/board/safety/safety_tesla.h
Normal file
@@ -0,0 +1,226 @@
|
||||
const SteeringLimits TESLA_STEERING_LIMITS = {
|
||||
.angle_deg_to_can = 10,
|
||||
.angle_rate_up_lookup = {
|
||||
{0., 5., 15.},
|
||||
{10., 1.6, .3}
|
||||
},
|
||||
.angle_rate_down_lookup = {
|
||||
{0., 5., 15.},
|
||||
{10., 7.0, .8}
|
||||
},
|
||||
};
|
||||
|
||||
const LongitudinalLimits TESLA_LONG_LIMITS = {
|
||||
.max_accel = 425, // 2. m/s^2
|
||||
.min_accel = 287, // -3.52 m/s^2 // TODO: limit to -3.48
|
||||
.inactive_accel = 375, // 0. m/s^2
|
||||
};
|
||||
|
||||
|
||||
const int TESLA_FLAG_POWERTRAIN = 1;
|
||||
const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
|
||||
|
||||
const CanMsg TESLA_TX_MSGS[] = {
|
||||
{0x488, 0, 4}, // DAS_steeringControl
|
||||
{0x45, 0, 8}, // STW_ACTN_RQ
|
||||
{0x45, 2, 8}, // STW_ACTN_RQ
|
||||
{0x2b9, 0, 8}, // DAS_control
|
||||
};
|
||||
|
||||
const CanMsg TESLA_PT_TX_MSGS[] = {
|
||||
{0x2bf, 0, 8}, // DAS_control
|
||||
};
|
||||
|
||||
RxCheck tesla_rx_checks[] = {
|
||||
{.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
|
||||
{.msg = {{0x370, 0, 8, .frequency = 25U}, { 0 }, { 0 }}}, // EPAS_sysStatus
|
||||
{.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
|
||||
{.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
|
||||
{.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
|
||||
{.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
|
||||
{.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState
|
||||
};
|
||||
|
||||
RxCheck tesla_pt_rx_checks[] = {
|
||||
{.msg = {{0x106, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
|
||||
{.msg = {{0x116, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
|
||||
{.msg = {{0x1f8, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
|
||||
{.msg = {{0x2bf, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
|
||||
{.msg = {{0x256, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
|
||||
};
|
||||
|
||||
bool tesla_longitudinal = false;
|
||||
bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus?
|
||||
|
||||
bool tesla_stock_aeb = false;
|
||||
|
||||
static void tesla_rx_hook(CANPacket_t *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if(bus == 0) {
|
||||
if (!tesla_powertrain) {
|
||||
if(addr == 0x370) {
|
||||
// Steering angle: (0.1 * val) - 819.2 in deg.
|
||||
// Store it 1/10 deg to match steering request
|
||||
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
|
||||
update_sample(&angle_meas, angle_meas_new);
|
||||
}
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
|
||||
// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
|
||||
float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
|
||||
vehicle_moving = ABS(speed) > 0.1;
|
||||
UPDATE_VEHICLE_SPEED(speed);
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
|
||||
// Gas pressed
|
||||
gas_pressed = (GET_BYTE(to_push, 6) != 0U);
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
|
||||
// Brake pressed
|
||||
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0CU) >> 2) != 1U);
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
|
||||
// Cruise state
|
||||
int cruise_state = (GET_BYTE(to_push, 1) >> 4);
|
||||
bool cruise_engaged = (cruise_state == 2) || // ENABLED
|
||||
(cruise_state == 3) || // STANDSTILL
|
||||
(cruise_state == 4) || // OVERRIDE
|
||||
(cruise_state == 6) || // PRE_FAULT
|
||||
(cruise_state == 7); // PRE_CANCEL
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
}
|
||||
|
||||
if (bus == 2) {
|
||||
int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
|
||||
if (tesla_longitudinal && (addr == das_control_addr)) {
|
||||
// "AEB_ACTIVE"
|
||||
tesla_stock_aeb = ((GET_BYTE(to_push, 2) & 0x03U) == 1U);
|
||||
}
|
||||
}
|
||||
|
||||
if (tesla_powertrain) {
|
||||
// 0x2bf: DAS_control should not be received on bus 0
|
||||
generic_rx_checks((addr == 0x2bf) && (bus == 0));
|
||||
} else {
|
||||
// 0x488: DAS_steeringControl should not be received on bus 0
|
||||
generic_rx_checks((addr == 0x488) && (bus == 0));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
static bool tesla_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
bool violation = false;
|
||||
|
||||
if(!tesla_powertrain && (addr == 0x488)) {
|
||||
// Steering control: (0.1 * val) - 1638.35 in deg.
|
||||
// We use 1/10 deg as a unit here
|
||||
int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7FU) << 8) | GET_BYTE(to_send, 1));
|
||||
int desired_angle = raw_angle_can - 16384;
|
||||
int steer_control_type = GET_BYTE(to_send, 2) >> 6;
|
||||
bool steer_control_enabled = (steer_control_type != 0) && // NONE
|
||||
(steer_control_type != 3); // DISABLED
|
||||
|
||||
if (steer_angle_cmd_checks(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS)) {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (!tesla_powertrain && (addr == 0x45)) {
|
||||
// No button other than cancel can be sent by us
|
||||
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU);
|
||||
if (control_lever_status != 1) {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x2bf : 0x2b9)) {
|
||||
// DAS_control: longitudinal control message
|
||||
if (tesla_longitudinal) {
|
||||
// No AEB events may be sent by openpilot
|
||||
int aeb_event = GET_BYTE(to_send, 2) & 0x03U;
|
||||
if (aeb_event != 0) {
|
||||
violation = true;
|
||||
}
|
||||
|
||||
// Don't send messages when the stock AEB system is active
|
||||
if (tesla_stock_aeb) {
|
||||
violation = true;
|
||||
}
|
||||
|
||||
// Don't allow any acceleration limits above the safety limits
|
||||
int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1FU) << 4) | (GET_BYTE(to_send, 5) >> 4);
|
||||
int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3);
|
||||
violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS);
|
||||
violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS);
|
||||
} else {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int tesla_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if(bus_num == 0) {
|
||||
// Chassis/PT to autopilot
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
if(bus_num == 2) {
|
||||
// Autopilot to chassis/PT
|
||||
int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
|
||||
|
||||
bool block_msg = false;
|
||||
if (!tesla_powertrain && (addr == 0x488)) {
|
||||
block_msg = true;
|
||||
}
|
||||
|
||||
if (tesla_longitudinal && (addr == das_control_addr) && !tesla_stock_aeb) {
|
||||
block_msg = true;
|
||||
}
|
||||
|
||||
if(!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static safety_config tesla_init(uint16_t param) {
|
||||
tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
|
||||
tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
|
||||
|
||||
tesla_stock_aeb = false;
|
||||
|
||||
safety_config ret;
|
||||
if (tesla_powertrain) {
|
||||
ret = BUILD_SAFETY_CFG(tesla_pt_rx_checks, TESLA_PT_TX_MSGS);
|
||||
} else {
|
||||
ret = BUILD_SAFETY_CFG(tesla_rx_checks, TESLA_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
const safety_hooks tesla_hooks = {
|
||||
.init = tesla_init,
|
||||
.rx = tesla_rx_hook,
|
||||
.tx = tesla_tx_hook,
|
||||
.fwd = tesla_fwd_hook,
|
||||
};
|
||||
388
panda/board/safety/safety_toyota.h
Normal file
388
panda/board/safety/safety_toyota.h
Normal file
@@ -0,0 +1,388 @@
|
||||
const SteeringLimits TOYOTA_STEERING_LIMITS = {
|
||||
.max_steer = 1500,
|
||||
.max_rate_up = 15, // ramp up slow
|
||||
.max_rate_down = 25, // ramp down fast
|
||||
.max_torque_error = 350, // max torque cmd in excess of motor torque
|
||||
.max_rt_delta = 450, // the real time limit is 1800/sec, a 20% buffer
|
||||
.max_rt_interval = 250000,
|
||||
.type = TorqueMotorLimited,
|
||||
|
||||
// the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
|
||||
// we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
|
||||
.min_valid_request_frames = 18,
|
||||
.max_invalid_request_frames = 1,
|
||||
.min_valid_request_rt_interval = 170000, // 170ms; a ~10% buffer on cutting every 19 frames
|
||||
.has_steer_req_tolerance = true,
|
||||
|
||||
// LTA angle limits
|
||||
// factor for STEER_TORQUE_SENSOR->STEER_ANGLE and STEERING_LTA->STEER_ANGLE_CMD (1 / 0.0573)
|
||||
.angle_deg_to_can = 17.452007,
|
||||
.angle_rate_up_lookup = {
|
||||
{5., 25., 25.},
|
||||
{0.3, 0.15, 0.15}
|
||||
},
|
||||
.angle_rate_down_lookup = {
|
||||
{5., 25., 25.},
|
||||
{0.36, 0.26, 0.26}
|
||||
},
|
||||
};
|
||||
|
||||
const int TOYOTA_LTA_MAX_ANGLE = 1657; // EPS only accepts up to 94.9461
|
||||
const int TOYOTA_LTA_MAX_MEAS_TORQUE = 1500;
|
||||
const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
|
||||
|
||||
// longitudinal limits
|
||||
const LongitudinalLimits TOYOTA_LONG_LIMITS = {
|
||||
.max_accel = 2000, // 2.0 m/s2
|
||||
.min_accel = -3500, // -3.5 m/s2
|
||||
};
|
||||
|
||||
// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
|
||||
// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
|
||||
// Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805
|
||||
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
|
||||
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
|
||||
|
||||
#define TOYOTA_COMMON_TX_MSGS \
|
||||
{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, /* DSU bus 0 */ \
|
||||
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \
|
||||
{0x2E4, 0, 5}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + ACC */ \
|
||||
|
||||
const CanMsg TOYOTA_TX_MSGS[] = {
|
||||
TOYOTA_COMMON_TX_MSGS
|
||||
};
|
||||
|
||||
const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
|
||||
TOYOTA_COMMON_TX_MSGS
|
||||
{0x200, 0, 6}, // gas interceptor
|
||||
};
|
||||
|
||||
#define TOYOTA_COMMON_RX_CHECKS(lta) \
|
||||
{.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \
|
||||
{0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \
|
||||
|
||||
RxCheck toyota_lka_rx_checks[] = {
|
||||
TOYOTA_COMMON_RX_CHECKS(false)
|
||||
};
|
||||
|
||||
RxCheck toyota_lka_interceptor_rx_checks[] = {
|
||||
TOYOTA_COMMON_RX_CHECKS(false)
|
||||
{.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
// Check the quality flag for angle measurement when using LTA, since it's not set on TSS-P cars
|
||||
RxCheck toyota_lta_rx_checks[] = {
|
||||
TOYOTA_COMMON_RX_CHECKS(true)
|
||||
};
|
||||
|
||||
RxCheck toyota_lta_interceptor_rx_checks[] = {
|
||||
TOYOTA_COMMON_RX_CHECKS(true)
|
||||
{.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
// safety param flags
|
||||
// first byte is for EPS factor, second is for flags
|
||||
const uint32_t TOYOTA_PARAM_OFFSET = 8U;
|
||||
const uint32_t TOYOTA_EPS_FACTOR = (1U << TOYOTA_PARAM_OFFSET) - 1U;
|
||||
const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1U << TOYOTA_PARAM_OFFSET;
|
||||
const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2U << TOYOTA_PARAM_OFFSET;
|
||||
const uint32_t TOYOTA_PARAM_LTA = 4U << TOYOTA_PARAM_OFFSET;
|
||||
const uint32_t TOYOTA_PARAM_GAS_INTERCEPTOR = 8U << TOYOTA_PARAM_OFFSET;
|
||||
|
||||
bool toyota_alt_brake = false;
|
||||
bool toyota_stock_longitudinal = false;
|
||||
bool toyota_lta = false;
|
||||
int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
|
||||
|
||||
static uint32_t toyota_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len);
|
||||
for (int i = 0; i < (len - 1); i++) {
|
||||
checksum += (uint8_t)GET_BYTE(to_push, i);
|
||||
}
|
||||
return checksum;
|
||||
}
|
||||
|
||||
static uint32_t toyota_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
|
||||
}
|
||||
|
||||
static uint8_t toyota_get_counter(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t cnt = 0U;
|
||||
if (addr == 0x201) {
|
||||
// Signal: COUNTER_PEDAL
|
||||
cnt = GET_BYTE(to_push, 4) & 0x0FU;
|
||||
}
|
||||
return cnt;
|
||||
}
|
||||
|
||||
static bool toyota_get_quality_flag_valid(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
bool valid = false;
|
||||
if (addr == 0x260) {
|
||||
valid = GET_BIT(to_push, 3U) == 0U; // STEER_ANGLE_INITIALIZING
|
||||
}
|
||||
return valid;
|
||||
}
|
||||
|
||||
static void toyota_rx_hook(CANPacket_t *to_push) {
|
||||
if (GET_BUS(to_push) == 0U) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// get eps motor torque (0.66 factor in dbc)
|
||||
if (addr == 0x260) {
|
||||
int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
|
||||
torque_meas_new = to_signed(torque_meas_new, 16);
|
||||
|
||||
// scale by dbc_factor
|
||||
torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
|
||||
|
||||
// update array of sample
|
||||
update_sample(&torque_meas, torque_meas_new);
|
||||
|
||||
// increase torque_meas by 1 to be conservative on rounding
|
||||
torque_meas.min--;
|
||||
torque_meas.max++;
|
||||
|
||||
// driver torque for angle limiting
|
||||
int torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
|
||||
torque_driver_new = to_signed(torque_driver_new, 16);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
|
||||
// LTA request angle should match current angle while inactive, clipped to max accepted angle.
|
||||
// note that angle can be relative to init angle on some TSS2 platforms, LTA has the same offset
|
||||
bool steer_angle_initializing = GET_BIT(to_push, 3U) != 0U;
|
||||
if (!steer_angle_initializing) {
|
||||
int angle_meas_new = (GET_BYTE(to_push, 3) << 8U) | GET_BYTE(to_push, 4);
|
||||
angle_meas_new = CLAMP(to_signed(angle_meas_new, 16), -TOYOTA_LTA_MAX_ANGLE, TOYOTA_LTA_MAX_ANGLE);
|
||||
update_sample(&angle_meas, angle_meas_new);
|
||||
}
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x1D2) {
|
||||
// 5th bit is CRUISE_ACTIVE
|
||||
bool cruise_engaged = GET_BIT(to_push, 5U) != 0U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
|
||||
// sample gas pedal
|
||||
if (!enable_gas_interceptor) {
|
||||
gas_pressed = GET_BIT(to_push, 4U) == 0U;
|
||||
}
|
||||
}
|
||||
|
||||
// sample speed
|
||||
if (addr == 0xaa) {
|
||||
int speed = 0;
|
||||
// sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
|
||||
for (uint8_t i = 0U; i < 8U; i += 2U) {
|
||||
int wheel_speed = (GET_BYTE(to_push, i) << 8U) | GET_BYTE(to_push, (i + 1U));
|
||||
speed += wheel_speed - 6767;
|
||||
}
|
||||
// check that all wheel speeds are at zero value
|
||||
vehicle_moving = speed != 0;
|
||||
|
||||
UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 / 3.6);
|
||||
}
|
||||
|
||||
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
|
||||
if (((addr == 0x224) && toyota_alt_brake) || ((addr == 0x226) && !toyota_alt_brake)) {
|
||||
uint8_t bit = (addr == 0x224) ? 5U : 37U;
|
||||
brake_pressed = GET_BIT(to_push, bit) != 0U;
|
||||
}
|
||||
|
||||
// sample gas interceptor
|
||||
if ((addr == 0x201) && enable_gas_interceptor) {
|
||||
int gas_interceptor = TOYOTA_GET_INTERCEPTOR(to_push);
|
||||
gas_pressed = gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD;
|
||||
|
||||
// TODO: remove this, only left in for gas_interceptor_prev test
|
||||
gas_interceptor_prev = gas_interceptor;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x2E4));
|
||||
}
|
||||
}
|
||||
|
||||
static bool toyota_tx_hook(CANPacket_t *to_send) {
|
||||
bool tx = true;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
|
||||
// Check if msg is sent on BUS 0
|
||||
if (bus == 0) {
|
||||
|
||||
// GAS PEDAL: safety check
|
||||
if (addr == 0x200) {
|
||||
if (longitudinal_interceptor_checks(to_send)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// ACCEL: safety check on byte 1-2
|
||||
if (addr == 0x343) {
|
||||
int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
|
||||
desired_accel = to_signed(desired_accel, 16);
|
||||
|
||||
bool violation = false;
|
||||
violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
|
||||
|
||||
// only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
|
||||
if (toyota_stock_longitudinal) {
|
||||
bool cancel_req = GET_BIT(to_send, 24U) != 0U;
|
||||
if (!cancel_req) {
|
||||
violation = true;
|
||||
}
|
||||
if (desired_accel != TOYOTA_LONG_LIMITS.inactive_accel) {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// AEB: block all actuation. only used when DSU is unplugged
|
||||
if (addr == 0x283) {
|
||||
// only allow the checksum, which is the last byte
|
||||
bool block = (GET_BYTES(to_send, 0, 4) != 0U) || (GET_BYTE(to_send, 4) != 0U) || (GET_BYTE(to_send, 5) != 0U);
|
||||
if (block) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// LTA angle steering check
|
||||
if (addr == 0x191) {
|
||||
// check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
|
||||
bool lta_request = GET_BIT(to_send, 0U) != 0U;
|
||||
bool lta_request2 = GET_BIT(to_send, 25U) != 0U;
|
||||
int torque_wind_down = GET_BYTE(to_send, 5);
|
||||
int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
|
||||
lta_angle = to_signed(lta_angle, 16);
|
||||
|
||||
bool steer_control_enabled = lta_request || lta_request2;
|
||||
if (!toyota_lta) {
|
||||
// using torque (LKA), block LTA msgs with actuation requests
|
||||
if (steer_control_enabled || (lta_angle != 0) || (torque_wind_down != 0)) {
|
||||
tx = false;
|
||||
}
|
||||
} else {
|
||||
// check angle rate limits and inactive angle
|
||||
if (steer_angle_cmd_checks(lta_angle, steer_control_enabled, TOYOTA_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
if (lta_request != lta_request2) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
// TORQUE_WIND_DOWN is gated on steer request
|
||||
if (!steer_control_enabled && (torque_wind_down != 0)) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
// TORQUE_WIND_DOWN can only be no or full torque
|
||||
if ((torque_wind_down != 0) && (torque_wind_down != 100)) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
// check if we should wind down torque
|
||||
int driver_torque = MIN(ABS(torque_driver.min), ABS(torque_driver.max));
|
||||
if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
int eps_torque = MIN(ABS(torque_meas.min), ABS(torque_meas.max));
|
||||
if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// STEER: safety check on bytes 2-3
|
||||
if (addr == 0x2E4) {
|
||||
int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
|
||||
desired_torque = to_signed(desired_torque, 16);
|
||||
bool steer_req = GET_BIT(to_send, 0U) != 0U;
|
||||
// When using LTA (angle control), assert no actuation on LKA message
|
||||
if (!toyota_lta) {
|
||||
if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
} else {
|
||||
if ((desired_torque != 0) || steer_req) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static safety_config toyota_init(uint16_t param) {
|
||||
toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
|
||||
toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
|
||||
toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
|
||||
enable_gas_interceptor = GET_FLAG(param, TOYOTA_PARAM_GAS_INTERCEPTOR);
|
||||
toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
|
||||
|
||||
// Gas interceptor should not be used if openpilot is not controlling longitudinal
|
||||
if (toyota_stock_longitudinal) {
|
||||
enable_gas_interceptor = false;
|
||||
}
|
||||
|
||||
safety_config ret;
|
||||
if (toyota_lta) {
|
||||
ret = enable_gas_interceptor ? BUILD_SAFETY_CFG(toyota_lta_interceptor_rx_checks, TOYOTA_INTERCEPTOR_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(toyota_lta_rx_checks, TOYOTA_TX_MSGS);
|
||||
} else {
|
||||
ret = enable_gas_interceptor ? BUILD_SAFETY_CFG(toyota_lka_interceptor_rx_checks, TOYOTA_INTERCEPTOR_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(toyota_lka_rx_checks, TOYOTA_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int toyota_fwd_hook(int bus_num, int addr) {
|
||||
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
||||
// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
|
||||
int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
|
||||
// in TSS2 the camera does ACC as well, so filter 0x343
|
||||
int is_acc_msg = (addr == 0x343);
|
||||
int block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
const safety_hooks toyota_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
.get_checksum = toyota_get_checksum,
|
||||
.compute_checksum = toyota_compute_checksum,
|
||||
.get_counter = toyota_get_counter,
|
||||
.get_quality_flag_valid = toyota_get_quality_flag_valid,
|
||||
};
|
||||
10
panda/board/safety/safety_volkswagen_common.h
Normal file
10
panda/board/safety/safety_volkswagen_common.h
Normal file
@@ -0,0 +1,10 @@
|
||||
#ifndef SAFETY_VOLKSWAGEN_COMMON_H
|
||||
#define SAFETY_VOLKSWAGEN_COMMON_H
|
||||
|
||||
const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL = 1;
|
||||
|
||||
bool volkswagen_longitudinal = false;
|
||||
bool volkswagen_set_button_prev = false;
|
||||
bool volkswagen_resume_button_prev = false;
|
||||
|
||||
#endif
|
||||
295
panda/board/safety/safety_volkswagen_mqb.h
Normal file
295
panda/board/safety/safety_volkswagen_mqb.h
Normal file
@@ -0,0 +1,295 @@
|
||||
#include "safety_volkswagen_common.h"
|
||||
|
||||
// lateral limits
|
||||
const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
|
||||
.max_steer = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
|
||||
.max_rt_delta = 75, // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
|
||||
.max_rt_interval = 250000, // 250ms between real time checks
|
||||
.max_rate_up = 4, // 2.0 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_allowance = 80,
|
||||
.driver_torque_factor = 3,
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
|
||||
// longitudinal limits
|
||||
// acceleration in m/s2 * 1000 to avoid floating point math
|
||||
const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
|
||||
.max_accel = 2000,
|
||||
.min_accel = -3500,
|
||||
.inactive_accel = 3010, // VW sends one increment above the max range when inactive
|
||||
};
|
||||
|
||||
#define MSG_ESP_19 0x0B2 // RX from ABS, for wheel speeds
|
||||
#define MSG_LH_EPS_03 0x09F // RX from EPS, for driver steering torque
|
||||
#define MSG_ESP_05 0x106 // RX from ABS, for brake switch state
|
||||
#define MSG_TSK_06 0x120 // RX from ECU, for ACC status from drivetrain coordinator
|
||||
#define MSG_MOTOR_20 0x121 // RX from ECU, for driver throttle input
|
||||
#define MSG_ACC_06 0x122 // TX by OP, ACC control instructions to the drivetrain coordinator
|
||||
#define MSG_HCA_01 0x126 // TX by OP, Heading Control Assist steering torque
|
||||
#define MSG_GRA_ACC_01 0x12B // TX by OP, ACC control buttons for cancel/resume
|
||||
#define MSG_ACC_07 0x12E // TX by OP, ACC control instructions to the drivetrain coordinator
|
||||
#define MSG_ACC_02 0x30C // TX by OP, ACC HUD data to the instrument cluster
|
||||
#define MSG_MOTOR_14 0x3BE // RX from ECU, for brake switch status
|
||||
#define MSG_LDW_02 0x397 // TX by OP, Lane line recognition and text alerts
|
||||
|
||||
// Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
|
||||
const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0, 8}, {MSG_GRA_ACC_01, 2, 8},
|
||||
{MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8}};
|
||||
const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8},
|
||||
{MSG_ACC_02, 0, 8}, {MSG_ACC_06, 0, 8}, {MSG_ACC_07, 0, 8}};
|
||||
|
||||
RxCheck volkswagen_mqb_rx_checks[] = {
|
||||
{.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_LH_EPS_03, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_MOTOR_14, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
|
||||
bool volkswagen_mqb_brake_pedal_switch = false;
|
||||
bool volkswagen_mqb_brake_pressure_detected = false;
|
||||
|
||||
static uint32_t volkswagen_mqb_get_checksum(CANPacket_t *to_push) {
|
||||
return (uint8_t)GET_BYTE(to_push, 0);
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_mqb_get_counter(CANPacket_t *to_push) {
|
||||
// MQB message counters are consistently found at LSB 8.
|
||||
return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
|
||||
}
|
||||
|
||||
static uint32_t volkswagen_mqb_compute_crc(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
|
||||
// This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation
|
||||
// of this algorithm for a version with explanatory comments.
|
||||
|
||||
uint8_t crc = 0xFFU;
|
||||
for (int i = 1; i < len; i++) {
|
||||
crc ^= (uint8_t)GET_BYTE(to_push, i);
|
||||
crc = volkswagen_crc8_lut_8h2f[crc];
|
||||
}
|
||||
|
||||
uint8_t counter = volkswagen_mqb_get_counter(to_push);
|
||||
if (addr == MSG_LH_EPS_03) {
|
||||
crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
|
||||
} else if (addr == MSG_ESP_05) {
|
||||
crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
|
||||
} else if (addr == MSG_TSK_06) {
|
||||
crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
|
||||
} else if (addr == MSG_MOTOR_20) {
|
||||
crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
|
||||
} else {
|
||||
// Undefined CAN message, CRC check expected to fail
|
||||
}
|
||||
crc = volkswagen_crc8_lut_8h2f[crc];
|
||||
|
||||
return (uint8_t)(crc ^ 0xFFU);
|
||||
}
|
||||
|
||||
static safety_config volkswagen_mqb_init(uint16_t param) {
|
||||
UNUSED(param);
|
||||
|
||||
volkswagen_set_button_prev = false;
|
||||
volkswagen_resume_button_prev = false;
|
||||
volkswagen_mqb_brake_pedal_switch = false;
|
||||
volkswagen_mqb_brake_pressure_detected = false;
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
|
||||
#endif
|
||||
gen_crc_lookup_table_8(0x2F, volkswagen_crc8_lut_8h2f);
|
||||
return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_STOCK_TX_MSGS);
|
||||
}
|
||||
|
||||
static void volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
|
||||
if (GET_BUS(to_push) == 0U) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in-motion state by sampling wheel speeds
|
||||
if (addr == MSG_ESP_19) {
|
||||
// sum 4 wheel speeds
|
||||
int speed = 0;
|
||||
for (uint8_t i = 0U; i < 8U; i += 2U) {
|
||||
int wheel_speed = GET_BYTE(to_push, i) | (GET_BYTE(to_push, i + 1U) << 8);
|
||||
speed += wheel_speed;
|
||||
}
|
||||
// Check all wheel speeds for any movement
|
||||
vehicle_moving = speed > 0;
|
||||
}
|
||||
|
||||
// Update driver input torque samples
|
||||
// Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
|
||||
// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
|
||||
if (addr == MSG_LH_EPS_03) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1FU) << 8);
|
||||
int sign = (GET_BYTE(to_push, 6) & 0x80U) >> 7;
|
||||
if (sign == 1) {
|
||||
torque_driver_new *= -1;
|
||||
}
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
if (addr == MSG_TSK_06) {
|
||||
// When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
|
||||
// Always exit controls on main switch off
|
||||
// Signal: TSK_06.TSK_Status
|
||||
int acc_status = (GET_BYTE(to_push, 3) & 0x7U);
|
||||
bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
|
||||
acc_main_on = cruise_engaged || (acc_status == 2);
|
||||
|
||||
if (!volkswagen_longitudinal) {
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if (addr == MSG_GRA_ACC_01) {
|
||||
// If using openpilot longitudinal, enter controls on falling edge of Set or Resume with main switch on
|
||||
// Signal: GRA_ACC_01.GRA_Tip_Setzen
|
||||
// Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
|
||||
if (volkswagen_longitudinal) {
|
||||
bool set_button = GET_BIT(to_push, 16U);
|
||||
bool resume_button = GET_BIT(to_push, 19U);
|
||||
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;
|
||||
}
|
||||
// Always exit controls on rising edge of Cancel
|
||||
// Signal: GRA_ACC_01.GRA_Abbrechen
|
||||
if (GET_BIT(to_push, 13U) == 1U) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Signal: Motor_20.MO_Fahrpedalrohwert_01
|
||||
if (addr == MSG_MOTOR_20) {
|
||||
gas_pressed = ((GET_BYTES(to_push, 0, 4) >> 12) & 0xFFU) != 0U;
|
||||
}
|
||||
|
||||
// Signal: Motor_14.MO_Fahrer_bremst (ECU detected brake pedal switch F63)
|
||||
if (addr == MSG_MOTOR_14) {
|
||||
volkswagen_mqb_brake_pedal_switch = (GET_BYTE(to_push, 3) & 0x10U) >> 4;
|
||||
}
|
||||
|
||||
// Signal: ESP_05.ESP_Fahrer_bremst (ESP detected driver brake pressure above platform specified threshold)
|
||||
if (addr == MSG_ESP_05) {
|
||||
volkswagen_mqb_brake_pressure_detected = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
|
||||
}
|
||||
|
||||
brake_pressed = volkswagen_mqb_brake_pedal_switch || volkswagen_mqb_brake_pressure_detected;
|
||||
|
||||
generic_rx_checks((addr == MSG_HCA_01));
|
||||
}
|
||||
}
|
||||
|
||||
static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
|
||||
int addr = GET_ADDR(to_send);
|
||||
bool tx = true;
|
||||
|
||||
// Safety check for HCA_01 Heading Control Assist torque
|
||||
// Signal: HCA_01.HCA_01_LM_Offset (absolute torque)
|
||||
// Signal: HCA_01.HCA_01_LM_OffSign (direction)
|
||||
if (addr == MSG_HCA_01) {
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x1U) << 8);
|
||||
bool sign = GET_BIT(to_send, 31U);
|
||||
if (sign) {
|
||||
desired_torque *= -1;
|
||||
}
|
||||
|
||||
bool steer_req = GET_BIT(to_send, 30U) != 0U;
|
||||
|
||||
if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MQB_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for both ACC_06 and ACC_07 acceleration requests
|
||||
// To avoid floating point math, scale upward and compare to pre-scaled safety m/s2 boundaries
|
||||
if ((addr == MSG_ACC_06) || (addr == MSG_ACC_07)) {
|
||||
bool violation = false;
|
||||
int desired_accel = 0;
|
||||
|
||||
if (addr == MSG_ACC_06) {
|
||||
// Signal: ACC_06.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22)
|
||||
desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
|
||||
} else {
|
||||
// Signal: ACC_07.ACC_Folgebeschl (acceleration in m/s2, scale 0.03, offset -4.6)
|
||||
int secondary_accel = (GET_BYTE(to_send, 4) * 30U) - 4600U;
|
||||
violation |= (secondary_accel != 3020); // enforce always inactive (one increment above max range) at this time
|
||||
// Signal: ACC_07.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22)
|
||||
desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U;
|
||||
}
|
||||
|
||||
violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
|
||||
|
||||
if (violation) {
|
||||
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_ACC_01) && !controls_allowed) {
|
||||
// disallow resume and set: bits 16 and 19
|
||||
if ((GET_BYTE(to_send, 2) & 0x9U) != 0U) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int volkswagen_mqb_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
switch (bus_num) {
|
||||
case 0:
|
||||
if (addr == MSG_LH_EPS_03) {
|
||||
// openpilot needs to replace apparent driver steering input torque to pacify VW Emergency Assist
|
||||
bus_fwd = -1;
|
||||
} else {
|
||||
// Forward all remaining traffic from Extended CAN onward
|
||||
bus_fwd = 2;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
|
||||
// openpilot takes over LKAS steering control and related HUD messages from the camera
|
||||
bus_fwd = -1;
|
||||
} else if (volkswagen_longitudinal && ((addr == MSG_ACC_02) || (addr == MSG_ACC_06) || (addr == MSG_ACC_07))) {
|
||||
// openpilot takes over acceleration/braking control and related HUD messages from the stock ACC radar
|
||||
bus_fwd = -1;
|
||||
} 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_mqb_hooks = {
|
||||
.init = volkswagen_mqb_init,
|
||||
.rx = volkswagen_mqb_rx_hook,
|
||||
.tx = volkswagen_mqb_tx_hook,
|
||||
.fwd = volkswagen_mqb_fwd_hook,
|
||||
.get_counter = volkswagen_mqb_get_counter,
|
||||
.get_checksum = volkswagen_mqb_get_checksum,
|
||||
.compute_checksum = volkswagen_mqb_compute_crc,
|
||||
};
|
||||
255
panda/board/safety/safety_volkswagen_pq.h
Normal file
255
panda/board/safety/safety_volkswagen_pq.h
Normal file
@@ -0,0 +1,255 @@
|
||||
#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
|
||||
};
|
||||
|
||||
#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(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(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(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(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) == 1U) {
|
||||
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(CANPacket_t *to_send) {
|
||||
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);
|
||||
|
||||
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 (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,
|
||||
};
|
||||
Reference in New Issue
Block a user