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openpilot v0.9.6 release

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date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
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FrogAi
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
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panda/board/safety/safety_volkswagen_mqb.h Normal file
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#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,
};