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Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en

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dragonpilot
2020-01-19 20:41:39 +10:00
parent 019f70c086 b4ce7e5c07
commit 71d2e9043c
6 changed files with 204 additions and 174 deletions
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panda/board/safety.h
+12 -12
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@@ -148,20 +148,20 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
if (index != -1) { if (index != -1) {
// checksum check // checksum check
if ((get_checksum != NULL) && (compute_checksum != NULL)) { if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].check_checksum) {
if (rx_checks[index].check_checksum) { uint8_t checksum = get_checksum(to_push);
uint8_t checksum = get_checksum(to_push); uint8_t checksum_comp = compute_checksum(to_push);
uint8_t checksum_comp = compute_checksum(to_push); rx_checks[index].valid_checksum = checksum_comp == checksum;
rx_checks[index].valid_checksum = checksum_comp == checksum; } else {
} rx_checks[index].valid_checksum = true;
} }
// counter check // counter check (max_counter == 0 means skip check)
if (get_counter != NULL) { if ((get_counter != NULL) && (rx_checks[index].max_counter > 0U)) {
if (rx_checks[index].max_counter > 0U) { uint8_t counter = get_counter(to_push);
uint8_t counter = get_counter(to_push); update_counter(rx_checks, index, counter);
update_counter(rx_checks, index, counter); } else {
} rx_checks[index].wrong_counters = 0U;
} }
} }
return is_msg_valid(rx_checks, index); return is_msg_valid(rx_checks, index);
panda/board/safety/safety_chrysler.h
+28 -22
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@@ -20,36 +20,42 @@ uint32_t chrysler_ts_last = 0;
struct sample_t chrysler_torque_meas; // last few torques measured struct sample_t chrysler_torque_meas; // last few torques measured
static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
// Measured eps torque bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
if (addr == 544) { NULL, NULL, NULL);
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
// update array of samples if (valid) {
update_sample(&chrysler_torque_meas, torque_meas_new); int bus = GET_BUS(to_push);
} int addr = GET_ADDR(to_push);
// enter controls on rising edge of ACC, exit controls on ACC off // Measured eps torque
if (addr == 0x1F4) { if (addr == 544) {
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7; int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1; // update array of samples
update_sample(&chrysler_torque_meas, torque_meas_new);
} }
if (!cruise_engaged) {
controls_allowed = 0; // enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x1F4) {
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
chrysler_cruise_engaged_last = cruise_engaged;
} }
chrysler_cruise_engaged_last = cruise_engaged;
}
// TODO: add gas pressed check // TODO: add gas pressed check
// check if stock camera ECU is on bus 0 // check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) { if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
relay_malfunction = true; relay_malfunction = true;
}
} }
return 1; return valid;
} }
static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
panda/board/safety/safety_gm.h
+68 -62
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@@ -42,78 +42,84 @@ uint32_t gm_ts_last = 0;
struct sample_t gm_torque_driver; // last few driver torques measured struct sample_t gm_torque_driver; // last few driver torques measured
static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
if (addr == 388) { bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7); NULL, NULL, NULL);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&gm_torque_driver, torque_driver_new);
}
// sample speed, really only care if car is moving or not if (valid) {
// rear left wheel speed int bus = GET_BUS(to_push);
if (addr == 842) { int addr = GET_ADDR(to_push);
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
// ACC steering wheel buttons if (addr == 388) {
if (addr == 481) { int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4; torque_driver_new = to_signed(torque_driver_new, 11);
switch (button) { // update array of samples
case 2: // resume update_sample(&gm_torque_driver, torque_driver_new);
case 3: // set }
controls_allowed = 1;
break; // sample speed, really only care if car is moving or not
case 6: // cancel // rear left wheel speed
if (addr == 842) {
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
// ACC steering wheel buttons
if (addr == 481) {
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
switch (button) {
case 2: // resume
case 3: // set
controls_allowed = 1;
break;
case 6: // cancel
controls_allowed = 0;
break;
default:
break; // any other button is irrelevant
}
}
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
int brake = GET_BYTE(to_push, 1);
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake < 10) {
brake = 0;
}
if (brake && (!gm_brake_prev || gm_moving)) {
controls_allowed = 0;
}
gm_brake_prev = brake;
}
// exit controls on rising edge of gas press
if (addr == 417) {
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev) {
controls_allowed = 0; controls_allowed = 0;
break; }
default: gm_gas_prev = gas;
break; // any other button is irrelevant
} }
}
// exit controls on rising edge of brake press or on brake press when // exit controls on regen paddle
// speed > 0 if (addr == 189) {
if (addr == 241) { bool regen = GET_BYTE(to_push, 0) & 0x20;
int brake = GET_BYTE(to_push, 1); if (regen) {
// Brake pedal's potentiometer returns near-zero reading controls_allowed = 0;
// even when pedal is not pressed }
if (brake < 10) {
brake = 0;
} }
if (brake && (!gm_brake_prev || gm_moving)) {
controls_allowed = 0;
}
gm_brake_prev = brake;
}
// exit controls on rising edge of gas press // Check if ASCM or LKA camera are online
if (addr == 417) { // on powertrain bus.
int gas = GET_BYTE(to_push, 6); // 384 = ASCMLKASteeringCmd
if (gas && !gm_gas_prev) { // 715 = ASCMGasRegenCmd
controls_allowed = 0; if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
} relay_malfunction = true;
gm_gas_prev = gas;
}
// exit controls on regen paddle
if (addr == 189) {
bool regen = GET_BYTE(to_push, 0) & 0x20;
if (regen) {
controls_allowed = 0;
} }
} }
return valid;
// Check if ASCM or LKA camera are online
// on powertrain bus.
// 384 = ASCMLKASteeringCmd
// 715 = ASCMGasRegenCmd
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
relay_malfunction = true;
}
return 1;
} }
// all commands: gas/regen, friction brake and steering // all commands: gas/regen, friction brake and steering
panda/board/safety/safety_hyundai.h
+28 -22
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@@ -21,35 +21,41 @@ uint32_t hyundai_ts_last = 0;
struct sample_t hyundai_torque_driver; // last few driver torques measured struct sample_t hyundai_torque_driver; // last few driver torques measured
static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
if (addr == 897) { bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048; NULL, NULL, NULL);
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off if (valid) {
if (addr == 1057) { int bus = GET_BUS(to_push);
// 2 bits: 13-14 int addr = GET_ADDR(to_push);
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
if (cruise_engaged && !hyundai_cruise_engaged_last) { if (addr == 897) {
controls_allowed = 1; int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
} }
if (!cruise_engaged) {
controls_allowed = 0; // enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 1057) {
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
if (cruise_engaged && !hyundai_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
hyundai_cruise_engaged_last = cruise_engaged;
} }
hyundai_cruise_engaged_last = cruise_engaged;
}
// TODO: check gas pressed // TODO: check gas pressed
// check if stock camera ECU is on bus 0 // check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) { if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
relay_malfunction = true; relay_malfunction = true;
}
} }
return 1; return valid;
} }
static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
panda/board/safety/safety_subaru.h
+29 -23
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@@ -24,36 +24,42 @@ uint32_t subaru_ts_last = 0;
struct sample_t subaru_torque_driver; // last few driver torques measured struct sample_t subaru_torque_driver; // last few driver torques measured
static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
if (((addr == 0x119) || (addr == 0x371)) && (bus == 0)){ bool valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
int bit_shift = (addr == 0x119) ? 16 : 29; NULL, NULL, NULL);
int torque_driver_new = ((GET_BYTES_04(to_push) >> bit_shift) & 0x7FF);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&subaru_torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off if (valid) {
if (((addr == 0x240) || (addr == 0x144)) && (bus == 0)) { int bus = GET_BUS(to_push);
int bit_shift = (addr == 0x240) ? 9 : 17; int addr = GET_ADDR(to_push);
int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
if (cruise_engaged && !subaru_cruise_engaged_last) { if (((addr == 0x119) || (addr == 0x371)) && (bus == 0)){
controls_allowed = 1; int bit_shift = (addr == 0x119) ? 16 : 29;
int torque_driver_new = ((GET_BYTES_04(to_push) >> bit_shift) & 0x7FF);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&subaru_torque_driver, torque_driver_new);
} }
if (!cruise_engaged) {
controls_allowed = 0; // enter controls on rising edge of ACC, exit controls on ACC off
if (((addr == 0x240) || (addr == 0x144)) && (bus == 0)) {
int bit_shift = (addr == 0x240) ? 9 : 17;
int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
if (cruise_engaged && !subaru_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
subaru_cruise_engaged_last = cruise_engaged;
} }
subaru_cruise_engaged_last = cruise_engaged;
}
// TODO: enforce cancellation on gas pressed // TODO: enforce cancellation on gas pressed
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) { if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
relay_malfunction = true; relay_malfunction = true;
}
} }
return 1; return valid;
} }
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
panda/board/safety/safety_volkswagen.h
+39 -33
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@@ -33,42 +33,48 @@ uint32_t volkswagen_ts_last = 0;
int volkswagen_gas_prev = 0; int volkswagen_gas_prev = 0;
static int volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { static int volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
// Update driver input torque samples from EPS_01.Driver_Strain for absolute torque, and EPS_01.Driver_Strain_VZ bool valid = addr_safety_check(to_push, volkswagen_rx_checks, VOLKSWAGEN_RX_CHECK_LEN,
// for the direction. NULL, NULL, NULL);
if ((bus == 0) && (addr == MSG_EPS_01)) {
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
if (sign == 1) {
torque_driver_new *= -1;
}
update_sample(&volkswagen_torque_driver, torque_driver_new); if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
// Update driver input torque samples from EPS_01.Driver_Strain for absolute torque, and EPS_01.Driver_Strain_VZ
// for the direction.
if ((bus == 0) && (addr == MSG_EPS_01)) {
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
if (sign == 1) {
torque_driver_new *= -1;
}
update_sample(&volkswagen_torque_driver, torque_driver_new);
}
// Monitor ACC_06.ACC_Status_ACC for stock ACC status. Because the current MQB port is lateral-only, OP's control
// allowed state is directly driven by stock ACC engagement. Permit the ACC message to come from either bus, in
// order to accommodate future camera-side integrations if needed.
if (addr == MSG_ACC_06) {
int acc_status = (GET_BYTE(to_push, 7) & 0x70) >> 4;
controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
}
// exit controls on rising edge of gas press. Bits [12-20)
if (addr == MSG_MOTOR_20) {
int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
if ((gas > 0) && (volkswagen_gas_prev == 0)) {
controls_allowed = 0;
}
volkswagen_gas_prev = gas;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_01)) {
relay_malfunction = true;
}
} }
return valid;
// Monitor ACC_06.ACC_Status_ACC for stock ACC status. Because the current MQB port is lateral-only, OP's control
// allowed state is directly driven by stock ACC engagement. Permit the ACC message to come from either bus, in
// order to accommodate future camera-side integrations if needed.
if (addr == MSG_ACC_06) {
int acc_status = (GET_BYTE(to_push, 7) & 0x70) >> 4;
controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
}
// exit controls on rising edge of gas press. Bits [12-20)
if (addr == MSG_MOTOR_20) {
int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
if ((gas > 0) && (volkswagen_gas_prev == 0)) {
controls_allowed = 0;
}
volkswagen_gas_prev = gas;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_01)) {
relay_malfunction = true;
}
return 1;
} }
static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {