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openpilot v0.8.12 release

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Vehicle Researcher
2021-12-14 04:51:54 +00:00
parent ce9e739428
commit bc7d21687a
274 changed files with 3293 additions and 21528 deletions
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panda/board/can_definitions.h
+2 -2
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@@ -25,5 +25,5 @@ typedef struct {
#define CANPACKET_HEAD_SIZE 5U
#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFF); 1[dst8] = (((src32) >> 8) & 0xFF); 2[dst8] = (((src32) >> 16) & 0xFF); 3[dst8] = (((src32) >> 24) & 0xFF)
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8) | (2[src8] << 16) | (3[src8] << 24))
#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU)
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
panda/board/drivers/bxcan.h
+3 -3
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@@ -112,7 +112,7 @@ void process_can(uint8_t can_number) {
to_push.returned = 1U;
to_push.rejected = 0U;
to_push.extended = (CAN->sTxMailBox[0].TIR >> 2) & 0x1U;
to_push.addr = (to_push.extended != 0) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
to_push.addr = (to_push.extended != 0U) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
to_push.data_len_code = CAN->sTxMailBox[0].TDTR & 0xFU;
to_push.bus = bus_number;
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sTxMailBox[0].TDLR);
@@ -141,7 +141,7 @@ void process_can(uint8_t can_number) {
if (can_pop(can_queues[bus_number], &to_send)) {
can_tx_cnt += 1;
// only send if we have received a packet
CAN->sTxMailBox[0].TIR = ((to_send.extended != 0) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
CAN->sTxMailBox[0].TIR = ((to_send.extended != 0U) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
CAN->sTxMailBox[0].TDTR = to_send.data_len_code;
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDLR, &to_send.data[0]);
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDHR, &to_send.data[4]);
@@ -173,7 +173,7 @@ void can_rx(uint8_t can_number) {
to_push.returned = 0U;
to_push.rejected = 0U;
to_push.extended = (CAN->sFIFOMailBox[0].RIR >> 2) & 0x1U;
to_push.addr = (to_push.extended != 0) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
to_push.addr = (to_push.extended != 0U) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
to_push.data_len_code = CAN->sFIFOMailBox[0].RDTR & 0xFU;
to_push.bus = bus_number;
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sFIFOMailBox[0].RDLR);
panda/board/drivers/can_common.h
+3 -3
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@@ -206,18 +206,18 @@ void ignition_can_hook(CANPacket_t *to_push) {
// since the 0x1F1 signal can briefly go low immediately after ignition
if ((addr == 0x160) && (len == 5)) {
// this message isn't all zeros when ignition is on
ignition_cadillac = GET_BYTES_04(to_push) != 0;
ignition_cadillac = GET_BYTES_04(to_push) != 0U;
}
if ((addr == 0x1F1) && (len == 8)) {
// Bit 5 is ignition "on"
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20U) != 0U);
ignition_can = ignition_gm || ignition_cadillac;
}
// Tesla exception
if ((addr == 0x348) && (len == 8)) {
// GTW_status
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
ignition_can = (GET_BYTE(to_push, 0) & 0x1U) != 0U;
}
// Mazda exception
panda/board/drivers/fdcan.h
+6 -6
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@@ -60,13 +60,13 @@ void process_can(uint8_t can_number) {
canfd_fifo *fifo;
fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0) ? (to_send.addr) : (to_send.addr << 18));
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
fifo->header[1] = (to_send.data_len_code << 16) | (bus_config[can_number].canfd_enabled << 21) | (bus_config[can_number].brs_enabled << 20);
uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
data_len_w += ((dlc_to_len[to_send.data_len_code] % 4) > 0) ? 1U : 0U;
data_len_w += ((dlc_to_len[to_send.data_len_code] % 4U) > 0U) ? 1U : 0U;
for (unsigned int i = 0; i < data_len_w; i++) {
BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4]);
BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4U]);
}
CANx->TXBAR = (1UL << tx_index);
@@ -142,14 +142,14 @@ void can_rx(uint8_t can_number) {
to_push.returned = 0U;
to_push.rejected = 0U;
to_push.extended = (fifo->header[0] >> 30) & 0x1U;
to_push.addr = ((to_push.extended != 0) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
to_push.bus = bus_number;
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4) > 0) ? 1U : 0U;
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
for (unsigned int i = 0; i < data_len_w; i++) {
WORD_TO_BYTE_ARRAY(&to_push.data[i*4], fifo->data_word[i]);
WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
}
// forwarding (panda only)
panda/board/drivers/gmlan_alt.h
+1 -1
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@@ -91,7 +91,7 @@ int get_bit_message(char *out, CANPacket_t *to_bang) {
int dlc_len = GET_LEN(to_bang);
len = append_int(pkt, len, 0, 1); // Start-of-frame
if (to_bang->extended != 0) {
if (to_bang->extended != 0U) {
// extended identifier
len = append_int(pkt, len, GET_ADDR(to_bang) >> 18, 11); // Identifier
len = append_int(pkt, len, 3, 2); // SRR+IDE
panda/board/early_init.h
+3 -3
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@@ -38,9 +38,9 @@ void early_initialization(void) {
// if wrong chip, reboot
volatile unsigned int id = DBGMCU->IDCODE;
if ((id & 0xFFFU) != MCU_IDCODE) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
}
if ((id & 0xFFFU) != MCU_IDCODE) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
}
// setup interrupt table
SCB->VTOR = (uint32_t)&g_pfnVectors;
panda/board/pedal/README
+3 -3
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@@ -1,8 +1,8 @@
This is the firmware for the comma pedal. It borrows a lot from panda.
# pedal
The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
This is the firmware for the comma pedal.
This is the open source software. Note that it is not ready to use yet.
The comma pedal is a gas pedal interceptor for Honda/Acura and Toyota/Lexus. It allows you to "virtually" press the pedal and borrows a lot from panda.
== Test Plan ==
panda/board/safety.h
+2 -2
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@@ -33,7 +33,7 @@
#define SAFETY_ALLOUTPUT 17U
#define SAFETY_GM_ASCM 18U
#define SAFETY_NOOUTPUT 19U
#define SAFETY_HONDA_BOSCH_HARNESS 20U
#define SAFETY_HONDA_BOSCH 20U
#define SAFETY_VOLKSWAGEN_PQ 21U
#define SAFETY_SUBARU_LEGACY 22U
#define SAFETY_HYUNDAI_LEGACY 23U
@@ -241,7 +241,7 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_TOYOTA, &toyota_hooks},
{SAFETY_ELM327, &elm327_hooks},
{SAFETY_GM, &gm_hooks},
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
{SAFETY_HYUNDAI, &hyundai_hooks},
{SAFETY_CHRYSLER, &chrysler_hooks},
{SAFETY_SUBARU, &subaru_hooks},
panda/board/safety/safety_chrysler.h
+6 -6
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@@ -19,7 +19,7 @@ AddrCheckStruct chrysler_addr_checks[] = {
addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
static uint8_t chrysler_get_checksum(CANPacket_t *to_push) {
int checksum_byte = GET_LEN(to_push) - 1;
int checksum_byte = GET_LEN(to_push) - 1U;
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
}
@@ -67,7 +67,7 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
chrysler_get_checksum, chrysler_compute_checksum,
chrysler_get_counter);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
// Measured eps torque
@@ -80,7 +80,7 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 500) {
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38U) >> 3) == 7U;
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
}
@@ -100,12 +100,12 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
// exit controls on rising edge of gas press
if (addr == 308) {
gas_pressed = ((GET_BYTE(to_push, 5) & 0x7F) != 0) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
gas_pressed = ((GET_BYTE(to_push, 5) & 0x7FU) != 0U) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
}
// exit controls on rising edge of brake press
if (addr == 320) {
brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
brake_pressed = (GET_BYTE(to_push, 0) & 0x7U) == 5U;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
@@ -174,7 +174,7 @@ static int chrysler_tx_hook(CANPacket_t *to_send) {
// FORCE CANCEL: only the cancel button press is allowed
if (addr == 571) {
if ((GET_BYTE(to_send, 0) != 1) || ((GET_BYTE(to_send, 1) & 1) == 1)) {
if ((GET_BYTE(to_send, 0) != 1U) || ((GET_BYTE(to_send, 1) & 1U) == 1U)) {
tx = 0;
}
}
panda/board/safety/safety_ford.h
+6 -6
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@@ -24,8 +24,8 @@ static int ford_rx_hook(CANPacket_t *to_push) {
// state machine to enter and exit controls
if (addr == 0x83) {
bool cancel = GET_BYTE(to_push, 1) & 0x1;
bool set_or_resume = GET_BYTE(to_push, 3) & 0x30;
bool cancel = GET_BYTE(to_push, 1) & 0x1U;
bool set_or_resume = GET_BYTE(to_push, 3) & 0x30U;
if (cancel) {
controls_allowed = 0;
}
@@ -37,7 +37,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 0x165) {
brake_pressed = GET_BYTE(to_push, 0) & 0x20;
brake_pressed = GET_BYTE(to_push, 0) & 0x20U;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
@@ -46,7 +46,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x204) {
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03U) | GET_BYTE(to_push, 1)) != 0U;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
@@ -83,7 +83,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
if (addr == 0x3CA) {
if (!current_controls_allowed) {
// bits 7-4 need to be 0xF to disallow lkas commands
if ((GET_BYTE(to_send, 0) & 0xF0) != 0xF0) {
if ((GET_BYTE(to_send, 0) & 0xF0U) != 0xF0U) {
tx = 0;
}
}
@@ -92,7 +92,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
// FORCE CANCEL: safety check only relevant when spamming the cancel button
// ensuring that set and resume aren't sent
if (addr == 0x83) {
if ((GET_BYTE(to_send, 3) & 0x30) != 0) {
if ((GET_BYTE(to_send, 3) & 0x30U) != 0U) {
tx = 0;
}
}
panda/board/safety/safety_gm.h
+6 -6
View File
@@ -38,11 +38,11 @@ static int gm_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
if (addr == 388) {
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
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);
@@ -56,7 +56,7 @@ static int gm_rx_hook(CANPacket_t *to_push) {
// ACC steering wheel buttons
if (addr == 481) {
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
switch (button) {
case 2: // resume
case 3: // set
@@ -74,16 +74,16 @@ static int gm_rx_hook(CANPacket_t *to_push) {
if (addr == 241) {
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
brake_pressed = GET_BYTE(to_push, 1) >= 10;
brake_pressed = GET_BYTE(to_push, 1) >= 10U;
}
if (addr == 417) {
gas_pressed = GET_BYTE(to_push, 6) != 0;
gas_pressed = GET_BYTE(to_push, 6) != 0U;
}
// exit controls on regen paddle
if (addr == 189) {
bool regen = GET_BYTE(to_push, 0) & 0x20;
bool regen = GET_BYTE(to_push, 0) & 0x20U;
if (regen) {
controls_allowed = 0;
}
panda/board/safety/safety_honda.h
+42 -48
View File
@@ -7,8 +7,8 @@
// brake rising edge
// brake > 0mph
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness
const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch Harness w/ gas and brakes
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
// Roughly calculated using the offsets in openpilot +5%:
// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
@@ -17,7 +17,7 @@ const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1,
// assuming that 2*(gain_dbc1*gas1) == (gain_dbc2*gas2)
// In this safety: ((gas1 + (gas2/2))/2) > THRESHOLD
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 344;
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2) // avg between 2 tracks
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U ) / 2U) // avg between 2 tracks
const int HONDA_BOSCH_NO_GAS_VALUE = -30000; // value sent when not requesting gas
const int HONDA_BOSCH_GAS_MAX = 2000;
const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2
@@ -28,28 +28,28 @@ AddrCheckStruct honda_nidec_addr_checks[] = {
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x326, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
};
#define HONDA_NIDEC_ADDR_CHECKS_LEN (sizeof(honda_nidec_addr_checks) / sizeof(honda_nidec_addr_checks[0]))
// For Nidecs with main on signal on 0x326
// For Nidecs with main on signal on an alternate msg
AddrCheckStruct honda_nidec_alt_addr_checks[] = {
{.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x326, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
};
#define HONDA_NIDEC_ALT_ADDR_CHECKS_LEN (sizeof(honda_nidec_alt_addr_checks) / sizeof(honda_nidec_alt_addr_checks[0]))
// Bosch harness has pt on bus 1
AddrCheckStruct honda_bh_addr_checks[] = {
// Bosch has pt on bus 1
AddrCheckStruct honda_bosch_addr_checks[] = {
{.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }, { 0 }}},
{.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
{0x1BE, 1, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}, { 0 }}},
{.msg = {{0x326, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
};
#define HONDA_BH_ADDR_CHECKS_LEN (sizeof(honda_bh_addr_checks) / sizeof(honda_bh_addr_checks[0]))
#define HONDA_BOSCH_ADDR_CHECKS_LEN (sizeof(honda_bosch_addr_checks) / sizeof(honda_bosch_addr_checks[0]))
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
@@ -59,12 +59,12 @@ int honda_brake = 0;
bool honda_alt_brake_msg = false;
bool honda_fwd_brake = false;
bool honda_bosch_long = false;
enum {HONDA_N_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
addr_checks honda_rx_checks = {honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
static uint8_t honda_get_checksum(CANPacket_t *to_push) {
int checksum_byte = GET_LEN(to_push) - 1;
int checksum_byte = GET_LEN(to_push) - 1U;
return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
}
@@ -86,7 +86,7 @@ static uint8_t honda_compute_checksum(CANPacket_t *to_push) {
}
static uint8_t honda_get_counter(CANPacket_t *to_push) {
int counter_byte = GET_LEN(to_push) - 1;
int counter_byte = GET_LEN(to_push) - 1U;
return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
}
@@ -109,7 +109,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
// 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) ? 28 : 47);
acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
if (!acc_main_on) {
controls_allowed = 0;
}
@@ -119,7 +119,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
// 0x1A6 for the ILX, 0x296 for the Civic Touring
if ((addr == 0x1A6) || (addr == 0x296)) {
// check for button presses
int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5;
switch (button) {
case 1: // main
case 2: // cancel
@@ -144,7 +144,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
// accord, crv: 0x1BE bit 4
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
if (is_user_brake_msg) {
brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10U) : (GET_BYTE((to_push), 6) & 0x20U);
}
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
@@ -157,15 +157,15 @@ static int honda_rx_hook(CANPacket_t *to_push) {
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
gas_pressed = GET_BYTE(to_push, 0) != 0;
gas_pressed = GET_BYTE(to_push, 0) != 0U;
}
}
// disable stock Honda AEB in unsafe mode
if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
if ((bus == 2) && (addr == 0x1FA)) {
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20U;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3U);
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
@@ -180,14 +180,14 @@ static int honda_rx_hook(CANPacket_t *to_push) {
}
bool stock_ecu_detected = false;
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
int pt_bus = (honda_hw == HONDA_BH_HW) ? 1 : 0;
int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side
int pt_bus = (honda_hw == HONDA_BOSCH) ? 1 : 0;
if (safety_mode_cnt > RELAY_TRNS_TIMEOUT) {
// 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_N_HW) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_N_HW) && (bus == 0))) {
if (((honda_hw != HONDA_NIDEC) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_NIDEC) && (bus == 0))) {
stock_ecu_detected = true;
}
}
@@ -215,10 +215,10 @@ static int honda_tx_hook(CANPacket_t *to_send) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
} else if ((honda_hw == HONDA_BH_HW) && honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BH_LONG_TX_MSGS, sizeof(HONDA_BH_LONG_TX_MSGS)/sizeof(HONDA_BH_LONG_TX_MSGS[0]));
if ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BOSCH_TX_MSGS, sizeof(HONDA_BOSCH_TX_MSGS)/sizeof(HONDA_BOSCH_TX_MSGS[0]));
} else if ((honda_hw == HONDA_BOSCH) && honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BOSCH_LONG_TX_MSGS, sizeof(HONDA_BOSCH_LONG_TX_MSGS)/sizeof(HONDA_BOSCH_LONG_TX_MSGS[0]));
} else {
tx = msg_allowed(to_send, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
}
@@ -231,11 +231,11 @@ static int honda_tx_hook(CANPacket_t *to_send) {
pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
int bus_pt = (honda_hw == HONDA_BH_HW)? 1 : 0;
int bus_pt = (honda_hw == HONDA_BOSCH) ? 1 : 0;
// BRAKE: safety check (nidec)
if ((addr == 0x1FA) && (bus == bus_pt)) {
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
if (!current_controls_allowed) {
if (honda_brake != 0) {
tx = 0;
@@ -251,7 +251,7 @@ static int honda_tx_hook(CANPacket_t *to_send) {
// 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) & 0x7);
int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7U);
accel = to_signed(accel, 11);
if (!current_controls_allowed) {
if (accel != 0) {
@@ -284,9 +284,9 @@ static int honda_tx_hook(CANPacket_t *to_send) {
}
}
// Bosch supplemental control check
// Bosch supplemental control check
if (addr == 0xE5) {
if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
if ((GET_BYTES_04(to_send) != 0x10800004U) || ((GET_BYTES_48(to_send) & 0x00FFFFFFU) != 0x0U)) {
tx = 0;
}
}
@@ -304,14 +304,14 @@ static int honda_tx_hook(CANPacket_t *to_send) {
// 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) && !current_controls_allowed && (bus == bus_pt)) {
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
tx = 0;
}
}
// Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 0x18DAB0F1) {
if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
tx = 0;
}
}
@@ -325,26 +325,22 @@ static const addr_checks* honda_nidec_init(int16_t param) {
controls_allowed = false;
relay_malfunction_reset();
gas_interceptor_detected = 0;
honda_hw = HONDA_N_HW;
honda_hw = HONDA_NIDEC;
honda_alt_brake_msg = false;
honda_bosch_long = false;
honda_rx_checks = (addr_checks){honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
/*
if (GET_FLAG(param, HONDA_PARAM_NIDEC_ALT)) {
honda_rx_checks = (addr_checks){honda_nidec_alt_addr_checks, HONDA_NIDEC_ALT_ADDR_CHECKS_LEN};
} else {
honda_rx_checks = (addr_checks){honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
}
*/
return &honda_rx_checks;
}
static const addr_checks* honda_bosch_harness_init(int16_t param) {
static const addr_checks* honda_bosch_init(int16_t param) {
controls_allowed = false;
relay_malfunction_reset();
honda_hw = HONDA_BH_HW;
honda_hw = HONDA_BOSCH;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
@@ -353,7 +349,7 @@ static const addr_checks* honda_bosch_harness_init(int16_t param) {
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
#endif
honda_rx_checks = (addr_checks){honda_bh_addr_checks, HONDA_BH_ADDR_CHECKS_LEN};
honda_rx_checks = (addr_checks){honda_bosch_addr_checks, HONDA_BOSCH_ADDR_CHECKS_LEN};
return &honda_rx_checks;
}
@@ -384,17 +380,15 @@ static int honda_nidec_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
static int honda_bosch_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
int bus_rdr_cam = (honda_hw == HONDA_BH_HW) ? 2 : 1; // radar bus, camera side
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
if (bus_num == bus_rdr_car) {
bus_fwd = bus_rdr_cam;
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == bus_rdr_cam) {
if (bus_num == 2) {
int addr = GET_ADDR(to_fwd);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
if (!is_lkas_msg) {
bus_fwd = bus_rdr_car;
bus_fwd = 0;
}
}
@@ -409,8 +403,8 @@ const safety_hooks honda_nidec_hooks = {
.fwd = honda_nidec_fwd_hook,
};
const safety_hooks honda_bosch_harness_hooks = {
.init = honda_bosch_harness_init,
const safety_hooks honda_bosch_hooks = {
.init = honda_bosch_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
panda/board/safety/safety_hyundai.h
+23 -24
View File
@@ -74,15 +74,15 @@ static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
uint8_t cnt;
if (addr == 608) {
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3;
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
} else if (addr == 902) {
cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
} else if (addr == 916) {
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7;
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
} else if (addr == 1057) {
cnt = GET_BYTE(to_push, 7) & 0xF;
cnt = GET_BYTE(to_push, 7) & 0xFU;
} else if (addr == 1265) {
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xF;
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
} else {
cnt = 0;
}
@@ -94,11 +94,11 @@ static uint8_t hyundai_get_checksum(CANPacket_t *to_push) {
uint8_t chksum;
if (addr == 608) {
chksum = GET_BYTE(to_push, 7) & 0xF;
chksum = GET_BYTE(to_push, 7) & 0xFU;
} else if (addr == 902) {
chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
} else if (addr == 916) {
chksum = GET_BYTE(to_push, 6) & 0xF;
chksum = GET_BYTE(to_push, 6) & 0xFU;
} else if (addr == 1057) {
chksum = GET_BYTE(to_push, 7) >> 4;
} else {
@@ -149,11 +149,11 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
hyundai_get_checksum, hyundai_compute_checksum,
hyundai_get_counter);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
if (addr == 593) {
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ff) * 0.79) - 808; // scale down new driver torque signal to match previous one
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ffU) * 0.79) - 808; // scale down new driver torque signal to match previous one
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}
@@ -161,7 +161,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
if (hyundai_longitudinal) {
// ACC steering wheel buttons
if (addr == 1265) {
int button = GET_BYTE(to_push, 0) & 0x7;
int button = GET_BYTE(to_push, 0) & 0x7U;
switch (button) {
case 1: // resume
case 2: // set
@@ -178,7 +178,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
// 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;
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
}
@@ -191,24 +191,23 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
// read gas pressed signal
if ((addr == 881) && hyundai_ev_gas_signal) {
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7F) << 1) | GET_BYTE(to_push, 3) >> 7) != 0;
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
} else if ((addr == 881) && hyundai_hybrid_gas_signal) {
gas_pressed = GET_BYTE(to_push, 7) != 0;
gas_pressed = GET_BYTE(to_push, 7) != 0U;
} else if (addr == 608) { // ICE
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
} else {
}
// sample wheel speed, averaging opposite corners
if (addr == 902) {
int hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF; // FL
hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF; // RL
int hyundai_speed = (GET_BYTES_04(to_push) & 0x3FFFU) + ((GET_BYTES_48(to_push) >> 16) & 0x3FFFU); // FL + RR
hyundai_speed /= 2;
vehicle_moving = hyundai_speed > HYUNDAI_STANDSTILL_THRSLD;
}
if (addr == 916) {
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0U;
}
bool stock_ecu_detected = (addr == 832);
@@ -237,8 +236,8 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
// FCA11: Block any potential actuation
if (addr == 909) {
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1;
int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1;
int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1U;
int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1U;
if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
tx = 0;
@@ -247,11 +246,11 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
// ACCEL: safety check
if (addr == 1057) {
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7) << 8) | GET_BYTE(to_send, 3)) - 1023;
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023;
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_BYTE(to_send, 6) >> 6) & 1;
int aeb_req = (GET_BYTE(to_send, 6) >> 6) & 1U;
bool violation = 0;
@@ -273,7 +272,7 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
// LKA STEER: safety check
if (addr == 832) {
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ffU) - 1024U;
uint32_t ts = microsecond_timer_get();
bool violation = 0;
@@ -320,7 +319,7 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 2000) {
if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
tx = 0;
}
}
@@ -329,7 +328,7 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
// This avoids unintended engagements while still allowing resume spam
if ((addr == 1265) && !controls_allowed) {
if ((GET_BYTES_04(to_send) & 0x7) != 4) {
if ((GET_BYTES_04(to_send) & 0x7U) != 4U) {
tx = 0;
}
}
panda/board/safety/safety_mazda.h
+9 -9
View File
@@ -9,10 +9,10 @@
// CAN bus numbers
#define MAZDA_MAIN 0
#define MAZDA_AUX 1
#define MAZDA_CAM 2
#define MAZDA_AUX 1
#define MAZDA_CAM 2
#define MAZDA_MAX_STEER 2048
#define MAZDA_MAX_STEER 2048U
// max delta torque allowed for real time checks
#define MAZDA_MAX_RT_DELTA 940
@@ -39,7 +39,7 @@ addr_checks mazda_rx_checks = {mazda_addr_checks, MAZDA_ADDR_CHECKS_LEN};
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
static int mazda_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &mazda_rx_checks, NULL, NULL, NULL);
if (valid && (GET_BUS(to_push) == MAZDA_MAIN)) {
if (valid && ((int)GET_BUS(to_push) == MAZDA_MAIN)) {
int addr = GET_ADDR(to_push);
if (addr == MAZDA_ENGINE_DATA) {
@@ -49,14 +49,14 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
}
if (addr == MAZDA_STEER_TORQUE) {
int torque_driver_new = GET_BYTE(to_push, 0) - 127;
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) & 8;
bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
if (cruise_engaged) {
if (!cruise_engaged_prev) {
controls_allowed = 1;
@@ -68,11 +68,11 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
}
if (addr == MAZDA_ENGINE_DATA) {
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0));
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0U));
}
if (addr == MAZDA_PEDALS) {
brake_pressed = (GET_BYTE(to_push, 0) & 0x10);
brake_pressed = (GET_BYTE(to_push, 0) & 0x10U);
}
generic_rx_checks((addr == MAZDA_LKAS));
@@ -94,7 +94,7 @@ static int mazda_tx_hook(CANPacket_t *to_send) {
// steer cmd checks
if (addr == MAZDA_LKAS) {
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
bool violation = 0;
uint32_t ts = microsecond_timer_get();
panda/board/safety/safety_nissan.h
+9 -9
View File
@@ -53,7 +53,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
if (addr == 0x2) {
// Current steering angle
// Factor -0.1, little endian
int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFF);
int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFFU);
// Need to multiply by 10 here as LKAS and Steering wheel are different base unit
angle_meas_new = to_signed(angle_meas_new, 16) * 10;
@@ -71,9 +71,9 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
// 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) & 0x3)) > 3;
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U;
} else {
gas_pressed = GET_BYTE(to_push, 0) > 3;
gas_pressed = GET_BYTE(to_push, 0) > 3U;
}
}
}
@@ -81,15 +81,15 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
// X-trail 0x454, Leaf 0x239
if ((addr == 0x454) || (addr == 0x239)) {
if (addr == 0x454){
brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
brake_pressed = (GET_BYTE(to_push, 2) & 0x80U) != 0U;
} else {
brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1) != 0;
brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1U) != 0U;
}
}
// Handle cruise enabled
if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U;
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
@@ -117,8 +117,8 @@ static int nissan_tx_hook(CANPacket_t *to_send) {
// 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) & 0x3));
bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1;
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;
// offeset 1310 * NISSAN_DEG_TO_CAN
desired_angle = desired_angle - 131000;
@@ -154,7 +154,7 @@ static int nissan_tx_hook(CANPacket_t *to_send) {
// 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) & 0x3d) > 0);
violation |= ((GET_BYTE(to_send, 1) & 0x3dU) > 0U);
}
if (violation) {
panda/board/safety/safety_subaru.h
+14 -16
View File
@@ -42,7 +42,7 @@ static uint8_t subaru_get_checksum(CANPacket_t *to_push) {
}
static uint8_t subaru_get_counter(CANPacket_t *to_push) {
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF);
return (uint8_t)(GET_BYTE(to_push, 1) & 0xFU);
}
static uint8_t subaru_compute_checksum(CANPacket_t *to_push) {
@@ -60,18 +60,18 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &subaru_rx_checks,
subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
if (addr == 0x119) {
int torque_driver_new;
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FFU);
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
update_sample(&torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x240) {
int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1);
int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1U);
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
}
@@ -83,18 +83,17 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
// sample wheel speed, averaging opposite corners
if (addr == 0x13a) {
int subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF; // FR
subaru_speed += (GET_BYTES_48(to_push) >> 6) & 0x1FFF; // RL
int subaru_speed = ((GET_BYTES_04(to_push) >> 12) & 0x1FFFU) + ((GET_BYTES_48(to_push) >> 6) & 0x1FFFU); // FR + RL
subaru_speed /= 2;
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
}
if (addr == 0x13c) {
brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1);
brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1U);
}
if (addr == 0x40) {
gas_pressed = GET_BYTE(to_push, 4) != 0;
gas_pressed = GET_BYTE(to_push, 4) != 0U;
}
generic_rx_checks((addr == 0x122));
@@ -106,7 +105,7 @@ static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &subaru_l_rx_checks, NULL, NULL, NULL);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
if (addr == 0x371) {
int torque_driver_new;
@@ -117,7 +116,7 @@ static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x144) {
int cruise_engaged = ((GET_BYTES_48(to_push) >> 17) & 1);
int cruise_engaged = ((GET_BYTES_48(to_push) >> 17) & 1U);
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
}
@@ -129,18 +128,17 @@ static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
// sample wheel speed, averaging opposite corners
if (addr == 0xD4) {
int subaru_speed = (GET_BYTES_04(to_push) >> 16) & 0xFFFF; // FR
subaru_speed += GET_BYTES_48(to_push) & 0xFFFF; // RL
int subaru_speed = ((GET_BYTES_04(to_push) >> 16) & 0xFFFFU) + (GET_BYTES_48(to_push) & 0xFFFFU); // FR + RL
subaru_speed /= 2;
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
}
if (addr == 0xD1) {
brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFF) > 0;
brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFFU) > 0U;
}
if (addr == 0x140) {
gas_pressed = GET_BYTE(to_push, 0) != 0;
gas_pressed = GET_BYTE(to_push, 0) != 0U;
}
generic_rx_checks((addr == 0x164));
@@ -158,7 +156,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
// steer cmd checks
if (addr == 0x122) {
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFFU);
bool violation = 0;
uint32_t ts = microsecond_timer_get();
@@ -218,7 +216,7 @@ static int subaru_legacy_tx_hook(CANPacket_t *to_send) {
// steer cmd checks
if (addr == 0x164) {
int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFF);
int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFFU);
bool violation = 0;
uint32_t ts = microsecond_timer_get();
panda/board/safety/safety_tesla.h
+9 -9
View File
@@ -62,25 +62,25 @@ static int tesla_rx_hook(CANPacket_t *to_push) {
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) & 0x3F) << 8) | GET_BYTE(to_push, 5)) - 8192;
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
vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0F) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
vehicle_moving = ABS(vehicle_speed) > 0.1;
}
if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
// Gas pressed
gas_pressed = (GET_BYTE(to_push, 6) != 0);
gas_pressed = (GET_BYTE(to_push, 6) != 0U);
}
if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
// Brake pressed
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0C) >> 2) != 1);
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0CU) >> 2) != 1U);
}
if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
@@ -129,7 +129,7 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
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) & 0x7F) << 8) | GET_BYTE(to_send, 1));
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
@@ -164,7 +164,7 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
if(!tesla_powertrain && (addr == 0x45)) {
// No button other than cancel can be sent by us
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3F);
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU);
if((control_lever_status != 0) && (control_lever_status != 1)) {
violation = true;
}
@@ -174,14 +174,14 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
// DAS_control: longitudinal control message
if (tesla_longitudinal) {
// No AEB events may be sent by openpilot
int aeb_event = GET_BYTE(to_send, 2) & 0x03;
int aeb_event = GET_BYTE(to_send, 2) & 0x03U;
if (aeb_event != 0) {
violation = true;
}
// Don't allow any acceleration limits above the safety limits
int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1F) << 4) | (GET_BYTE(to_send, 5) >> 4);
int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0F) << 5) | (GET_BYTE(to_send, 4) >> 3);
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);
float accel_max = (0.04 * raw_accel_max) - 15;
float accel_min = (0.04 * raw_accel_min) - 15;
panda/board/safety/safety_toyota.h
+11 -11
View File
@@ -24,7 +24,7 @@ const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph
// gas_norm2 = ((gain_dbc*gas2) + offset2_dbc)
// In this safety: ((gas1 + gas2)/2) > THRESHOLD
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 845;
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2) // avg between 2 tracks
#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
const CanMsg TOYOTA_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
@@ -55,7 +55,7 @@ static uint8_t toyota_compute_checksum(CANPacket_t *to_push) {
}
static uint8_t toyota_get_checksum(CANPacket_t *to_push) {
int checksum_byte = GET_LEN(to_push) - 1;
int checksum_byte = GET_LEN(to_push) - 1U;
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
}
@@ -64,7 +64,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &toyota_rx_checks,
toyota_get_checksum, toyota_compute_checksum, NULL);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
// get eps motor torque (0.66 factor in dbc)
@@ -87,7 +87,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x1D2) {
// 5th bit is CRUISE_ACTIVE
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20U;
if (!cruise_engaged) {
controls_allowed = 0;
}
@@ -98,7 +98,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
// sample gas pedal
if (!gas_interceptor_detected) {
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1U) == 0U;
}
}
@@ -106,9 +106,9 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
if (addr == 0xaa) {
int speed = 0;
// sum 4 wheel speeds
for (int i=0; i<8; i+=2) {
int next_byte = i + 1; // hack to deal with misra 10.8
speed += (GET_BYTE(to_push, i) << 8) + GET_BYTE(to_push, next_byte) - 0x1a6f;
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 - 0x1a6f;
}
vehicle_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
}
@@ -116,7 +116,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
if ((addr == 0x224) || (addr == 0x226)) {
int byte = (addr == 0x224) ? 0 : 4;
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1U) != 0U;
}
// sample gas interceptor
@@ -176,8 +176,8 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
// only sent to prevent dash errors, no actuation is accepted
if (addr == 0x191) {
// check the STEER_REQUEST, STEER_REQUEST_2, and STEER_ANGLE_CMD signals
bool lta_request = (GET_BYTE(to_send, 0) & 1) != 0;
bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1) != 0;
bool lta_request = (GET_BYTE(to_send, 0) & 1U) != 0U;
bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1U) != 0U;
int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
lta_angle = to_signed(lta_angle, 16);
panda/board/safety/safety_volkswagen.h
+18 -18
View File
@@ -145,7 +145,7 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &volkswagen_mqb_rx_checks,
volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (GET_BUS(to_push) == 0U)) {
int addr = GET_ADDR(to_push);
// Update in-motion state by sampling front wheel speeds
@@ -163,8 +163,8 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
// 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) & 0x1F) << 8);
int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
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;
}
@@ -174,7 +174,7 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
// Signal: TSK_06.TSK_Status
if (addr == MSG_TSK_06) {
int acc_status = (GET_BYTE(to_push, 3) & 0x7);
int acc_status = (GET_BYTE(to_push, 3) & 0x7U);
int cruise_engaged = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
@@ -187,12 +187,12 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
// Signal: Motor_20.MO_Fahrpedalrohwert_01
if (addr == MSG_MOTOR_20) {
gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFFU) != 0U;
}
// Signal: ESP_05.ESP_Fahrer_bremst
if (addr == MSG_ESP_05) {
brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
brake_pressed = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
}
generic_rx_checks((addr == MSG_HCA_01));
@@ -205,13 +205,13 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &volkswagen_pq_rx_checks,
volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
if (valid && (GET_BUS(to_push) == 0)) {
if (valid && (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) & 0xFE) >> 1) | (GET_BYTE(to_push, 3) << 7);
int speed = ((GET_BYTE(to_push, 2) & 0xFEU) >> 1) | (GET_BYTE(to_push, 3) << 7);
// DBC speed scale 0.01: 0.3m/s = 108.
vehicle_moving = speed > 108;
}
@@ -220,8 +220,8 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
// 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) & 0x3) << 8);
int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
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;
}
@@ -231,7 +231,7 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
// Signal: Motor_2.GRA_Status
if (addr == MSG_MOTOR_2) {
int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
int acc_status = (GET_BYTE(to_push, 2) & 0xC0U) >> 6;
int cruise_engaged = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
@@ -249,7 +249,7 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
// Signal: Motor_2.Bremslichtschalter
if (addr == MSG_MOTOR_2) {
brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
brake_pressed = (GET_BYTE(to_push, 2) & 0x1U);
}
generic_rx_checks((addr == MSG_HCA_1));
@@ -309,8 +309,8 @@ static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
// Signal: HCA_01.Assist_Torque (absolute torque)
// Signal: HCA_01.Assist_VZ (direction)
if (addr == MSG_HCA_01) {
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3FU) << 8);
int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
if (sign == 1) {
desired_torque *= -1;
}
@@ -324,7 +324,7 @@ static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
// 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) & 0x9) != 0) {
if ((GET_BYTE(to_send, 2) & 0x9U) != 0U) {
tx = 0;
}
}
@@ -345,9 +345,9 @@ static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
// 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) & 0x7F) << 8);
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) & 0x80) >> 7;
int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
if (sign == 1) {
desired_torque *= -1;
}
@@ -361,7 +361,7 @@ static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
// This avoids unintended engagements while still allowing resume spam
if ((addr == MSG_GRA_NEU) && !controls_allowed) {
// disallow resume and set: bits 16 and 17
if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
if ((GET_BYTE(to_send, 2) & 0x3U) != 0U) {
tx = 0;
}
}
panda/board/safety_declarations.h
+3 -3
View File
@@ -1,7 +1,7 @@
#define GET_BIT(msg, b) (((msg)->data[(int)((b) / 8)] >> ((b) % 8)) & 0x1)
#define GET_BIT(msg, b) (((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U)
#define GET_BYTE(msg, b) ((msg)->data[(b)])
#define GET_BYTES_04(msg) ((msg)->data[0] | ((msg)->data[1] << 8) | ((msg)->data[2] << 16) | ((msg)->data[3] << 24))
#define GET_BYTES_48(msg) ((msg)->data[4] | ((msg)->data[5] << 8) | ((msg)->data[6] << 16) | ((msg)->data[7] << 24))
#define GET_BYTES_04(msg) ((msg)->data[0] | ((msg)->data[1] << 8U) | ((msg)->data[2] << 16U) | ((msg)->data[3] << 24U))
#define GET_BYTES_48(msg) ((msg)->data[4] | ((msg)->data[5] << 8U) | ((msg)->data[6] << 16U) | ((msg)->data[7] << 24U))
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
const int MAX_WRONG_COUNTERS = 5;
panda/board/stm32h7/clock.h
+5 -12
View File
@@ -10,6 +10,9 @@ void clock_init(void) {
// enable external oscillator HSE
register_set_bits(&(RCC->CR), RCC_CR_HSEON);
while ((RCC->CR & RCC_CR_HSERDY) == 0);
// enable internal HSI48 for USB FS kernel
register_set_bits(&(RCC->CR), RCC_CR_HSI48ON);
while ((RCC->CR & RCC_CR_HSI48RDY) == 0);
// Specify the frequency source for PLL1, divider for DIVM1, DIVM2, DIVM3 : HSE, 5, 5, 5
register_set(&(RCC->PLLCKSELR), RCC_PLLCKSELR_PLLSRC_HSE | RCC_PLLCKSELR_DIVM1_0 | RCC_PLLCKSELR_DIVM1_2 | RCC_PLLCKSELR_DIVM2_0 | RCC_PLLCKSELR_DIVM2_2 | RCC_PLLCKSELR_DIVM3_0 | RCC_PLLCKSELR_DIVM3_2, 0x3F3F3F3U);
@@ -23,16 +26,6 @@ void clock_init(void) {
while((RCC->CR & RCC_CR_PLL1RDY) == 0);
// *** PLL1 end ***
// *** PLL3 start ***
// Specify multiplier N and dividers P, Q, R for PLL1 : 48, 2, 5, 2 (PLL3Q 48Mhz for USB FS)
register_set(&(RCC->PLL3DIVR), 0x104022FU, 0x7F7FFFFFU);
// Specify the input and output frequency ranges, enable dividers for PLL1
register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLL3RGE_2 | RCC_PLLCFGR_DIVP3EN | RCC_PLLCFGR_DIVQ3EN | RCC_PLLCFGR_DIVR3EN, 0x1C00C00U);
// Enable PLL1
register_set_bits(&(RCC->CR), RCC_CR_PLL3ON);
while((RCC->CR & RCC_CR_PLL3RDY) == 0);
// *** PLL1 end ***
//////////////OTHER CLOCKS////////////////////
// RCC HCLK Clock Source / RCC APB3 Clock Source / RCC SYS Clock Source
register_set(&(RCC->D1CFGR), RCC_D1CFGR_HPRE_DIV2 | RCC_D1CFGR_D1PPRE_DIV2 | RCC_D1CFGR_D1CPRE_DIV1, 0xF7FU);
@@ -49,8 +42,8 @@ void clock_init(void) {
register_set_bits(&(RCC->AHB4ENR), RCC_APB4ENR_SYSCFGEN);
//////////////END OTHER CLOCKS////////////////////
// Configure clock source for USB (PLL3Q at 48Mhz)
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_1, RCC_D2CCIP2R_USBSEL);
// Configure clock source for USB (HSI at 48Mhz)
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_1 | RCC_D2CCIP2R_USBSEL_0, RCC_D2CCIP2R_USBSEL);
// Configure clock source for FDCAN (PLL1Q at 80Mhz)
register_set(&(RCC->D2CCIP1R), RCC_D2CCIP1R_FDCANSEL_0, RCC_D2CCIP1R_FDCANSEL);
// Configure clock source for ADC1,2,3 (per_ck(currently HSE))
panda/board/usb_protocol.h
+21 -21
View File
@@ -1,39 +1,39 @@
typedef struct {
uint8_t ptr;
uint8_t tail_size;
int ptr;
int tail_size;
uint8_t data[72];
uint8_t counter;
} usb_asm_buffer;
usb_asm_buffer ep1_buffer = {.ptr = 0, .tail_size = 0, .counter = 0};
uint32_t total_rx_size = 0;
int total_rx_size = 0;
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
uint8_t pos = 1;
int pos = 1;
uint8_t *usbdata8 = (uint8_t *)usbdata;
usbdata8[0] = ep1_buffer.counter;
// Send tail of previous message if it is in buffer
if (ep1_buffer.ptr > 0) {
if (ep1_buffer.ptr <= 63U) {
if (ep1_buffer.ptr <= 63) {
(void)memcpy(&usbdata8[pos], ep1_buffer.data, ep1_buffer.ptr);
pos += ep1_buffer.ptr;
ep1_buffer.ptr = 0;
} else {
(void)memcpy(&usbdata8[pos], ep1_buffer.data, 63U);
ep1_buffer.ptr = ep1_buffer.ptr - 63U;
(void)memcpy(ep1_buffer.data, &ep1_buffer.data[63U], ep1_buffer.ptr);
pos += 63U;
(void)memcpy(&usbdata8[pos], ep1_buffer.data, 63);
ep1_buffer.ptr = ep1_buffer.ptr - 63;
(void)memcpy(ep1_buffer.data, &ep1_buffer.data[63], ep1_buffer.ptr);
pos += 63;
}
}
if (total_rx_size > MAX_EP1_CHUNK_PER_BULK_TRANSFER) {
total_rx_size = 0;
ep1_buffer.counter = 0;
ep1_buffer.counter = 0U;
} else {
CANPacket_t can_packet;
while ((pos < len) && can_pop(&can_rx_q, &can_packet)) {
uint8_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[can_packet.data_len_code];
int pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[can_packet.data_len_code];
if ((pos + pckt_len) <= len) {
(void)memcpy(&usbdata8[pos], &can_packet, pckt_len);
pos += pckt_len;
@@ -50,7 +50,7 @@ int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
total_rx_size += pos;
}
if (pos != len) {
ep1_buffer.counter = 0;
ep1_buffer.counter = 0U;
total_rx_size = 0;
}
if (pos <= 1) { pos = 0; }
@@ -64,17 +64,17 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
uint8_t *usbdata8 = (uint8_t *)usbdata;
// Got first packet from a stream, resetting buffer and counter
if (usbdata8[0] == 0) {
ep3_buffer.counter = 0;
if (usbdata8[0] == 0U) {
ep3_buffer.counter = 0U;
ep3_buffer.ptr = 0;
ep3_buffer.tail_size = 0;
}
// Assembling can message with data from buffer
if (usbdata8[0] == ep3_buffer.counter) {
uint8_t pos = 1;
int pos = 1;
ep3_buffer.counter++;
if (ep3_buffer.ptr != 0) {
if (ep3_buffer.tail_size <= 63U) {
if (ep3_buffer.tail_size <= 63) {
CANPacket_t to_push;
(void)memcpy(&ep3_buffer.data[ep3_buffer.ptr], &usbdata8[pos], ep3_buffer.tail_size);
(void)memcpy(&to_push, ep3_buffer.data, ep3_buffer.ptr + ep3_buffer.tail_size);
@@ -84,15 +84,15 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
ep3_buffer.tail_size = 0;
} else {
(void)memcpy(&ep3_buffer.data[ep3_buffer.ptr], &usbdata8[pos], len - pos);
ep3_buffer.tail_size -= 63U;
ep3_buffer.ptr += 63U;
pos += 63U;
ep3_buffer.tail_size -= 63;
ep3_buffer.ptr += 63;
pos += 63;
}
}
while (pos < len) {
uint8_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(usbdata8[pos] >> 4U)];
if ((pos + pckt_len) <= (uint8_t)len) {
int pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(usbdata8[pos] >> 4U)];
if ((pos + pckt_len) <= len) {
CANPacket_t to_push;
(void)memcpy(&to_push, &usbdata8[pos], pckt_len);
can_send(&to_push, to_push.bus, false);
panda/python/__init__.py
+1 -1
View File
@@ -193,7 +193,7 @@ class Panda(object):
SAFETY_ALLOUTPUT = 17
SAFETY_GM_ASCM = 18
SAFETY_NOOUTPUT = 19
SAFETY_HONDA_BOSCH_HARNESS = 20
SAFETY_HONDA_BOSCH = 20
SAFETY_VOLKSWAGEN_PQ = 21
SAFETY_SUBARU_LEGACY = 22
SAFETY_HYUNDAI_LEGACY = 23