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278 lines
11 KiB
278 lines
11 KiB
1 month ago
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#pragma once
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#include "opendbc/safety/safety_declarations.h"
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typedef struct {
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const unsigned int EPS_2;
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const unsigned int ESP_1;
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const unsigned int ESP_8;
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const unsigned int ECM_5;
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const unsigned int DAS_3;
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const unsigned int DAS_6;
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const unsigned int LKAS_COMMAND;
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const unsigned int CRUISE_BUTTONS;
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} ChryslerAddrs;
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typedef 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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} ChryslerPlatform;
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static ChryslerPlatform chrysler_platform;
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static const ChryslerAddrs *chrysler_addrs;
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static uint32_t chrysler_get_checksum(const CANPacket_t *msg) {
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int checksum_byte = GET_LEN(msg) - 1U;
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return (uint8_t)(msg->data[checksum_byte]);
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}
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static uint32_t chrysler_compute_checksum(const CANPacket_t *msg) {
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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(msg);
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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)msg->data[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(const CANPacket_t *msg) {
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return (uint8_t)(msg->data[6] >> 4);
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}
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static void chrysler_rx_hook(const CANPacket_t *msg) {
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// Measured EPS torque
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if ((msg->bus == 0U) && (msg->addr == chrysler_addrs->EPS_2)) {
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int torque_meas_new = ((msg->data[4] & 0x7U) << 8) + msg->data[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 unsigned int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0U : 2U;
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if ((msg->bus == das_3_bus) && (msg->addr == chrysler_addrs->DAS_3)) {
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bool cruise_engaged = GET_BIT(msg, 21U);
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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) && (msg->bus == 0U) && (msg->addr == chrysler_addrs->ESP_8)) {
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vehicle_moving = ((msg->data[4] << 8) + msg->data[5]) != 0U;
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}
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if ((chrysler_platform == CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == 514U)) {
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int speed_l = (msg->data[0] << 4) + (msg->data[1] >> 4);
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int speed_r = (msg->data[2] << 4) + (msg->data[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 ((msg->bus == 0U) && (msg->addr == chrysler_addrs->ECM_5)) {
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gas_pressed = msg->data[0U] != 0U;
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}
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// exit controls on rising edge of brake press
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if ((msg->bus == 0U) && (msg->addr == chrysler_addrs->ESP_1)) {
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brake_pressed = ((msg->data[0U] & 0xFU) >> 2U) == 1U;
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}
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}
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static bool chrysler_tx_hook(const CANPacket_t *msg) {
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const TorqueSteeringLimits CHRYSLER_STEERING_LIMITS = {
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.max_torque = 261,
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.max_rt_delta = 112,
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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 TorqueSteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
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.max_torque = 350,
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.max_rt_delta = 112,
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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 TorqueSteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
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.max_torque = 361,
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.max_rt_delta = 182,
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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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bool tx = true;
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// STEERING
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if (msg->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 = ((msg->data[start_byte] & 0x7U) << 8) | msg->data[start_byte + 1];
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desired_torque -= 1024;
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const TorqueSteeringLimits 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(msg, 4U) : (msg->data[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 (msg->addr == chrysler_addrs->CRUISE_BUTTONS) {
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const bool is_cancel = msg->data[0] == 1U;
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const bool is_resume = msg->data[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 safety_config chrysler_init(uint16_t param) {
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const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
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// CAN messages for Chrysler/Jeep platforms
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static 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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static 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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static RxCheck chrysler_ram_dt_rx_checks[] = {
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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};
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static RxCheck chrysler_rx_checks[] = {
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{.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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//{.msg = {{ESP_8, 0, 8, .max_counter = 15U, .ignore_quality_flag = true, .frequency = 50U}}},
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{.msg = {{514, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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};
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static const CanMsg CHRYSLER_TX_MSGS[] = {
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{CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3, .check_relay = false},
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{CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, .check_relay = true},
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{CHRYSLER_ADDRS.DAS_6, 0, 8, .check_relay = true},
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};
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static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
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{CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
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{CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
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{CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, .check_relay = true},
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};
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#ifdef ALLOW_DEBUG
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// CAN messages for the 5th gen RAM HD platform
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static 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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static RxCheck chrysler_ram_hd_rx_checks[] = {
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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};
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static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
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{CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
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{CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
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{CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, .check_relay = true},
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};
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const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
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bool enable_ram_hd = GET_FLAG(param, CHRYSLER_PARAM_RAM_HD);
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#endif
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safety_config ret;
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bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
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if (enable_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 (enable_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,
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.rx = chrysler_rx_hook,
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.tx = chrysler_tx_hook,
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.get_counter = chrysler_get_counter,
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.get_checksum = chrysler_get_checksum,
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.compute_checksum = chrysler_compute_checksum,
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};
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