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hotfix panda#426

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pull/1000/head
Willem Melching 5 years ago
parent adf25bcb5e
commit 8f62890de4
7 changed files with 204 additions and 174 deletions
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  1. BIN
      panda/board/obj/panda.bin.signed
  2. 24
      panda/board/safety.h
  3. 50
      panda/board/safety/safety_chrysler.h
  4. 126
      panda/board/safety/safety_gm.h
  5. 50
      panda/board/safety/safety_hyundai.h
  6. 54
      panda/board/safety/safety_subaru.h
  7. 74
      panda/board/safety/safety_volkswagen.h

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panda/board/obj/panda.bin.signed
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24
panda/board/safety.h
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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);

50
panda/board/safety/safety_chrysler.h
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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);
// Measured eps torque
if (addr == 544) {
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
// enter controls on rising edge of ACC, exit controls on ACC off // update array of samples
if (addr == 0x1F4) { update_sample(&chrysler_torque_meas, torque_meas_new);
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; // 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) {

126
panda/board/safety/safety_gm.h
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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) {
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
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 bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
// rear left wheel speed NULL, NULL, NULL);
if (addr == 842) {
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
// ACC steering wheel buttons if (valid) {
if (addr == 481) { int bus = GET_BUS(to_push);
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4; int addr = GET_ADDR(to_push);
switch (button) {
case 2: // resume if (addr == 388) {
case 3: // set int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
controls_allowed = 1; torque_driver_new = to_signed(torque_driver_new, 11);
break; // update array of samples
case 6: // cancel update_sample(&gm_torque_driver, torque_driver_new);
controls_allowed = 0;
break;
default:
break; // any other button is irrelevant
} }
}
// exit controls on rising edge of brake press or on brake press when // sample speed, really only care if car is moving or not
// speed > 0 // rear left wheel speed
if (addr == 241) { if (addr == 842) {
int brake = GET_BYTE(to_push, 1); gm_moving = GET_BYTE(to_push, 0) | 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; // 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
}
} }
gm_brake_prev = brake;
}
// exit controls on rising edge of gas press // exit controls on rising edge of brake press or on brake press when
if (addr == 417) { // speed > 0
int gas = GET_BYTE(to_push, 6); if (addr == 241) {
if (gas && !gm_gas_prev) { int brake = GET_BYTE(to_push, 1);
controls_allowed = 0; // 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;
} }
gm_gas_prev = gas;
}
// exit controls on regen paddle // exit controls on rising edge of gas press
if (addr == 189) { if (addr == 417) {
bool regen = GET_BYTE(to_push, 0) & 0x20; int gas = GET_BYTE(to_push, 6);
if (regen) { if (gas && !gm_gas_prev) {
controls_allowed = 0; controls_allowed = 0;
}
gm_gas_prev = gas;
} }
}
// Check if ASCM or LKA camera are online // exit controls on regen paddle
// on powertrain bus. if (addr == 189) {
// 384 = ASCMLKASteeringCmd bool regen = GET_BYTE(to_push, 0) & 0x20;
// 715 = ASCMGasRegenCmd if (regen) {
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) { controls_allowed = 0;
relay_malfunction = true; }
}
// 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; return valid;
} }
// all commands: gas/regen, friction brake and steering // all commands: gas/regen, friction brake and steering

50
panda/board/safety/safety_hyundai.h
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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); if (valid) {
} int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
// enter controls on rising edge of ACC, exit controls on ACC off if (addr == 897) {
if (addr == 1057) { int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
// 2 bits: 13-14 // update array of samples
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3; update_sample(&hyundai_torque_driver, torque_driver_new);
if (cruise_engaged && !hyundai_cruise_engaged_last) {
controls_allowed = 1;
} }
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) {

54
panda/board/safety/safety_subaru.h
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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)){
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);
}
// enter controls on rising edge of ACC, exit controls on ACC off bool valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
if (((addr == 0x240) || (addr == 0x144)) && (bus == 0)) { NULL, NULL, NULL);
int bit_shift = (addr == 0x240) ? 9 : 17;
int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1); if (valid) {
if (cruise_engaged && !subaru_cruise_engaged_last) { int bus = GET_BUS(to_push);
controls_allowed = 1; int addr = GET_ADDR(to_push);
if (((addr == 0x119) || (addr == 0x371)) && (bus == 0)){
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) {

74
panda/board/safety/safety_volkswagen.h
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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
// 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)) { bool valid = addr_safety_check(to_push, volkswagen_rx_checks, VOLKSWAGEN_RX_CHECK_LEN,
relay_malfunction = true; NULL, NULL, NULL);
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 1; return valid;
} }
static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

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