sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

hotfix panda#426

Browse Source 
old-commit-hash: 8f62890de4
commatwo_master
Willem Melching 5 years ago
parent 6320dbf7ec
commit 9133e7e939
7 changed files with 204 additions and 174 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  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

BIN
panda/board/obj/panda.bin.signed
View File

Binary file not shown.

24
panda/board/safety.h
Unescape View File

@ -148,20 +148,20 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
if (index != -1) {
// checksum check
if ((get_checksum != NULL) && (compute_checksum != NULL)) {
if (rx_checks[index].check_checksum) {
uint8_t checksum = get_checksum(to_push);
uint8_t checksum_comp = compute_checksum(to_push);
rx_checks[index].valid_checksum = checksum_comp == checksum;
}
if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].check_checksum) {
uint8_t checksum = get_checksum(to_push);
uint8_t checksum_comp = compute_checksum(to_push);
rx_checks[index].valid_checksum = checksum_comp == checksum;
} else {
rx_checks[index].valid_checksum = true;
}
// counter check
if (get_counter != NULL) {
if (rx_checks[index].max_counter > 0U) {
uint8_t counter = get_counter(to_push);
update_counter(rx_checks, index, counter);
}
// counter check (max_counter == 0 means skip check)
if ((get_counter != NULL) && (rx_checks[index].max_counter > 0U)) {
uint8_t counter = get_counter(to_push);
update_counter(rx_checks, index, counter);
} else {
rx_checks[index].wrong_counters = 0U;
}
}
return is_msg_valid(rx_checks, index);

50
panda/board/safety/safety_chrysler.h
Unescape View File

@ -20,36 +20,42 @@ uint32_t chrysler_ts_last = 0;
struct sample_t chrysler_torque_meas; // last few torques measured
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
if (addr == 544) {
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
NULL, NULL, NULL);
// update array of samples
update_sample(&chrysler_torque_meas, torque_meas_new);
}
if (valid) {
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
if (addr == 0x1F4) {
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1;
// update array of samples
update_sample(&chrysler_torque_meas, torque_meas_new);
}
if (!cruise_engaged) {
controls_allowed = 0;
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x1F4) {
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
chrysler_cruise_engaged_last = cruise_engaged;
}
chrysler_cruise_engaged_last = cruise_engaged;
}
// TODO: add gas pressed check
// TODO: add gas pressed check
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
relay_malfunction = true;
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
relay_malfunction = true;
}
}
return 1;
return valid;
}
static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

126
panda/board/safety/safety_gm.h
Unescape View File

@ -42,78 +42,84 @@ uint32_t gm_ts_last = 0;
struct sample_t gm_torque_driver; // last few driver torques measured
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
// rear left wheel speed
if (addr == 842) {
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
NULL, NULL, NULL);
// 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
if (valid) {
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);
}
}
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
int brake = GET_BYTE(to_push, 1);
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake < 10) {
brake = 0;
// sample speed, really only care if car is moving or not
// rear left wheel speed
if (addr == 842) {
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
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
if (addr == 417) {
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev) {
controls_allowed = 0;
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
int brake = GET_BYTE(to_push, 1);
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake < 10) {
brake = 0;
}
if (brake && (!gm_brake_prev || gm_moving)) {
controls_allowed = 0;
}
gm_brake_prev = brake;
}
gm_gas_prev = gas;
}
// exit controls on regen paddle
if (addr == 189) {
bool regen = GET_BYTE(to_push, 0) & 0x20;
if (regen) {
controls_allowed = 0;
// exit controls on rising edge of gas press
if (addr == 417) {
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev) {
controls_allowed = 0;
}
gm_gas_prev = gas;
}
}
// 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;
// exit controls on regen paddle
if (addr == 189) {
bool regen = GET_BYTE(to_push, 0) & 0x20;
if (regen) {
controls_allowed = 0;
}
}
// 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

50
panda/board/safety/safety_hyundai.h
Unescape View File

@ -21,35 +21,41 @@ uint32_t hyundai_ts_last = 0;
struct sample_t hyundai_torque_driver; // last few driver torques measured
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) {
int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
NULL, NULL, NULL);
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 == 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 (addr == 897) {
int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
if (!cruise_engaged) {
controls_allowed = 0;
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 1057) {
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
if (cruise_engaged && !hyundai_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
hyundai_cruise_engaged_last = cruise_engaged;
}
hyundai_cruise_engaged_last = cruise_engaged;
}
// TODO: check gas pressed
// TODO: check gas pressed
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
relay_malfunction = true;
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
relay_malfunction = true;
}
}
return 1;
return valid;
}
static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

54
panda/board/safety/safety_subaru.h
Unescape View File

@ -24,36 +24,42 @@ uint32_t subaru_ts_last = 0;
struct sample_t subaru_torque_driver; // last few driver torques measured
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
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;
bool valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
NULL, NULL, NULL);
if (valid) {
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);
}
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))) {
relay_malfunction = true;
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
relay_malfunction = true;
}
}
return 1;
return valid;
}
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

74
panda/board/safety/safety_volkswagen.h
Unescape View File

@ -33,42 +33,48 @@ uint32_t volkswagen_ts_last = 0;
int volkswagen_gas_prev = 0;
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)) {
relay_malfunction = true;
bool valid = addr_safety_check(to_push, volkswagen_rx_checks, VOLKSWAGEN_RX_CHECK_LEN,
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) {

Write Preview
Loading…
Cancel
Save