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88 lines
2.9 KiB
88 lines
2.9 KiB
#!/usr/bin/env python3
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import struct
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import panda.tests.safety.libpandasafety_py as libpandasafety_py
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from panda import Panda
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def to_signed(d, bits):
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ret = d
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if d >= (1 << (bits - 1)):
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ret = d - (1 << bits)
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return ret
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def is_steering_msg(mode, addr):
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ret = False
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if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
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ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
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elif mode == Panda.SAFETY_TOYOTA:
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ret = addr == 0x2E4
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elif mode == Panda.SAFETY_GM:
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ret = addr == 384
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elif mode == Panda.SAFETY_HYUNDAI:
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ret = addr == 832
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elif mode == Panda.SAFETY_CHRYSLER:
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ret = addr == 0x292
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elif mode == Panda.SAFETY_SUBARU:
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ret = addr == 0x122
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return ret
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def get_steer_torque(mode, to_send):
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ret = 0
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if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
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ret = to_send.RDLR & 0xFFFF0000
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elif mode == Panda.SAFETY_TOYOTA:
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ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
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ret = to_signed(ret, 16)
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elif mode == Panda.SAFETY_GM:
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ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8)
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ret = to_signed(ret, 11)
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elif mode == Panda.SAFETY_HYUNDAI:
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ret = ((to_send.RDLR >> 16) & 0x7ff) - 1024
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elif mode == Panda.SAFETY_CHRYSLER:
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ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
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elif mode == Panda.SAFETY_SUBARU:
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ret = ((to_send.RDLR >> 16) & 0x1FFF)
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ret = to_signed(ret, 13)
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return ret
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def set_desired_torque_last(safety, mode, torque):
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if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
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pass # honda safety mode doesn't enforce a rate on steering msgs
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elif mode == Panda.SAFETY_TOYOTA:
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safety.set_toyota_desired_torque_last(torque)
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elif mode == Panda.SAFETY_GM:
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safety.set_gm_desired_torque_last(torque)
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elif mode == Panda.SAFETY_HYUNDAI:
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safety.set_hyundai_desired_torque_last(torque)
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elif mode == Panda.SAFETY_CHRYSLER:
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safety.set_chrysler_desired_torque_last(torque)
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elif mode == Panda.SAFETY_SUBARU:
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safety.set_subaru_desired_torque_last(torque)
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def package_can_msg(msg):
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addr_shift = 3 if msg.address >= 0x800 else 21
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rdlr, rdhr = struct.unpack('II', msg.dat.ljust(8, b'\x00'))
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ret = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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ret[0].RIR = msg.address << addr_shift
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ret[0].RDTR = len(msg.dat) | ((msg.src & 0xF) << 4)
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ret[0].RDHR = rdhr
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ret[0].RDLR = rdlr
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return ret
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def init_segment(safety, lr, mode):
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sendcan = (msg for msg in lr if msg.which() == 'sendcan')
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steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, can.address))
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msg = next(steering_msgs, None)
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if msg is None:
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# no steering msgs
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return
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to_send = package_can_msg(msg)
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torque = get_steer_torque(mode, to_send)
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if torque != 0:
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safety.set_controls_allowed(1)
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set_desired_torque_last(safety, mode, torque)
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assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"
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