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380 lines
16 KiB
380 lines
16 KiB
#pragma once
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#include "opendbc/safety/safety_declarations.h"
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// Safety-relevant CAN messages for Ford vehicles.
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#define FORD_EngBrakeData 0x165 // RX from PCM, for driver brake pedal and cruise state
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#define FORD_EngVehicleSpThrottle 0x204 // RX from PCM, for driver throttle input
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#define FORD_DesiredTorqBrk 0x213 // RX from ABS, for standstill state
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#define FORD_BrakeSysFeatures 0x415 // RX from ABS, for vehicle speed
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#define FORD_EngVehicleSpThrottle2 0x202 // RX from PCM, for second vehicle speed
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#define FORD_Yaw_Data_FD1 0x91 // RX from RCM, for yaw rate
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#define FORD_Steering_Data_FD1 0x083 // TX by OP, various driver switches and LKAS/CC buttons
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#define FORD_ACCDATA 0x186 // TX by OP, ACC controls
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#define FORD_ACCDATA_3 0x18A // TX by OP, ACC/TJA user interface
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#define FORD_Lane_Assist_Data1 0x3CA // TX by OP, Lane Keep Assist
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#define FORD_LateralMotionControl 0x3D3 // TX by OP, Lateral Control message
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#define FORD_LateralMotionControl2 0x3D6 // TX by OP, alternate Lateral Control message
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#define FORD_IPMA_Data 0x3D8 // TX by OP, IPMA and LKAS user interface
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// CAN bus numbers.
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#define FORD_MAIN_BUS 0U
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#define FORD_CAM_BUS 2U
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static uint8_t ford_get_counter(const CANPacket_t *to_push) {
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int addr = GET_ADDR(to_push);
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uint8_t cnt = 0;
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if (addr == FORD_BrakeSysFeatures) {
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// Signal: VehVActlBrk_No_Cnt
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cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
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} else if (addr == FORD_Yaw_Data_FD1) {
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// Signal: VehRollYaw_No_Cnt
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cnt = GET_BYTE(to_push, 5);
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} else {
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}
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return cnt;
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}
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static uint32_t ford_get_checksum(const CANPacket_t *to_push) {
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int addr = GET_ADDR(to_push);
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uint8_t chksum = 0;
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if (addr == FORD_BrakeSysFeatures) {
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// Signal: VehVActlBrk_No_Cs
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chksum = GET_BYTE(to_push, 3);
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} else if (addr == FORD_Yaw_Data_FD1) {
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// Signal: VehRollYawW_No_Cs
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chksum = GET_BYTE(to_push, 4);
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} else {
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}
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return chksum;
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}
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static uint32_t ford_compute_checksum(const CANPacket_t *to_push) {
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int addr = GET_ADDR(to_push);
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uint8_t chksum = 0;
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if (addr == FORD_BrakeSysFeatures) {
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chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // Veh_V_ActlBrk
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chksum += GET_BYTE(to_push, 2) >> 6; // VehVActlBrk_D_Qf
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chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU; // VehVActlBrk_No_Cnt
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chksum = 0xFFU - chksum;
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} else if (addr == FORD_Yaw_Data_FD1) {
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chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // VehRol_W_Actl
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chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3); // VehYaw_W_Actl
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chksum += GET_BYTE(to_push, 5); // VehRollYaw_No_Cnt
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chksum += GET_BYTE(to_push, 6) >> 6; // VehRolWActl_D_Qf
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chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U; // VehYawWActl_D_Qf
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chksum = 0xFFU - chksum;
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} else {
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}
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return chksum;
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}
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static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) {
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int addr = GET_ADDR(to_push);
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bool valid = false;
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if (addr == FORD_BrakeSysFeatures) {
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valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U; // VehVActlBrk_D_Qf
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} else if (addr == FORD_EngVehicleSpThrottle2) {
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valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf
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} else if (addr == FORD_Yaw_Data_FD1) {
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valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf
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} else {
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}
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return valid;
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}
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#define FORD_INACTIVE_CURVATURE 1000U
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#define FORD_INACTIVE_CURVATURE_RATE 4096U
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#define FORD_INACTIVE_PATH_OFFSET 512U
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#define FORD_INACTIVE_PATH_ANGLE 1000U
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#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
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#define FORD_MAX_SPEED_DELTA 2.0 // m/s
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// Curvature rate limits
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#define FORD_LIMITS(limit_lateral_acceleration) { \
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.max_angle = 1000, /* 0.02 curvature */ \
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.angle_deg_to_can = 50000, /* 1 / (2e-5) rad to can */ \
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.max_angle_error = 100, /* 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can */ \
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.angle_rate_up_lookup = { \
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{5., 25., 25.}, \
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{0.00045, 0.0001, 0.0001} \
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}, \
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.angle_rate_down_lookup = { \
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{5., 25., 25.}, \
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{0.00045, 0.00015, 0.00015} \
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}, \
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\
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/* no blending at low speed due to lack of torque wind-up and inaccurate current curvature */ \
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.angle_error_min_speed = 10.0, /* m/s */ \
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\
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.angle_is_curvature = (limit_lateral_acceleration), \
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.enforce_angle_error = true, \
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.inactive_angle_is_zero = true, \
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}
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static const AngleSteeringLimits FORD_STEERING_LIMITS = FORD_LIMITS(false);
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static void ford_rx_hook(const CANPacket_t *to_push) {
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if (GET_BUS(to_push) == FORD_MAIN_BUS) {
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int addr = GET_ADDR(to_push);
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// Update in motion state from standstill signal
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if (addr == FORD_DesiredTorqBrk) {
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// Signal: VehStop_D_Stat
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vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) != 1U;
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}
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// Update vehicle speed
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if (addr == FORD_BrakeSysFeatures) {
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// Signal: Veh_V_ActlBrk
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UPDATE_VEHICLE_SPEED(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6);
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}
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// Check vehicle speed against a second source
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if (addr == FORD_EngVehicleSpThrottle2) {
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// Disable controls if speeds from ABS and PCM ECUs are too far apart.
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// Signal: Veh_V_ActlEng
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float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
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bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA;
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// TODO: this should generically cause rx valid to fall until re-enable
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if (is_invalid_speed) {
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controls_allowed = false;
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}
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}
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// Update vehicle yaw rate
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if (addr == FORD_Yaw_Data_FD1) {
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// Signal: VehYaw_W_Actl
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// TODO: we should use the speed which results in the closest angle measurement to the desired angle
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float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
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float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
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// convert current curvature into units on CAN for comparison with desired curvature
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update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can));
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}
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// Update gas pedal
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if (addr == FORD_EngVehicleSpThrottle) {
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// Pedal position: (0.1 * val) in percent
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// Signal: ApedPos_Pc_ActlArb
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gas_pressed = (((GET_BYTE(to_push, 0) & 0x03U) << 8) | GET_BYTE(to_push, 1)) > 0U;
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}
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// Update brake pedal and cruise state
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if (addr == FORD_EngBrakeData) {
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// Signal: BpedDrvAppl_D_Actl
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brake_pressed = ((GET_BYTE(to_push, 0) >> 4) & 0x3U) == 2U;
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// Signal: CcStat_D_Actl
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unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U;
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bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
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pcm_cruise_check(cruise_engaged);
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}
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}
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}
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static bool ford_tx_hook(const CANPacket_t *to_send) {
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const LongitudinalLimits FORD_LONG_LIMITS = {
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// acceleration cmd limits (used for brakes)
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// Signal: AccBrkTot_A_Rq
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.max_accel = 5641, // 1.9999 m/s^s
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.min_accel = 4231, // -3.4991 m/s^2
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.inactive_accel = 5128, // -0.0008 m/s^2
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// gas cmd limits
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// Signal: AccPrpl_A_Rq & AccPrpl_A_Pred
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.max_gas = 700, // 2.0 m/s^2
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.min_gas = 450, // -0.5 m/s^2
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.inactive_gas = 0, // -5.0 m/s^2
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};
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bool tx = true;
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int addr = GET_ADDR(to_send);
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// Safety check for ACCDATA accel and brake requests
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if (addr == FORD_ACCDATA) {
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// Signal: AccPrpl_A_Rq
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int gas = ((GET_BYTE(to_send, 6) & 0x3U) << 8) | GET_BYTE(to_send, 7);
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// Signal: AccPrpl_A_Pred
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int gas_pred = ((GET_BYTE(to_send, 2) & 0x3U) << 8) | GET_BYTE(to_send, 3);
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// Signal: AccBrkTot_A_Rq
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int accel = ((GET_BYTE(to_send, 0) & 0x1FU) << 8) | GET_BYTE(to_send, 1);
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// Signal: CmbbDeny_B_Actl
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bool cmbb_deny = GET_BIT(to_send, 37U);
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// Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
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bool brake_actuation = GET_BIT(to_send, 54U) || GET_BIT(to_send, 55U);
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bool violation = false;
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violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
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violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
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violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS);
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// Safety check for stock AEB
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violation |= cmbb_deny; // do not prevent stock AEB actuation
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violation |= !get_longitudinal_allowed() && brake_actuation;
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if (violation) {
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tx = false;
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}
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}
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// Safety check for Steering_Data_FD1 button signals
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// Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam)
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// which we passthru in OP.
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if (addr == FORD_Steering_Data_FD1) {
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// Violation if resume button is pressed while controls not allowed, or
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// if cancel button is pressed when cruise isn't engaged.
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bool violation = false;
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violation |= GET_BIT(to_send, 8U) && !cruise_engaged_prev; // Signal: CcAslButtnCnclPress (cancel)
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violation |= GET_BIT(to_send, 25U) && !controls_allowed; // Signal: CcAsllButtnResPress (resume)
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if (violation) {
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tx = false;
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}
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}
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// Safety check for Lane_Assist_Data1 action
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if (addr == FORD_Lane_Assist_Data1) {
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// Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid).
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// This message must be sent for Lane Centering to work, and can include
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// values such as the steering angle or lane curvature for debugging,
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// but the action (LkaActvStats_D2_Req) must be set to zero.
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unsigned int action = GET_BYTE(to_send, 0) >> 5;
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if (action != 0U) {
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tx = false;
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}
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}
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// Safety check for LateralMotionControl action
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if (addr == FORD_LateralMotionControl) {
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// Signal: LatCtl_D_Rq
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bool steer_control_enabled = ((GET_BYTE(to_send, 4) >> 2) & 0x7U) != 0U;
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unsigned int raw_curvature = (GET_BYTE(to_send, 0) << 3) | (GET_BYTE(to_send, 1) >> 5);
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unsigned int raw_curvature_rate = ((GET_BYTE(to_send, 1) & 0x1FU) << 8) | GET_BYTE(to_send, 2);
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unsigned int raw_path_angle = (GET_BYTE(to_send, 3) << 3) | (GET_BYTE(to_send, 4) >> 5);
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unsigned int raw_path_offset = (GET_BYTE(to_send, 5) << 2) | (GET_BYTE(to_send, 6) >> 6);
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// These signals are not yet tested with the current safety limits
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bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
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// Check angle error and steer_control_enabled
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int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
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violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
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if (violation) {
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tx = false;
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}
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}
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// Safety check for LateralMotionControl2 action
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if (addr == FORD_LateralMotionControl2) {
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static const AngleSteeringLimits FORD_CANFD_STEERING_LIMITS = FORD_LIMITS(true);
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// Signal: LatCtl_D2_Rq
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bool steer_control_enabled = ((GET_BYTE(to_send, 0) >> 4) & 0x7U) != 0U;
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unsigned int raw_curvature = (GET_BYTE(to_send, 2) << 3) | (GET_BYTE(to_send, 3) >> 5);
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unsigned int raw_curvature_rate = (GET_BYTE(to_send, 6) << 3) | (GET_BYTE(to_send, 7) >> 5);
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unsigned int raw_path_angle = ((GET_BYTE(to_send, 3) & 0x1FU) << 6) | (GET_BYTE(to_send, 4) >> 2);
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unsigned int raw_path_offset = ((GET_BYTE(to_send, 4) & 0x3U) << 8) | GET_BYTE(to_send, 5);
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// These signals are not yet tested with the current safety limits
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bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
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// Check angle error and steer_control_enabled
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int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
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violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_CANFD_STEERING_LIMITS);
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if (violation) {
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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 ford_init(uint16_t param) {
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// warning: quality flags are not yet checked in openpilot's CAN parser,
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// this may be the cause of blocked messages
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static RxCheck ford_rx_checks[] = {
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{.msg = {{FORD_BrakeSysFeatures, 0, 8, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
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// FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug
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// Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC
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// It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that
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{.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .ignore_checksum = true, .ignore_counter = true, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
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{.msg = {{FORD_Yaw_Data_FD1, 0, 8, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
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// These messages have no counter or checksum
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{.msg = {{FORD_EngBrakeData, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
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{.msg = {{FORD_DesiredTorqBrk, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
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};
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#define FORD_COMMON_TX_MSGS \
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{FORD_Steering_Data_FD1, 0, 8, .check_relay = false}, \
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{FORD_Steering_Data_FD1, 2, 8, .check_relay = false}, \
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{FORD_ACCDATA_3, 0, 8, .check_relay = true}, \
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{FORD_Lane_Assist_Data1, 0, 8, .check_relay = true}, \
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{FORD_IPMA_Data, 0, 8, .check_relay = true}, \
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static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
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FORD_COMMON_TX_MSGS
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{FORD_ACCDATA, 0, 8, .check_relay = true},
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{FORD_LateralMotionControl2, 0, 8, .check_relay = true},
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};
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static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
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FORD_COMMON_TX_MSGS
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{FORD_LateralMotionControl2, 0, 8, .check_relay = true},
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};
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static const CanMsg FORD_STOCK_TX_MSGS[] = {
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FORD_COMMON_TX_MSGS
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{FORD_LateralMotionControl, 0, 8, .check_relay = true},
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};
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static const CanMsg FORD_LONG_TX_MSGS[] = {
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FORD_COMMON_TX_MSGS
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{FORD_ACCDATA, 0, 8, .check_relay = true},
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{FORD_LateralMotionControl, 0, 8, .check_relay = true},
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};
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const uint16_t FORD_PARAM_CANFD = 2;
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const bool ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
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bool ford_longitudinal = false;
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#ifdef ALLOW_DEBUG
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const uint16_t FORD_PARAM_LONGITUDINAL = 1;
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ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
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#endif
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// Longitudinal is the default for CAN, and optional for CAN FD w/ ALLOW_DEBUG
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ford_longitudinal = !ford_canfd || ford_longitudinal;
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safety_config ret;
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if (ford_canfd) {
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ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
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BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
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} else {
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ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
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BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
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}
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return ret;
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}
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const safety_hooks ford_hooks = {
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.init = ford_init,
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.rx = ford_rx_hook,
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.tx = ford_tx_hook,
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.get_counter = ford_get_counter,
|
|
.get_checksum = ford_get_checksum,
|
|
.compute_checksum = ford_compute_checksum,
|
|
.get_quality_flag_valid = ford_get_quality_flag_valid,
|
|
};
|
|
|