You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
248 lines
8.4 KiB
248 lines
8.4 KiB
#pragma once
|
|
|
|
#include "opendbc/safety/safety_declarations.h"
|
|
|
|
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
|
|
#define GM_COMMON_RX_CHECKS \
|
|
{.msg = {{0x184, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
|
|
{.msg = {{0x34A, 0, 5, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
|
|
{.msg = {{0x1E1, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
|
|
{.msg = {{0xBE, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, /* Volt, Silverado, Acadia Denali */ \
|
|
{0xBE, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, /* Bolt EUV */ \
|
|
{0xBE, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}}}, /* Escalade */ \
|
|
{.msg = {{0x1C4, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
|
|
{.msg = {{0xC9, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
|
|
|
|
static const LongitudinalLimits *gm_long_limits;
|
|
|
|
enum {
|
|
GM_BTN_UNPRESS = 1,
|
|
GM_BTN_RESUME = 2,
|
|
GM_BTN_SET = 3,
|
|
GM_BTN_CANCEL = 6,
|
|
};
|
|
|
|
typedef enum {
|
|
GM_ASCM,
|
|
GM_CAM
|
|
} GmHardware;
|
|
static GmHardware gm_hw = GM_ASCM;
|
|
static bool gm_pcm_cruise = false;
|
|
|
|
static void gm_rx_hook(const CANPacket_t *to_push) {
|
|
|
|
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
|
|
|
|
if (GET_BUS(to_push) == 0U) {
|
|
int addr = GET_ADDR(to_push);
|
|
|
|
if (addr == 0x184) {
|
|
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
|
|
torque_driver_new = to_signed(torque_driver_new, 11);
|
|
// update array of samples
|
|
update_sample(&torque_driver, torque_driver_new);
|
|
}
|
|
|
|
// sample rear wheel speeds
|
|
if (addr == 0x34A) {
|
|
int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
|
|
int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
|
|
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
|
|
}
|
|
|
|
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
|
|
if ((addr == 0x1E1) && !gm_pcm_cruise) {
|
|
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
|
|
|
|
// enter controls on falling edge of set or rising edge of resume (avoids fault)
|
|
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
|
|
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
|
|
if (set || res) {
|
|
controls_allowed = true;
|
|
}
|
|
|
|
// exit controls on cancel press
|
|
if (button == GM_BTN_CANCEL) {
|
|
controls_allowed = false;
|
|
}
|
|
|
|
cruise_button_prev = button;
|
|
}
|
|
|
|
// Reference for brake pressed signals:
|
|
// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
|
|
if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
|
|
brake_pressed = GET_BYTE(to_push, 1) >= 8U;
|
|
}
|
|
|
|
if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
|
|
brake_pressed = GET_BIT(to_push, 40U);
|
|
}
|
|
|
|
if (addr == 0x1C4) {
|
|
gas_pressed = GET_BYTE(to_push, 5) != 0U;
|
|
|
|
// enter controls on rising edge of ACC, exit controls when ACC off
|
|
if (gm_pcm_cruise) {
|
|
bool cruise_engaged = (GET_BYTE(to_push, 1) >> 5) != 0U;
|
|
pcm_cruise_check(cruise_engaged);
|
|
}
|
|
}
|
|
|
|
if (addr == 0xBD) {
|
|
regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
|
|
}
|
|
}
|
|
}
|
|
|
|
static bool gm_tx_hook(const CANPacket_t *to_send) {
|
|
const TorqueSteeringLimits GM_STEERING_LIMITS = {
|
|
.max_torque = 300,
|
|
.max_rate_up = 10,
|
|
.max_rate_down = 15,
|
|
.driver_torque_allowance = 65,
|
|
.driver_torque_multiplier = 4,
|
|
.max_rt_delta = 128,
|
|
.type = TorqueDriverLimited,
|
|
};
|
|
|
|
bool tx = true;
|
|
int addr = GET_ADDR(to_send);
|
|
|
|
// BRAKE: safety check
|
|
if (addr == 0x315) {
|
|
int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
|
|
brake = (0x1000 - brake) & 0xFFF;
|
|
if (longitudinal_brake_checks(brake, *gm_long_limits)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// LKA STEER: safety check
|
|
if (addr == 0x180) {
|
|
int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
|
|
desired_torque = to_signed(desired_torque, 11);
|
|
|
|
bool steer_req = GET_BIT(to_send, 3U);
|
|
|
|
if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// GAS/REGEN: safety check
|
|
if (addr == 0x2CB) {
|
|
bool apply = GET_BIT(to_send, 0U);
|
|
// convert float CAN signal to an int for gas checks: 22534 / 0.125 = 180272
|
|
int gas_regen = (((GET_BYTE(to_send, 1) & 0x7U) << 16) | (GET_BYTE(to_send, 2) << 8) | GET_BYTE(to_send, 3)) - 180272U;
|
|
|
|
bool violation = false;
|
|
// Allow apply bit in pre-enabled and overriding states
|
|
violation |= !controls_allowed && apply;
|
|
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
|
|
|
|
if (violation) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
|
|
if ((addr == 0x1E1) && gm_pcm_cruise) {
|
|
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
|
|
|
|
bool allowed_cancel = (button == 6) && cruise_engaged_prev;
|
|
if (!allowed_cancel) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
return tx;
|
|
}
|
|
|
|
static safety_config gm_init(uint16_t param) {
|
|
const uint16_t GM_PARAM_HW_CAM = 1;
|
|
const uint16_t GM_PARAM_EV = 4;
|
|
|
|
// common safety checks assume unscaled integer values
|
|
static const int GM_GAS_TO_CAN = 8; // 1 / 0.125
|
|
|
|
static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
|
|
.max_gas = 1018 * GM_GAS_TO_CAN,
|
|
.min_gas = -650 * GM_GAS_TO_CAN,
|
|
.inactive_gas = -650 * GM_GAS_TO_CAN,
|
|
.max_brake = 400,
|
|
};
|
|
|
|
static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, // pt bus
|
|
{0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
|
|
{0x315, 2, 5, .check_relay = false}}; // ch bus
|
|
|
|
|
|
static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
|
|
.max_gas = 1346 * GM_GAS_TO_CAN,
|
|
.min_gas = -540 * GM_GAS_TO_CAN,
|
|
.inactive_gas = -500 * GM_GAS_TO_CAN,
|
|
.max_brake = 400,
|
|
};
|
|
|
|
// block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
|
|
static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, // pt bus
|
|
{0x184, 2, 8, .check_relay = true}}; // camera bus
|
|
|
|
|
|
static RxCheck gm_rx_checks[] = {
|
|
GM_COMMON_RX_CHECKS
|
|
};
|
|
|
|
static RxCheck gm_ev_rx_checks[] = {
|
|
GM_COMMON_RX_CHECKS
|
|
{.msg = {{0xBD, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 40U}, { 0 }, { 0 }}},
|
|
};
|
|
|
|
static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, // pt bus
|
|
{0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}}; // camera bus
|
|
|
|
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
|
|
|
|
if (gm_hw == GM_ASCM) {
|
|
gm_long_limits = &GM_ASCM_LONG_LIMITS;
|
|
} else if (gm_hw == GM_CAM) {
|
|
gm_long_limits = &GM_CAM_LONG_LIMITS;
|
|
} else {
|
|
}
|
|
|
|
bool gm_cam_long = false;
|
|
|
|
#ifdef ALLOW_DEBUG
|
|
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
|
|
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
|
|
#endif
|
|
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
|
|
|
|
safety_config ret;
|
|
if (gm_hw == GM_CAM) {
|
|
// FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
|
|
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
|
|
// cppcheck-suppress knownConditionTrueFalse
|
|
ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
|
|
} else {
|
|
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
|
|
}
|
|
|
|
const bool gm_ev = GET_FLAG(param, GM_PARAM_EV);
|
|
if (gm_ev) {
|
|
SET_RX_CHECKS(gm_ev_rx_checks, ret);
|
|
}
|
|
|
|
// ASCM does not forward any messages
|
|
if (gm_hw == GM_ASCM) {
|
|
ret.disable_forwarding = true;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
const safety_hooks gm_hooks = {
|
|
.init = gm_init,
|
|
.rx = gm_rx_hook,
|
|
.tx = gm_tx_hook,
|
|
};
|
|
|