2017-04-17 16:28:28 -06:00
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// board enforces
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// in-state
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// accel set/resume
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// out-state
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// cancel button
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2017-09-14 21:23:20 -06:00
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// accel rising edge
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// brake rising edge
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// brake > 0mph
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2017-04-17 16:28:28 -06:00
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2019-06-05 14:38:59 -06:00
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const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
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2019-06-04 13:43:50 -06:00
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int honda_brake_prev = 0;
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2019-06-04 13:21:52 -06:00
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int honda_gas_prev = 0;
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2019-06-04 13:43:50 -06:00
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int honda_ego_speed = 0;
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bool honda_bosch_hardware = false;
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2018-06-06 15:20:07 -06:00
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bool honda_alt_brake_msg = false;
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2017-07-12 12:25:10 -06:00
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2017-07-17 11:20:08 -06:00
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static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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2017-09-14 21:23:20 -06:00
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// sample speed
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if ((to_push->RIR>>21) == 0x158) {
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// first 2 bytes
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2019-06-04 13:43:50 -06:00
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honda_ego_speed = to_push->RDLR & 0xFFFF;
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2017-09-14 21:23:20 -06:00
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}
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2017-04-06 19:11:36 -06:00
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// state machine to enter and exit controls
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// 0x1A6 for the ILX, 0x296 for the Civic Touring
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if ((to_push->RIR>>21) == 0x1A6 || (to_push->RIR>>21) == 0x296) {
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int buttons = (to_push->RDLR & 0xE0) >> 5;
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if (buttons == 4 || buttons == 3) {
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controls_allowed = 1;
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} else if (buttons == 2) {
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controls_allowed = 0;
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}
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}
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2018-06-06 15:20:07 -06:00
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// user brake signal on 0x17C reports applied brake from computer brake on accord
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// and crv, which prevents the usual brake safety from working correctly. these
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// cars have a signal on 0x1BE which only detects user's brake being applied so
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// in these cases, this is used instead.
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// most hondas: 0x17C bit 53
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// accord, crv: 0x1BE bit 4
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2019-06-11 01:49:26 -06:00
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#define IS_USER_BRAKE_MSG(to_push) (!honda_alt_brake_msg ? (to_push)->RIR>>21 == 0x17C : (to_push)->RIR>>21 == 0x1BE)
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#define USER_BRAKE_VALUE(to_push) (!honda_alt_brake_msg ? (to_push)->RDHR & 0x200000 : (to_push)->RDLR & 0x10)
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2017-09-14 21:23:20 -06:00
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// exit controls on rising edge of brake press or on brake press when
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// speed > 0
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2018-03-06 12:56:01 -07:00
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if (IS_USER_BRAKE_MSG(to_push)) {
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int brake = USER_BRAKE_VALUE(to_push);
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2019-06-04 13:43:50 -06:00
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if (brake && (!(honda_brake_prev) || honda_ego_speed)) {
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2017-04-06 19:11:36 -06:00
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controls_allowed = 0;
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}
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2019-06-04 13:43:50 -06:00
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honda_brake_prev = brake;
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2017-04-06 19:11:36 -06:00
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}
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2018-03-06 15:37:06 -07:00
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// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
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// length check because bosch hardware also uses this id (0x201 w/ len = 8)
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if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
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2019-06-04 14:36:46 -06:00
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gas_interceptor_detected = 1;
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2017-09-14 21:23:20 -06:00
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int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
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2019-06-04 13:21:52 -06:00
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if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
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2019-06-05 15:00:07 -06:00
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(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
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long_controls_allowed) {
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2017-04-06 19:11:36 -06:00
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controls_allowed = 0;
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}
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2019-06-05 14:38:59 -06:00
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gas_interceptor_prev = gas_interceptor;
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2017-04-06 19:11:36 -06:00
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}
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2017-09-14 21:23:20 -06:00
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// exit controls on rising edge of gas press if no interceptor
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2019-06-04 14:36:46 -06:00
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if (!gas_interceptor_detected) {
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2017-04-06 19:11:36 -06:00
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if ((to_push->RIR>>21) == 0x17C) {
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2017-09-14 21:23:20 -06:00
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int gas = to_push->RDLR & 0xFF;
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2019-06-05 15:00:07 -06:00
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if (gas && !(honda_gas_prev) && long_controls_allowed) {
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2017-04-06 19:11:36 -06:00
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controls_allowed = 0;
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}
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2019-06-04 13:21:52 -06:00
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honda_gas_prev = gas;
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2017-04-06 19:11:36 -06:00
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}
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}
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}
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2017-09-14 21:23:20 -06:00
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// all commands: gas, brake and steering
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// if controls_allowed and no pedals pressed
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// allow all commands up to limit
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// else
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// block all commands that produce actuation
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2017-07-21 00:36:06 -06:00
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static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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2017-09-14 21:23:20 -06:00
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// disallow actuator commands if gas or brake (with vehicle moving) are pressed
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// and the the latching controls_allowed flag is True
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2019-06-05 14:38:59 -06:00
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int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
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2019-06-04 13:43:50 -06:00
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(honda_brake_prev && honda_ego_speed);
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2017-09-14 21:23:20 -06:00
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int current_controls_allowed = controls_allowed && !(pedal_pressed);
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2017-04-06 19:11:36 -06:00
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// BRAKE: safety check
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if ((to_send->RIR>>21) == 0x1FA) {
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2019-06-05 15:00:07 -06:00
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if (current_controls_allowed && long_controls_allowed) {
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2017-07-17 19:54:50 -06:00
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if ((to_send->RDLR & 0xFFFFFF3F) != to_send->RDLR) return 0;
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2017-04-06 19:11:36 -06:00
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} else {
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2017-07-17 19:54:50 -06:00
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if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
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2017-04-06 19:11:36 -06:00
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}
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}
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// STEER: safety check
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2017-06-13 08:03:38 -06:00
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if ((to_send->RIR>>21) == 0xE4 || (to_send->RIR>>21) == 0x194) {
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2017-09-14 21:23:20 -06:00
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if (current_controls_allowed) {
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2017-07-17 19:54:50 -06:00
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// all messages are fine here
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2017-04-06 19:11:36 -06:00
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} else {
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2017-07-17 19:54:50 -06:00
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if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
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2017-04-06 19:11:36 -06:00
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}
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2017-07-14 22:17:32 -06:00
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}
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2017-04-06 19:11:36 -06:00
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// GAS: safety check
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if ((to_send->RIR>>21) == 0x200) {
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2019-06-05 15:00:07 -06:00
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if (current_controls_allowed && long_controls_allowed) {
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2017-07-17 19:54:50 -06:00
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// all messages are fine here
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2017-04-06 19:11:36 -06:00
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} else {
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2017-07-17 19:54:50 -06:00
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if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
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2017-04-06 19:11:36 -06:00
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}
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2017-07-14 22:17:32 -06:00
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}
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2018-08-28 17:01:40 -06:00
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2018-06-06 15:20:07 -06:00
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// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
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// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
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// This avoids unintended engagements while still allowing resume spam
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2019-06-04 13:43:50 -06:00
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if (((to_send->RIR>>21) == 0x296) && honda_bosch_hardware &&
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2018-06-06 15:20:07 -06:00
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!current_controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
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if (((to_send->RDLR >> 5) & 0x7) != 2) return 0;
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}
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2017-04-06 19:11:36 -06:00
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2017-04-28 10:56:01 -06:00
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// 1 allows the message through
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2017-07-21 00:36:06 -06:00
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return true;
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2017-04-06 19:11:36 -06:00
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}
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2018-01-26 00:57:04 -07:00
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static void honda_init(int16_t param) {
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2017-08-22 14:44:11 -06:00
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controls_allowed = 0;
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2019-06-04 13:43:50 -06:00
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honda_bosch_hardware = false;
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2018-06-06 15:20:07 -06:00
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honda_alt_brake_msg = false;
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2017-07-14 22:17:32 -06:00
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}
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2018-02-28 00:27:47 -07:00
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static void honda_bosch_init(int16_t param) {
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controls_allowed = 0;
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2019-06-04 13:43:50 -06:00
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honda_bosch_hardware = true;
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2018-06-06 15:20:07 -06:00
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// Checking for alternate brake override from safety parameter
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honda_alt_brake_msg = param == 1 ? true : false;
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2018-02-28 00:27:47 -07:00
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}
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2018-11-03 18:11:51 -06:00
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static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// fwd from car to camera. also fwd certain msgs from camera to car
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2018-11-09 18:58:55 -07:00
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// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
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// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
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// 0x39f is radar hud
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2018-11-03 18:11:51 -06:00
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int addr = to_fwd->RIR>>21;
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if (bus_num == 0) {
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return 2;
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2019-06-05 15:00:07 -06:00
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} else if (bus_num == 2) {
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// block stock lkas messages and stock acc messages (if OP is doing ACC)
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int is_lkas_msg = (addr == 0xE4 || addr == 0x194 || addr == 0x33D);
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int is_acc_msg = (addr == 0x1FA || addr == 0x30C || addr == 0x39F);
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if (is_lkas_msg || (is_acc_msg && long_controls_allowed)) {
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return -1;
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}
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2018-11-03 18:11:51 -06:00
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return 0;
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}
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return -1;
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}
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2018-03-05 21:18:43 -07:00
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static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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if (bus_num == 1 || bus_num == 2) {
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int addr = to_fwd->RIR>>21;
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return addr != 0xE4 && addr != 0x33D ? (uint8_t)(~bus_num & 0x3) : -1;
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}
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return -1;
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}
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2018-11-03 18:11:51 -06:00
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const safety_hooks honda_hooks = {
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.init = honda_init,
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.rx = honda_rx_hook,
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.tx = honda_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.ignition = default_ign_hook,
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.fwd = honda_fwd_hook,
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};
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2018-02-28 00:27:47 -07:00
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const safety_hooks honda_bosch_hooks = {
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.init = honda_bosch_init,
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.rx = honda_rx_hook,
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.tx = honda_tx_hook,
|
2018-08-28 17:01:40 -06:00
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.tx_lin = nooutput_tx_lin_hook,
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2018-05-25 19:20:55 -06:00
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.ignition = default_ign_hook,
|
2018-03-05 21:18:43 -07:00
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.fwd = honda_bosch_fwd_hook,
|
2018-02-28 00:27:47 -07:00
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};
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