2017-04-17 16:28:28 -06:00
|
|
|
// board enforces
|
|
|
|
// in-state
|
|
|
|
// accel set/resume
|
|
|
|
// out-state
|
|
|
|
// cancel button
|
2017-09-14 21:23:20 -06:00
|
|
|
// accel rising edge
|
|
|
|
// brake rising edge
|
|
|
|
// brake > 0mph
|
2019-11-17 01:24:19 -07:00
|
|
|
const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}, {0x39F, 0}};
|
|
|
|
const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
|
|
|
|
const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
|
2019-06-05 14:38:59 -06:00
|
|
|
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
|
2019-08-30 21:15:03 -06:00
|
|
|
int honda_brake = 0;
|
2019-06-04 13:21:52 -06:00
|
|
|
int honda_gas_prev = 0;
|
2019-08-30 21:15:03 -06:00
|
|
|
bool honda_brake_pressed_prev = false;
|
2019-07-10 21:56:03 -06:00
|
|
|
bool honda_moving = false;
|
2019-06-04 13:43:50 -06:00
|
|
|
bool honda_bosch_hardware = false;
|
2018-06-06 15:20:07 -06:00
|
|
|
bool honda_alt_brake_msg = false;
|
2019-08-30 21:15:03 -06:00
|
|
|
bool honda_fwd_brake = false;
|
2017-07-12 12:25:10 -06:00
|
|
|
|
2017-07-17 11:20:08 -06:00
|
|
|
static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
2017-09-14 21:23:20 -06:00
|
|
|
|
2019-06-14 20:13:05 -06:00
|
|
|
int addr = GET_ADDR(to_push);
|
|
|
|
int len = GET_LEN(to_push);
|
2019-08-30 21:15:03 -06:00
|
|
|
int bus = GET_BUS(to_push);
|
2019-06-11 22:23:48 -06:00
|
|
|
|
2017-09-14 21:23:20 -06:00
|
|
|
// sample speed
|
2019-06-11 22:23:48 -06:00
|
|
|
if (addr == 0x158) {
|
2017-09-14 21:23:20 -06:00
|
|
|
// first 2 bytes
|
2019-07-10 21:56:03 -06:00
|
|
|
honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
2017-09-14 21:23:20 -06:00
|
|
|
}
|
|
|
|
|
2017-04-06 19:11:36 -06:00
|
|
|
// state machine to enter and exit controls
|
|
|
|
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
2019-06-11 22:23:48 -06:00
|
|
|
if ((addr == 0x1A6) || (addr == 0x296)) {
|
2019-07-10 21:56:03 -06:00
|
|
|
int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
|
2019-06-17 15:13:50 -06:00
|
|
|
switch (button) {
|
|
|
|
case 2: // cancel
|
|
|
|
controls_allowed = 0;
|
|
|
|
break;
|
|
|
|
case 3: // set
|
|
|
|
case 4: // resume
|
|
|
|
controls_allowed = 1;
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
break; // any other button is irrelevant
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2018-06-06 15:20:07 -06:00
|
|
|
// user brake signal on 0x17C reports applied brake from computer brake on accord
|
|
|
|
// and crv, which prevents the usual brake safety from working correctly. these
|
|
|
|
// cars have a signal on 0x1BE which only detects user's brake being applied so
|
|
|
|
// in these cases, this is used instead.
|
|
|
|
// most hondas: 0x17C bit 53
|
|
|
|
// accord, crv: 0x1BE bit 4
|
2019-07-10 21:56:03 -06:00
|
|
|
// exit controls on rising edge of brake press or on brake press when speed > 0
|
|
|
|
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
|
2019-06-12 21:12:48 -06:00
|
|
|
if (is_user_brake_msg) {
|
2019-08-30 21:15:03 -06:00
|
|
|
bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
|
|
|
|
if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
|
2017-04-06 19:11:36 -06:00
|
|
|
controls_allowed = 0;
|
|
|
|
}
|
2019-08-30 21:15:03 -06:00
|
|
|
honda_brake_pressed_prev = brake_pressed;
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
|
|
|
|
2018-03-06 15:37:06 -07:00
|
|
|
// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
|
|
|
|
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
|
2019-06-14 20:13:05 -06:00
|
|
|
if ((addr == 0x201) && (len == 6)) {
|
2019-06-04 14:36:46 -06:00
|
|
|
gas_interceptor_detected = 1;
|
2019-07-15 14:15:22 -06:00
|
|
|
int gas_interceptor = GET_INTERCEPTOR(to_push);
|
2019-06-04 13:21:52 -06:00
|
|
|
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
|
2019-12-20 17:17:37 -07:00
|
|
|
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
|
2017-04-06 19:11:36 -06:00
|
|
|
controls_allowed = 0;
|
|
|
|
}
|
2019-06-05 14:38:59 -06:00
|
|
|
gas_interceptor_prev = gas_interceptor;
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
|
|
|
|
2017-09-14 21:23:20 -06:00
|
|
|
// exit controls on rising edge of gas press if no interceptor
|
2019-06-04 14:36:46 -06:00
|
|
|
if (!gas_interceptor_detected) {
|
2019-06-11 22:23:48 -06:00
|
|
|
if (addr == 0x17C) {
|
2019-07-10 21:56:03 -06:00
|
|
|
int gas = GET_BYTE(to_push, 0);
|
2019-12-20 17:17:37 -07:00
|
|
|
if (gas && !honda_gas_prev) {
|
2017-04-06 19:11:36 -06:00
|
|
|
controls_allowed = 0;
|
|
|
|
}
|
2019-06-04 13:21:52 -06:00
|
|
|
honda_gas_prev = gas;
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
|
|
|
}
|
2019-08-30 21:15:03 -06:00
|
|
|
if ((bus == 2) && (addr == 0x1FA)) {
|
|
|
|
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
|
|
|
|
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
|
|
|
|
|
|
|
|
// Forward AEB when stock braking is higher than openpilot braking
|
|
|
|
// only stop forwarding when AEB event is over
|
|
|
|
if (!honda_stock_aeb) {
|
|
|
|
honda_fwd_brake = false;
|
|
|
|
} else if (honda_stock_brake >= honda_brake) {
|
|
|
|
honda_fwd_brake = true;
|
|
|
|
} else {
|
2019-11-17 01:24:19 -07:00
|
|
|
// Leave Honda forward brake as is
|
2019-08-30 21:15:03 -06:00
|
|
|
}
|
|
|
|
}
|
2019-11-15 01:32:45 -07:00
|
|
|
|
|
|
|
// if steering controls messages are received on the destination bus, it's an indication
|
2019-11-19 11:22:22 -07:00
|
|
|
// that the relay might be malfunctioning
|
2019-11-15 01:32:45 -07:00
|
|
|
int bus_rdr_car = (board_has_relay()) ? 0 : 2; // radar bus, car side
|
2019-11-27 01:19:41 -07:00
|
|
|
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
|
2019-11-15 01:32:45 -07:00
|
|
|
if ((honda_bosch_hardware && (bus == bus_rdr_car)) ||
|
|
|
|
(!honda_bosch_hardware && (bus == 0))) {
|
|
|
|
relay_malfunction = true;
|
|
|
|
}
|
|
|
|
}
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
|
|
|
|
2017-09-14 21:23:20 -06:00
|
|
|
// all commands: gas, brake and steering
|
|
|
|
// if controls_allowed and no pedals pressed
|
|
|
|
// allow all commands up to limit
|
|
|
|
// else
|
|
|
|
// block all commands that produce actuation
|
|
|
|
|
2017-07-21 00:36:06 -06:00
|
|
|
static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
2017-09-14 21:23:20 -06:00
|
|
|
|
2019-06-12 19:18:07 -06:00
|
|
|
int tx = 1;
|
2019-06-14 20:13:05 -06:00
|
|
|
int addr = GET_ADDR(to_send);
|
|
|
|
int bus = GET_BUS(to_send);
|
2019-06-11 22:23:48 -06:00
|
|
|
|
2019-11-17 01:24:19 -07:00
|
|
|
if (honda_bosch_hardware) {
|
2019-12-18 01:17:25 -07:00
|
|
|
if (board_has_relay() && !msg_allowed(addr, bus, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]))) {
|
2019-11-17 01:24:19 -07:00
|
|
|
tx = 0;
|
|
|
|
}
|
2019-12-18 01:17:25 -07:00
|
|
|
if (!board_has_relay() && !msg_allowed(addr, bus, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]))) {
|
2019-11-17 01:24:19 -07:00
|
|
|
tx = 0;
|
|
|
|
}
|
|
|
|
}
|
2019-12-18 01:17:25 -07:00
|
|
|
if (!honda_bosch_hardware && !msg_allowed(addr, bus, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]))) {
|
2019-11-17 01:24:19 -07:00
|
|
|
tx = 0;
|
|
|
|
}
|
|
|
|
|
2019-11-15 01:32:45 -07:00
|
|
|
if (relay_malfunction) {
|
|
|
|
tx = 0;
|
|
|
|
}
|
|
|
|
|
2017-09-14 21:23:20 -06:00
|
|
|
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
|
|
|
|
// and the the latching controls_allowed flag is True
|
2019-06-05 14:38:59 -06:00
|
|
|
int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
|
2019-08-30 21:15:03 -06:00
|
|
|
(honda_brake_pressed_prev && honda_moving);
|
2019-06-12 21:12:48 -06:00
|
|
|
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
2017-09-14 21:23:20 -06:00
|
|
|
|
2017-04-06 19:11:36 -06:00
|
|
|
// BRAKE: safety check
|
2019-08-30 21:15:03 -06:00
|
|
|
if ((addr == 0x1FA) && (bus == 0)) {
|
|
|
|
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
|
2019-12-20 17:17:37 -07:00
|
|
|
if (!current_controls_allowed) {
|
2019-08-30 21:15:03 -06:00
|
|
|
if (honda_brake != 0) {
|
2019-06-12 19:18:07 -06:00
|
|
|
tx = 0;
|
|
|
|
}
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
2019-08-30 21:15:03 -06:00
|
|
|
if (honda_brake > 255) {
|
|
|
|
tx = 0;
|
|
|
|
}
|
|
|
|
if (honda_fwd_brake) {
|
2019-06-17 15:13:50 -06:00
|
|
|
tx = 0;
|
|
|
|
}
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
|
|
|
|
|
|
|
// STEER: safety check
|
2019-06-11 22:23:48 -06:00
|
|
|
if ((addr == 0xE4) || (addr == 0x194)) {
|
2019-06-17 15:13:50 -06:00
|
|
|
if (!current_controls_allowed) {
|
2019-07-10 21:56:03 -06:00
|
|
|
bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
|
|
|
|
if (steer_applied) {
|
2019-06-12 19:18:07 -06:00
|
|
|
tx = 0;
|
|
|
|
}
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
2017-07-14 22:17:32 -06:00
|
|
|
}
|
2017-04-06 19:11:36 -06:00
|
|
|
|
|
|
|
// GAS: safety check
|
2019-06-11 22:23:48 -06:00
|
|
|
if (addr == 0x200) {
|
2019-12-20 17:17:37 -07:00
|
|
|
if (!current_controls_allowed) {
|
2019-07-10 21:56:03 -06:00
|
|
|
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
|
2019-06-12 19:18:07 -06:00
|
|
|
tx = 0;
|
|
|
|
}
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
2017-07-14 22:17:32 -06:00
|
|
|
}
|
2018-08-28 17:01:40 -06:00
|
|
|
|
2018-06-06 15:20:07 -06:00
|
|
|
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
|
|
|
|
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
|
|
|
// This avoids unintended engagements while still allowing resume spam
|
2019-10-25 17:22:42 -06:00
|
|
|
int bus_pt = ((board_has_relay()) && honda_bosch_hardware)? 1 : 0;
|
2019-06-11 22:23:48 -06:00
|
|
|
if ((addr == 0x296) && honda_bosch_hardware &&
|
2019-07-23 16:07:06 -06:00
|
|
|
!current_controls_allowed && (bus == bus_pt)) {
|
2019-07-10 21:56:03 -06:00
|
|
|
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
|
2019-06-12 19:18:07 -06:00
|
|
|
tx = 0;
|
|
|
|
}
|
2018-06-06 15:20:07 -06:00
|
|
|
}
|
2017-04-06 19:11:36 -06:00
|
|
|
|
2017-04-28 10:56:01 -06:00
|
|
|
// 1 allows the message through
|
2019-06-12 19:18:07 -06:00
|
|
|
return tx;
|
2017-04-06 19:11:36 -06:00
|
|
|
}
|
|
|
|
|
2019-12-20 16:51:32 -07:00
|
|
|
static void honda_nidec_init(int16_t param) {
|
2019-06-24 11:25:30 -06:00
|
|
|
UNUSED(param);
|
2019-11-15 01:32:45 -07:00
|
|
|
controls_allowed = false;
|
|
|
|
relay_malfunction = false;
|
2019-06-04 13:43:50 -06:00
|
|
|
honda_bosch_hardware = false;
|
2018-06-06 15:20:07 -06:00
|
|
|
honda_alt_brake_msg = false;
|
2017-07-14 22:17:32 -06:00
|
|
|
}
|
|
|
|
|
2018-02-28 00:27:47 -07:00
|
|
|
static void honda_bosch_init(int16_t param) {
|
2019-11-15 01:32:45 -07:00
|
|
|
controls_allowed = false;
|
|
|
|
relay_malfunction = false;
|
2019-06-04 13:43:50 -06:00
|
|
|
honda_bosch_hardware = true;
|
2018-06-06 15:20:07 -06:00
|
|
|
// Checking for alternate brake override from safety parameter
|
2019-06-11 22:23:48 -06:00
|
|
|
honda_alt_brake_msg = (param == 1) ? true : false;
|
2018-02-28 00:27:47 -07:00
|
|
|
}
|
|
|
|
|
2019-12-20 16:51:32 -07:00
|
|
|
static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
2018-11-03 18:11:51 -06:00
|
|
|
// fwd from car to camera. also fwd certain msgs from camera to car
|
2018-11-09 18:58:55 -07:00
|
|
|
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
|
|
|
|
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
|
|
|
|
// 0x39f is radar hud
|
2019-06-12 19:18:07 -06:00
|
|
|
int bus_fwd = -1;
|
|
|
|
|
2019-11-15 01:32:45 -07:00
|
|
|
if (!relay_malfunction) {
|
|
|
|
if (bus_num == 0) {
|
|
|
|
bus_fwd = 2;
|
|
|
|
}
|
|
|
|
if (bus_num == 2) {
|
|
|
|
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
|
|
|
int addr = GET_ADDR(to_fwd);
|
|
|
|
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
|
|
|
|
bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
|
|
|
|
bool is_brake_msg = addr == 0x1FA;
|
2019-12-20 17:17:37 -07:00
|
|
|
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
|
2019-11-15 01:32:45 -07:00
|
|
|
if (!block_fwd) {
|
|
|
|
bus_fwd = 0;
|
|
|
|
}
|
2019-06-05 15:00:07 -06:00
|
|
|
}
|
2018-11-03 18:11:51 -06:00
|
|
|
}
|
2019-06-12 19:18:07 -06:00
|
|
|
return bus_fwd;
|
2018-11-03 18:11:51 -06:00
|
|
|
}
|
|
|
|
|
2018-03-05 21:18:43 -07:00
|
|
|
static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
2019-06-12 19:18:07 -06:00
|
|
|
int bus_fwd = -1;
|
2019-10-25 17:22:42 -06:00
|
|
|
int bus_rdr_cam = (board_has_relay()) ? 2 : 1; // radar bus, camera side
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int bus_rdr_car = (board_has_relay()) ? 0 : 2; // radar bus, car side
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2019-06-11 22:23:48 -06:00
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2019-11-15 01:32:45 -07:00
|
|
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if (!relay_malfunction) {
|
|
|
|
if (bus_num == bus_rdr_car) {
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|
|
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bus_fwd = bus_rdr_cam;
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|
|
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}
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|
|
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if (bus_num == bus_rdr_cam) {
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|
|
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int addr = GET_ADDR(to_fwd);
|
|
|
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int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
|
|
|
|
if (!is_lkas_msg) {
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|
|
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bus_fwd = bus_rdr_car;
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|
|
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}
|
2019-06-12 19:18:07 -06:00
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|
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}
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2018-03-05 21:18:43 -07:00
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|
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}
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2019-06-12 19:18:07 -06:00
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|
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return bus_fwd;
|
2018-03-05 21:18:43 -07:00
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|
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}
|
|
|
|
|
2019-12-20 16:51:32 -07:00
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|
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const safety_hooks honda_nidec_hooks = {
|
|
|
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.init = honda_nidec_init,
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2018-11-03 18:11:51 -06:00
|
|
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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,
|
2019-12-20 16:51:32 -07:00
|
|
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.fwd = honda_nidec_fwd_hook,
|
2018-11-03 18:11:51 -06:00
|
|
|
};
|
|
|
|
|
2018-02-28 00:27:47 -07:00
|
|
|
const safety_hooks honda_bosch_hooks = {
|
|
|
|
.init = honda_bosch_init,
|
|
|
|
.rx = honda_rx_hook,
|
|
|
|
.tx = honda_tx_hook,
|
2018-08-28 17:01:40 -06:00
|
|
|
.tx_lin = nooutput_tx_lin_hook,
|
2018-03-05 21:18:43 -07:00
|
|
|
.fwd = honda_bosch_fwd_hook,
|
2018-02-28 00:27:47 -07:00
|
|
|
};
|