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Abstract RX checks for gas, brakes, and relay malfunction (#556) 

* abstract gas, brake, and relay RX checks

* toyota

* mazda

* vw and subaru

* gm, honda, nissan

* chrysler

* rename

* revert that
master
Adeeb Shihadeh 2020-06-16 02:01:00 -07:00 committed by GitHub
parent e13774ba8c
commit 5b14945140
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 132 additions and 259 deletions
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21
board/safety.h
View File

@ -199,6 +199,25 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
return is_msg_valid(rx_checks, index);
}
void generic_rx_checks(bool stock_ecu_detected) {
// exit controls on rising edge of gas press
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
// exit controls on rising edge of brake press
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
// check if stock ECU is on bus broken by car harness
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
relay_malfunction_set();
}
}
void relay_malfunction_set(void) {
relay_malfunction = true;
fault_occurred(FAULT_RELAY_MALFUNCTION);
@ -246,7 +265,9 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
relay_malfunction = false;
gas_interceptor_detected = false;
gas_interceptor_prev = 0;
gas_pressed = false;
gas_pressed_prev = false;
brake_pressed = false;
brake_pressed_prev = false;
cruise_engaged_prev = false;
vehicle_speed = 0;

15
board/safety/safety_chrysler.h
View File

@ -66,8 +66,6 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
chrysler_get_checksum, chrysler_compute_checksum,
chrysler_get_counter);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@ -101,26 +99,19 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 308) {
bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
gas_pressed = ((GET_BYTE(to_push, 5) & 0x7F) != 0) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
}
// exit controls on rising edge of brake press
if (addr == 320) {
bool brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
}
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x292)) {
relay_malfunction_set();
}
generic_rx_checks((addr == 0x292));
}
return valid;
}

4
board/safety/safety_ford.h
View File

@ -37,7 +37,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 0x165) {
int brake_pressed = GET_BYTE(to_push, 0) & 0x20;
brake_pressed = GET_BYTE(to_push, 0) & 0x20;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
@ -46,7 +46,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x204) {
bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}

20
board/safety/safety_gm.h
View File

@ -38,8 +38,6 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@ -72,25 +70,15 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
}
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
bool brake_pressed = GET_BYTE(to_push, 1) >= 10;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
brake_pressed = GET_BYTE(to_push, 1) >= 10;
}
// exit controls on rising edge of gas press
if (addr == 417) {
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
gas_pressed = GET_BYTE(to_push, 6) != 0;
}
// exit controls on regen paddle
@ -105,9 +93,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// on powertrain bus.
// 384 = ASCMLKASteeringCmd
// 715 = ASCMGasRegenCmd
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 384) || (addr == 715))) {
relay_malfunction_set();
}
generic_rx_checks(((addr == 384) || (addr == 715)));
}
return valid;
}

26
board/safety/safety_honda.h
View File

@ -89,8 +89,6 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
honda_get_checksum, honda_compute_checksum, honda_get_counter);
}
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
@ -125,36 +123,22 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// in these cases, this is used instead.
// most hondas: 0x17C bit 53
// accord, crv: 0x1BE bit 4
// 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);
if (is_user_brake_msg) {
bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
}
// 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)
if ((addr == 0x201) && (len == 6)) {
gas_interceptor_detected = 1;
int gas_interceptor = HONDA_GET_INTERCEPTOR(to_push);
if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
controls_allowed = 0;
}
gas_pressed = gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD;
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press if no interceptor
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
bool gas_pressed = GET_BYTE(to_push, 0) != 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
gas_pressed = GET_BYTE(to_push, 0) != 0;
}
}
@ -178,13 +162,15 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// if steering controls messages are received on the destination bus, it's an indication
// that the relay might be malfunctioning
bool stock_ecu_detected = false;
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
((honda_hw == HONDA_N_HW) && (bus == 0))) {
relay_malfunction_set();
stock_ecu_detected = true;
}
}
generic_rx_checks(stock_ecu_detected);
}
return valid;
}

28
board/safety/safety_hyundai.h
View File

@ -102,12 +102,9 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
hyundai_get_counter);
}
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
int addr = GET_ADDR(to_push);
int bus = GET_BUS(to_push);
if (valid && (bus == 0)) {
if (addr == 593) {
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ff) * 0.79) - 808; // scale down new driver torque signal to match previous one
// update array of samples
@ -127,22 +124,15 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
cruise_engaged_prev = cruise_engaged;
}
// exit controls on rising edge of gas press
if ((addr == 608) || (hyundai_legacy && (addr == 881))) {
bool gas_pressed;
if (addr == 608) {
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
} else {
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7F) << 1) | GET_BYTE(to_push, 3) >> 7) != 0;
}
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
// sample subaru wheel speed, averaging opposite corners
// sample wheel speed, averaging opposite corners
if (addr == 902) {
int hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF; // FL
hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF; // RL
@ -150,19 +140,11 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
vehicle_moving = hyundai_speed > HYUNDAI_STANDSTILL_THRSLD;
}
// exit controls on rising edge of brake press
if (addr == 916) {
bool brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
}
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 832)) {
relay_malfunction_set();
}
generic_rx_checks((addr == 832));
}
return valid;
}

115
board/safety/safety_mazda.h
View File

@ -41,80 +41,61 @@ const int MAZDA_RX_CHECKS_LEN = sizeof(mazda_rx_checks) / sizeof(mazda_rx_checks
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid;
valid = addr_safety_check(to_push, mazda_rx_checks, MAZDA_RX_CHECKS_LEN,
bool valid = addr_safety_check(to_push, mazda_rx_checks, MAZDA_RX_CHECKS_LEN,
NULL, NULL, NULL);
if (valid) {
int bus = GET_BUS(to_push);
if (valid && (GET_BUS(to_push) == MAZDA_MAIN)) {
int addr = GET_ADDR(to_push);
if (bus == MAZDA_MAIN) {
if (addr == MAZDA_ENGINE_DATA) {
// sample speed: scale by 0.01 to get kph
int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
if (addr == MAZDA_ENGINE_DATA) {
// sample speed: scale by 0.01 to get kph
int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
vehicle_moving = speed > 10; // moving when speed > 0.1 kph
vehicle_moving = speed > 10; // moving when speed > 0.1 kph
// Enable LKAS at 52kph going up, disable at 45kph going down
if (speed > MAZDA_LKAS_ENABLE_SPEED) {
mazda_lkas_allowed = true;
} else if (speed < MAZDA_LKAS_DISABLE_SPEED) {
mazda_lkas_allowed = false;
} else {
// Misra-able appeasment block!
}
}
if (addr == MAZDA_STEER_TORQUE) {
int torque_driver_new = GET_BYTE(to_push, 0) - 127;
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == MAZDA_CRZ_CTRL) {
bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
if (cruise_engaged) {
if (!cruise_engaged_prev) {
// do not engage until we hit the speed at which lkas is on
if (mazda_lkas_allowed) {
controls_allowed = 1;
} else {
controls_allowed = 0;
cruise_engaged = false;
}
}
} else {
controls_allowed = 0;
}
cruise_engaged_prev = cruise_engaged;
}
// Exit controls on rising edge of gas press
if (addr == MAZDA_ENGINE_DATA) {
bool gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0));
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
// Exit controls on rising edge of brake press
if (addr == MAZDA_PEDALS) {
bool brake_pressed = (GET_BYTE(to_push, 0) & 0x10);
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
}
// if we see lkas msg on MAZDA_MAIN bus then relay is closed
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == MAZDA_LKAS)) {
relay_malfunction_set();
// Enable LKAS at 52kph going up, disable at 45kph going down
if (speed > MAZDA_LKAS_ENABLE_SPEED) {
mazda_lkas_allowed = true;
} else if (speed < MAZDA_LKAS_DISABLE_SPEED) {
mazda_lkas_allowed = false;
} else {
// Misra-able appeasment block!
}
}
if (addr == MAZDA_STEER_TORQUE) {
int torque_driver_new = GET_BYTE(to_push, 0) - 127;
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == MAZDA_CRZ_CTRL) {
bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
if (cruise_engaged) {
if (!cruise_engaged_prev) {
// do not engage until we hit the speed at which lkas is on
if (mazda_lkas_allowed) {
controls_allowed = 1;
} else {
controls_allowed = 0;
cruise_engaged = false;
}
}
} else {
controls_allowed = 0;
}
cruise_engaged_prev = cruise_engaged;
}
if (addr == MAZDA_ENGINE_DATA) {
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0));
}
if (addr == MAZDA_PEDALS) {
brake_pressed = (GET_BYTE(to_push, 0) & 0x10);
}
generic_rx_checks((addr == MAZDA_LKAS));
}
return valid;
}

24
board/safety/safety_nissan.h
View File

@ -30,8 +30,6 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
@ -55,45 +53,25 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
vehicle_moving = vehicle_speed > 0.;
}
// exit controls on rising edge of gas press
// X-Trail 0x15c, Leaf 0x239
if ((addr == 0x15c) || (addr == 0x239)) {
bool gas_pressed = true;
if (addr == 0x15c){
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
} else {
gas_pressed = GET_BYTE(to_push, 0) > 3;
}
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
// 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x169)) {
relay_malfunction_set();
}
}
// exit controls on rising edge of brake press, or if speed > 0 and brake
// X-trail 0x454, Leaf 0x1cc
if ((addr == 0x454) || (addr == 0x1cc)) {
bool brake_pressed = true;
if (addr == 0x454){
brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
} else {
brake_pressed = GET_BYTE(to_push, 0) > 3;
}
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
}
// Handle cruise enabled
if ((bus == 2) && (addr == 0x30f)) {
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
@ -106,6 +84,8 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
cruise_engaged_prev = cruise_engaged;
}
generic_rx_checks((addr == 0x169));
}
return valid;
}

44
board/safety/safety_subaru.h
View File

@ -58,8 +58,6 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
if (addr == 0x119) {
@ -81,7 +79,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
cruise_engaged_prev = cruise_engaged;
}
// sample subaru wheel speed, averaging opposite corners
// sample wheel speed, averaging opposite corners
if (addr == 0x13a) {
int subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF; // FR
subaru_speed += (GET_BYTES_48(to_push) >> 6) & 0x1FFF; // RL
@ -89,27 +87,15 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
}
// exit controls on rising edge of brake press
if (addr == 0x139) {
bool brake_pressed = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
brake_pressed = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
}
// exit controls on rising edge of gas press
if (addr == 0x40) {
bool gas_pressed = GET_BYTE(to_push, 4) != 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
gas_pressed = GET_BYTE(to_push, 4) != 0;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x122)) {
relay_malfunction_set();
}
generic_rx_checks((addr == 0x122));
}
return valid;
}
@ -119,8 +105,6 @@ static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, subaru_l_rx_checks, SUBARU_L_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
if (addr == 0x371) {
@ -142,7 +126,7 @@ static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
cruise_engaged_prev = cruise_engaged;
}
// sample subaru wheel speed, averaging opposite corners
// sample wheel speed, averaging opposite corners
if (addr == 0xD4) {
int subaru_speed = (GET_BYTES_04(to_push) >> 16) & 0xFFFF; // FR
subaru_speed += GET_BYTES_48(to_push) & 0xFFFF; // RL
@ -150,27 +134,15 @@ static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
}
// exit controls on rising edge of brake press
if (addr == 0xD1) {
bool brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFF) > 0;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFF) > 0;
}
// exit controls on rising edge of gas press
if (addr == 0x140) {
bool gas_pressed = GET_BYTE(to_push, 0) != 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
gas_pressed = GET_BYTE(to_push, 0) != 0;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x164)) {
relay_malfunction_set();
}
generic_rx_checks((addr == 0x164));
}
return valid;
}

30
board/safety/safety_toyota.h
View File

@ -65,7 +65,6 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
toyota_get_checksum, toyota_compute_checksum, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@ -99,12 +98,10 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
cruise_engaged_prev = cruise_engaged;
// handle gas_pressed
bool gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
controls_allowed = 0;
// sample gas pedal
if (!gas_interceptor_detected) {
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
}
gas_pressed_prev = gas_pressed;
}
// sample speed
@ -118,32 +115,23 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
vehicle_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
}
// exit controls on rising edge of brake pedal
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
if ((addr == 0x224) || (addr == 0x226)) {
int byte = (addr == 0x224) ? 0 : 4;
bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
}
// exit controls on rising edge of interceptor gas press
// sample gas interceptor
if (addr == 0x201) {
gas_interceptor_detected = 1;
int gas_interceptor = TOYOTA_GET_INTERCEPTOR(to_push);
if (!unsafe_allow_gas && (gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRSLD)) {
controls_allowed = 0;
}
gas_pressed = gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD;
// TODO: remove this, only left in for gas_interceptor_prev test
gas_interceptor_prev = gas_interceptor;
}
// 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4)) {
relay_malfunction_set();
}
generic_rx_checks((addr == 0x2E4));
}
return valid;
}

51
board/safety/safety_volkswagen.h
View File

@ -174,30 +174,17 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
}
// Exit controls on rising edge of gas press
// Signal: Motor_20.MO_Fahrpedalrohwert_01
if (addr == MSG_MOTOR_20) {
bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
}
// Exit controls on rising edge of brake press
// Signal: ESP_05.ESP_Fahrer_bremst
if (addr == MSG_ESP_05) {
bool brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
}
// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == MSG_HCA_01)) {
relay_malfunction_set();
}
generic_rx_checks((addr == MSG_HCA_01));
}
return valid;
}
@ -207,14 +194,13 @@ static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_RX_CHECKS_LEN,
volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
if (valid) {
int bus = GET_BUS(to_push);
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
// Update in-motion state by sampling front wheel speeds
// Signal: Bremse_3.Radgeschw__VL_4_1 (front left)
// Signal: Bremse_3.Radgeschw__VR_4_1 (front right)
if ((bus == 0) && (addr == MSG_BREMSE_3)) {
if (addr == MSG_BREMSE_3) {
int wheel_speed_fl = (GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8)) >> 1;
int wheel_speed_fr = (GET_BYTE(to_push, 2) | (GET_BYTE(to_push, 3) << 8)) >> 1;
// Check for average front speed in excess of 0.3m/s, 1.08km/h
@ -225,7 +211,7 @@ static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Update driver input torque samples
// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
// Signal: Lenkhilfe_3.LH3_LMSign (direction)
if ((bus == 0) && (addr == MSG_LENKHILFE_3)) {
if (addr == MSG_LENKHILFE_3) {
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
if (sign == 1) {
@ -236,35 +222,22 @@ static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Update ACC status from ECU for controls-allowed state
// Signal: Motor_2.GRA_Status
if ((bus == 0) && (addr == MSG_MOTOR_2)) {
if (addr == MSG_MOTOR_2) {
int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
controls_allowed = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
}
// Exit controls on rising edge of gas press
// Signal: Motor_3.Fahrpedal_Rohsignal
if ((bus == 0) && (addr == MSG_MOTOR_3)) {
int gas_pressed = (GET_BYTE(to_push, 2));
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
if (addr == MSG_MOTOR_3) {
gas_pressed = (GET_BYTE(to_push, 2));
}
// Exit controls on rising edge of brake press
// Signal: Motor_2.Bremslichtschalter
if ((bus == 0) && (addr == MSG_MOTOR_2)) {
bool brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
if (brake_pressed && (!(brake_pressed_prev) || vehicle_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
if (addr == MSG_MOTOR_2) {
brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
}
// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_1)) {
relay_malfunction_set();
}
generic_rx_checks((addr == MSG_HCA_1));
}
return valid;
}

3
board/safety_declarations.h
View File

@ -69,6 +69,7 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));
void generic_rx_checks(bool stock_ecu_detected);
void relay_malfunction_set(void);
void relay_malfunction_reset(void);
@ -95,7 +96,9 @@ bool controls_allowed = false;
bool relay_malfunction = false;
bool gas_interceptor_detected = false;
int gas_interceptor_prev = 0;
bool gas_pressed = false;
bool gas_pressed_prev = false;
bool brake_pressed = false;
bool brake_pressed_prev = false;
bool cruise_engaged_prev = false;
float vehicle_speed = 0;

10
tests/safety/test_chrysler.py
View File

@ -5,6 +5,7 @@ from panda.tests.safety import libpandasafety_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
GAS_THRESHOLD = 2.14
class TestChryslerSafety(common.PandaSafetyTest, common.TorqueSteeringSafetyTest):
TX_MSGS = [[571, 0], [658, 0], [678, 0]]
@ -66,6 +67,15 @@ class TestChryslerSafety(common.PandaSafetyTest, common.TorqueSteeringSafetyTest
values = {"LKAS_STEERING_TORQUE": torque}
return self.packer.make_can_msg_panda("LKAS_COMMAND", 0, values)
def test_prev_gas(self):
self.assertFalse(self.safety.get_gas_pressed_prev())
# chrysler has an additional check on wheel speed
self._rx(self._speed_msg(GAS_THRESHOLD + 1))
for pressed in [self.GAS_PRESSED_THRESHOLD + 1, 0]:
self._rx(self._gas_msg(pressed))
self.assertEqual(bool(pressed), self.safety.get_gas_pressed_prev())
def test_disengage_on_gas(self):
self.safety.set_controls_allowed(1)
self._rx(self._speed_msg(2.1))