Mazda: safety tests add missing safety checks (#525)
* Mazda: add safety test
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Update mazda safety to capture more events
* gas press
* brake press
* speed - lkas on/off
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Customize safety tests
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Add RX checks
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Format
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Set lkas enable speed at 52 kph
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Test case when speed<enable_lkas_speed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Be consistent with names in other places
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Add test case for lkas on when speed dips below lkas enable speed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Make sure lkas disabled
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Use car's speed signal instead of wheel speed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Allow acc cancel msg
When gas is pressed OP disenages stock cruise doesn't get disengaged.
panda needs to know when OP engages again. OP re-enageges on cruise button
presses. This commit uses the same re-enage logic in panda.
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* rebase
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* allow acc_cancel in safety tests
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* rename variable, fix comment
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
master
Jafar Al-Gharaibeh
GitHub
parent
bdec1398e5
commit
89658d0bde
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@ -1,10 +1,12 @@
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// CAN msgs we care about
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#define MAZDA_LKAS 0x243
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#define MAZDA_LANEINFO 0x440
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#define MAZDA_CRZ_CTRL 0x21c
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#define MAZDA_WHEEL_SPEED 0x215
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#define MAZDA_STEER_TORQUE 0x240
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#define MAZDA_LKAS 0x243
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#define MAZDA_CRZ_CTRL 0x21c
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#define MAZDA_CRZ_BTNS 0x09d
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#define MAZDA_STEER_TORQUE 0x240
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#define MAZDA_ENGINE_DATA 0x202
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#define MAZDA_PEDALS 0x165
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// CAN bus numbers
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#define MAZDA_MAIN 0
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@ -21,43 +23,102 @@
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#define MAZDA_MAX_RATE_DOWN 25
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#define MAZDA_DRIVER_TORQUE_ALLOWANCE 15
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#define MAZDA_DRIVER_TORQUE_FACTOR 1
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#define MAZDA_MAX_TORQUE_ERROR 350
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int mazda_cruise_engaged_last = 0;
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int mazda_rt_torque_last = 0;
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int mazda_desired_torque_last = 0;
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uint32_t mazda_ts_last = 0;
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struct sample_t mazda_torque_driver; // last few driver torques measured
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// lkas enable speed 52kph, disable at 45kph
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#define MAZDA_LKAS_ENABLE_SPEED 5200
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#define MAZDA_LKAS_DISABLE_SPEED 4500
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const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}};
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bool mazda_lkas_allowed = false;
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AddrCheckStruct mazda_rx_checks[] = {
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{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .expected_timestep = 20000U}}},
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{.msg = {{MAZDA_CRZ_BTNS, 0, 8, .expected_timestep = 100000U}}},
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{.msg = {{MAZDA_STEER_TORQUE, 0, 8, .expected_timestep = 12000U}}},
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{.msg = {{MAZDA_ENGINE_DATA, 0, 8, .expected_timestep = 10000U}}},
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{.msg = {{MAZDA_PEDALS, 0, 8, .expected_timestep = 20000U}}},
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};
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const int MAZDA_RX_CHECKS_LEN = sizeof(mazda_rx_checks) / sizeof(mazda_rx_checks[0]);
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// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
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static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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int bus = GET_BUS(to_push);
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int addr = GET_ADDR(to_push);
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bool valid;
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if ((addr == MAZDA_STEER_TORQUE) && (bus == MAZDA_MAIN)) {
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int torque_driver_new = GET_BYTE(to_push, 0) - 127;
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// update array of samples
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update_sample(&mazda_torque_driver, torque_driver_new);
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}
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valid = addr_safety_check(to_push, mazda_rx_checks, MAZDA_RX_CHECKS_LEN,
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NULL, NULL, NULL);
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if (valid) {
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int bus = GET_BUS(to_push);
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int addr = GET_ADDR(to_push);
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// enter controls on rising edge of ACC, exit controls on ACC off
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if ((addr == MAZDA_CRZ_CTRL) && (bus == MAZDA_MAIN)) {
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int cruise_engaged = GET_BYTE(to_push, 0) & 8;
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if (cruise_engaged != 0) {
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if (!mazda_cruise_engaged_last) {
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controls_allowed = 1;
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if (bus == MAZDA_MAIN) {
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if (addr == MAZDA_ENGINE_DATA) {
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// sample speed: scale by 0.01 to get kph
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int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
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vehicle_moving = speed > 10; // moving when speed > 0.1 kph
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// Enable LKAS at 52kph going up, disable at 45kph going down
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if (speed > MAZDA_LKAS_ENABLE_SPEED) {
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mazda_lkas_allowed = true;
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} else if (speed < MAZDA_LKAS_DISABLE_SPEED) {
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mazda_lkas_allowed = false;
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} else {
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// Misra-able appeasment block!
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}
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}
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if (addr == MAZDA_STEER_TORQUE) {
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int torque_driver_new = GET_BYTE(to_push, 0) - 127;
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// update array of samples
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update_sample(&torque_driver, torque_driver_new);
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}
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// enter controls on rising edge of ACC, exit controls on ACC off
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if (addr == MAZDA_CRZ_CTRL) {
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bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
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if (cruise_engaged) {
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if (!cruise_engaged_prev) {
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// do not engage until we hit the speed at which lkas is on
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if (mazda_lkas_allowed) {
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controls_allowed = 1;
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} else {
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controls_allowed = 0;
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cruise_engaged = false;
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}
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}
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} else {
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controls_allowed = 0;
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}
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cruise_engaged_prev = cruise_engaged;
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}
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// Exit controls on rising edge of gas press
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if (addr == MAZDA_ENGINE_DATA) {
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bool gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0));
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if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
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controls_allowed = 0;
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}
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gas_pressed_prev = gas_pressed;
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}
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// Exit controls on rising edge of brake press
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if (addr == MAZDA_PEDALS) {
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bool brake_pressed = (GET_BYTE(to_push, 0) & 0x10);
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if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
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controls_allowed = 0;
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}
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brake_pressed_prev = brake_pressed;
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}
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// if we see lkas msg on MAZDA_MAIN bus then relay is closed
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if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == MAZDA_LKAS)) {
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relay_malfunction_set();
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}
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}
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else {
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controls_allowed = 0;
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}
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mazda_cruise_engaged_last = cruise_engaged;
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}
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// if we see wheel speed msgs on MAZDA_CAM bus then relay is closed
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if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
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relay_malfunction_set();
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}
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return 1;
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return valid;
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}
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static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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@ -65,12 +126,17 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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int addr = GET_ADDR(to_send);
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int bus = GET_BUS(to_send);
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if (!msg_allowed(to_send, MAZDA_TX_MSGS, sizeof(MAZDA_TX_MSGS)/sizeof(MAZDA_TX_MSGS[0]))) {
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tx = 0;
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}
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if (relay_malfunction) {
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tx = 0;
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}
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// Check if msg is sent on the main BUS
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if (bus == MAZDA_MAIN) {
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// steer cmd checks
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if (addr == MAZDA_LKAS) {
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int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
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@ -83,20 +149,21 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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violation |= max_limit_check(desired_torque, MAZDA_MAX_STEER, -MAZDA_MAX_STEER);
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// *** torque rate limit check ***
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violation |= driver_limit_check(desired_torque, mazda_desired_torque_last, &mazda_torque_driver,
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violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
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MAZDA_MAX_STEER, MAZDA_MAX_RATE_UP, MAZDA_MAX_RATE_DOWN,
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MAZDA_DRIVER_TORQUE_ALLOWANCE, MAZDA_DRIVER_TORQUE_FACTOR);
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// used next time
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mazda_desired_torque_last = desired_torque;
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desired_torque_last = desired_torque;
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// *** torque real time rate limit check ***
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violation |= rt_rate_limit_check(desired_torque, mazda_rt_torque_last, MAZDA_MAX_RT_DELTA);
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violation |= rt_rate_limit_check(desired_torque, rt_torque_last, MAZDA_MAX_RT_DELTA);
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// every RT_INTERVAL set the new limits
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uint32_t ts_elapsed = get_ts_elapsed(ts, mazda_ts_last);
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uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
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if (ts_elapsed > ((uint32_t) MAZDA_RT_INTERVAL)) {
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mazda_rt_torque_last = desired_torque;
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mazda_ts_last = ts;
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rt_torque_last = desired_torque;
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ts_last = ts;
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}
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}
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@ -107,9 +174,9 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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// reset to 0 if either controls is not allowed or there's a violation
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if (violation || !controls_allowed) {
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mazda_desired_torque_last = 0;
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mazda_rt_torque_last = 0;
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mazda_ts_last = ts;
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desired_torque_last = 0;
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rt_torque_last = 0;
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ts_last = ts;
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}
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if (violation) {
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@ -126,8 +193,7 @@ static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
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int addr = GET_ADDR(to_fwd);
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if (bus == MAZDA_MAIN) {
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bus_fwd = MAZDA_CAM;
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}
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else if (bus == MAZDA_CAM) {
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} else if (bus == MAZDA_CAM) {
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if (!(addr == MAZDA_LKAS)) {
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bus_fwd = MAZDA_MAIN;
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}
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@ -145,5 +211,6 @@ const safety_hooks mazda_hooks = {
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.tx = mazda_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.fwd = mazda_fwd_hook,
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// TODO: add addr safety checks
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.addr_check = mazda_rx_checks,
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.addr_check_len = sizeof(mazda_rx_checks) / sizeof(mazda_rx_checks[0]),
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};
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@ -0,0 +1,113 @@
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#!/usr/bin/env python3
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import unittest
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from panda import Panda
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from panda.tests.safety import libpandasafety_py
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import panda.tests.safety.common as common
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from panda.tests.safety.common import CANPackerPanda
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MAX_RATE_UP = 10
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MAX_RATE_DOWN = 25
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MAX_STEER = 2047
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MAX_RT_DELTA = 940
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 15
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DRIVER_TORQUE_FACTOR = 1
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class TestMazdaSafety(common.PandaSafetyTest):
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TX_MSGS = [[0x243, 0], [0x09d, 0]]
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STANDSTILL_THRESHOLD = .1
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RELAY_MALFUNCTION_ADDR = 0x243
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [0x243]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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LKAS_ENABLE_SPEED = 52
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LKAS_DISABLE_SPEED = 45
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def setUp(self):
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self.packer = CANPackerPanda("mazda_cx5_gt_2017")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_MAZDA, 0)
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self.safety.init_tests()
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def _torque_meas_msg(self, torque):
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values = {"STEER_TORQUE_MOTOR": torque}
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return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
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# def _torque_driver_msg(self, torque):
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# values = {"STEER_TORQUE_DRIVER": torque}
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# return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
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def _torque_msg(self, torque):
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values = {"LKAS_REQUEST": torque}
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return self.packer.make_can_msg_panda("CAM_LKAS", 0, values)
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def _speed_msg(self, s):
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values = {"SPEED": s}
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return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
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def _brake_msg(self, pressed):
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values = {"BRAKE_ON": pressed}
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return self.packer.make_can_msg_panda("PEDALS", 0, values)
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def _gas_msg(self, pressed):
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values = {"PEDAL_GAS": pressed}
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return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
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def _pcm_status_msg(self, cruise_on):
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values = {"CRZ_ACTIVE": cruise_on}
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return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values)
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def test_enable_control_allowed_from_cruise(self):
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self._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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self._rx(self._pcm_status_msg(True))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._pcm_status_msg(False))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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self._rx(self._pcm_status_msg(True))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
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self._rx(self._pcm_status_msg(True))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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self.assertTrue(self.safety.get_controls_allowed())
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# Enabled going down
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self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._pcm_status_msg(False))
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# Disabled going up
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self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED + 1))
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self._rx(self._pcm_status_msg(True))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_cruise_engaged_prev(self):
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self._rx(self._pcm_status_msg(False))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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self._rx(self._pcm_status_msg(True))
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self.assertFalse(self.safety.get_cruise_engaged_prev())
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
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for engaged in [True, False]:
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self._rx(self._pcm_status_msg(engaged))
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self.assertEqual(engaged, self.safety.get_cruise_engaged_prev())
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self._rx(self._pcm_status_msg(not engaged))
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self.assertEqual(not engaged, self.safety.get_cruise_engaged_prev())
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if __name__ == "__main__":
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unittest.main()
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