VW MQB: Updated message and signal data, round 1 (#632)
* EPS_01 -> LH_EPS_03 * Bump openpilot commit ref * made echo test more stable * update python to 3.8.5 * Revert "Bump openpilot commit ref" This reverts commit 75ec1a0c * Bump openpilot commit ref * Bump openpilot commit ref * Update Dockerfile.panda * fixed torque signal name * Signal naming fix, round 2 * fix CI Co-authored-by: Robbe Derks <robbe.derks@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>master
Jason Young
GitHub
parent
f3cf165be0
commit
9108b82fb0
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@ -57,7 +57,7 @@ jobs:
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run: |
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$RUN "cd /tmp/openpilot && \
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scons -c && \
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scons -j$(nproc) opendbc/ cereal/ && \
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scons -j$(nproc) -i opendbc/ cereal/ && \
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cd panda/tests/safety && \
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./test.sh"
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@ -63,12 +63,12 @@ RUN cd /tmp && \
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git checkout 5463469f71e7861ccfbbd4d09b8e4ae56b8d3e45 && \
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git submodule update --init cereal opendbc && \
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mkdir /tmp/openpilot && \
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cp -pR SConstruct tools/ selfdrive/ common/ cereal/ opendbc/ /tmp/openpilot && \
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cp -pR SConstruct site_scons/ tools/ selfdrive/ common/ cereal/ opendbc/ /tmp/openpilot && \
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rm -rf /tmp/tmppilot
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RUN cd /tmp/openpilot && \
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pip install --no-cache-dir -r opendbc/requirements.txt && \
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pip install --no-cache-dir aenum lru-dict pycurl tenacity atomicwrites
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pip install --no-cache-dir --upgrade aenum lru-dict pycurl tenacity atomicwrites scons
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COPY . /tmp/openpilot/panda
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RUN rm -rf /tmp/openpilot/panda/.git
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@ -9,7 +9,7 @@ const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;
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// Safety-relevant CAN messages for the Volkswagen MQB platform
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#define MSG_ESP_19 0x0B2 // RX from ABS, for wheel speeds
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#define MSG_EPS_01 0x09F // RX from EPS, for driver steering torque
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#define MSG_LH_EPS_03 0x09F // RX from EPS, for driver steering torque
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#define MSG_ESP_05 0x106 // RX from ABS, for brake switch state
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#define MSG_TSK_06 0x120 // RX from ECU, for ACC status from drivetrain coordinator
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#define MSG_MOTOR_20 0x121 // RX from ECU, for driver throttle input
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@ -23,7 +23,7 @@ const int VOLKSWAGEN_MQB_TX_MSGS_LEN = sizeof(VOLKSWAGEN_MQB_TX_MSGS) / sizeof(V
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AddrCheckStruct volkswagen_mqb_rx_checks[] = {
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{.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}},
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{.msg = {{MSG_EPS_01, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}},
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{.msg = {{MSG_LH_EPS_03, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}},
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{.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
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{.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
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{.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}},
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@ -86,7 +86,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
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uint8_t counter = volkswagen_mqb_get_counter(to_push);
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switch(addr) {
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case MSG_EPS_01:
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case MSG_LH_EPS_03:
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crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
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break;
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case MSG_ESP_05:
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@ -156,9 +156,9 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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}
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// Update driver input torque samples
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// Signal: EPS_01.Driver_Strain (absolute torque)
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// Signal: EPS_01.Driver_Strain_VZ (direction)
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if (addr == MSG_EPS_01) {
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// Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
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// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
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if (addr == MSG_LH_EPS_03) {
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int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
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int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
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if (sign == 1) {
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@ -16,7 +16,7 @@ DRIVER_TORQUE_ALLOWANCE = 80
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DRIVER_TORQUE_FACTOR = 3
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MSG_ESP_19 = 0xB2 # RX from ABS, for wheel speeds
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MSG_EPS_01 = 0x9F # RX from EPS, for driver steering torque
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MSG_LH_EPS_03 = 0x9F # RX from EPS, for driver steering torque
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MSG_ESP_05 = 0x106 # RX from ABS, for brake light state
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MSG_TSK_06 = 0x120 # RX from ECU, for ACC status from drivetrain coordinator
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MSG_MOTOR_20 = 0x121 # RX from ECU, for driver throttle input
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@ -25,7 +25,7 @@ MSG_GRA_ACC_01 = 0x12B # TX by OP, ACC control buttons for cancel/resume
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MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts
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class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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cnt_eps_01 = 0
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cnt_lh_eps_03 = 0
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cnt_esp_05 = 0
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cnt_tsk_06 = 0
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cnt_motor_20 = 0
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@ -79,11 +79,11 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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return self.packer.make_can_msg_panda("TSK_06", 0, values)
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# Driver steering input torque
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def _eps_01_msg(self, torque):
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values = {"Driver_Strain": abs(torque), "Driver_Strain_VZ": torque < 0,
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"COUNTER": self.cnt_eps_01 % 16}
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self.__class__.cnt_eps_01 += 1
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return self.packer.make_can_msg_panda("EPS_01", 0, values)
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def _lh_eps_03_msg(self, torque):
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values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0,
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"COUNTER": self.cnt_lh_eps_03 % 16}
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self.__class__.cnt_lh_eps_03 += 1
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return self.packer.make_can_msg_panda("LH_EPS_03", 0, values)
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# openpilot steering output torque
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def _hca_01_msg(self, torque):
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@ -205,21 +205,21 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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self.assertTrue(self._tx(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
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def test_torque_measurements(self):
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self._rx(self._eps_01_msg(50))
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self._rx(self._eps_01_msg(-50))
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self._rx(self._eps_01_msg(0))
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self._rx(self._eps_01_msg(0))
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self._rx(self._eps_01_msg(0))
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self._rx(self._eps_01_msg(0))
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self._rx(self._lh_eps_03_msg(50))
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self._rx(self._lh_eps_03_msg(-50))
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self._rx(self._lh_eps_03_msg(0))
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self._rx(self._lh_eps_03_msg(0))
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self._rx(self._lh_eps_03_msg(0))
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self._rx(self._lh_eps_03_msg(0))
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self.assertEqual(-50, self.safety.get_torque_driver_min())
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self.assertEqual(50, self.safety.get_torque_driver_max())
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self._rx(self._eps_01_msg(0))
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self._rx(self._lh_eps_03_msg(0))
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self.assertEqual(0, self.safety.get_torque_driver_max())
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self.assertEqual(-50, self.safety.get_torque_driver_min())
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self._rx(self._eps_01_msg(0))
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self._rx(self._lh_eps_03_msg(0))
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self.assertEqual(0, self.safety.get_torque_driver_max())
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self.assertEqual(0, self.safety.get_torque_driver_min())
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@ -228,10 +228,10 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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# TODO: Would be ideal to check ESP_19 as well, but it has no checksum
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# or counter, and I'm not sure if we can easily validate Panda's simple
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# temporal reception-rate check here.
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for msg in [MSG_EPS_01, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]:
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for msg in [MSG_LH_EPS_03, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]:
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self.safety.set_controls_allowed(1)
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if msg == MSG_EPS_01:
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to_push = self._eps_01_msg(0)
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if msg == MSG_LH_EPS_03:
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to_push = self._lh_eps_03_msg(0)
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if msg == MSG_ESP_05:
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to_push = self._brake_msg(False)
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if msg == MSG_TSK_06:
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@ -246,18 +246,18 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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# counter
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# reset wrong_counters to zero by sending valid messages
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for i in range(MAX_WRONG_COUNTERS + 1):
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self.__class__.cnt_eps_01 += 1
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self.__class__.cnt_lh_eps_03 += 1
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self.__class__.cnt_esp_05 += 1
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self.__class__.cnt_tsk_06 += 1
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self.__class__.cnt_motor_20 += 1
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if i < MAX_WRONG_COUNTERS:
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self.safety.set_controls_allowed(1)
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self._rx(self._eps_01_msg(0))
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self._rx(self._lh_eps_03_msg(0))
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self._rx(self._brake_msg(False))
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self._rx(self._pcm_status_msg(True))
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self._rx(self._gas_msg(0))
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else:
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self.assertFalse(self._rx(self._eps_01_msg(0)))
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self.assertFalse(self._rx(self._lh_eps_03_msg(0)))
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self.assertFalse(self._rx(self._brake_msg(False)))
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self.assertFalse(self._rx(self._pcm_status_msg(True)))
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self.assertFalse(self._rx(self._gas_msg(0)))
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@ -266,7 +266,7 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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# restore counters for future tests with a couple of good messages
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for i in range(2):
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self.safety.set_controls_allowed(1)
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self._rx(self._eps_01_msg(0))
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self._rx(self._lh_eps_03_msg(0))
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self._rx(self._brake_msg(False))
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self._rx(self._pcm_status_msg(True))
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self._rx(self._gas_msg(0))
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