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better differentation of honda safety modes

master
Riccardo 2019-12-20 15:51:32 -08:00
parent 01244d7557
commit d19fd3e6bd
8 changed files with 22 additions and 19 deletions
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10
board/safety.h
View File

@ -19,11 +19,11 @@
// from cereal.car.CarParams.SafetyModel
#define SAFETY_SILENT 0U
#define SAFETY_HONDA 1U
#define SAFETY_HONDA_NIDEC 1U
#define SAFETY_TOYOTA 2U
#define SAFETY_ELM327 3U
#define SAFETY_GM 4U
#define SAFETY_HONDA_BOSCH 5U
#define SAFETY_HONDA_BOSCH_GIRAFFE 5U
#define SAFETY_FORD 6U
#define SAFETY_CADILLAC 7U
#define SAFETY_HYUNDAI 8U
@ -36,6 +36,7 @@
#define SAFETY_ALLOUTPUT 17U
#define SAFETY_GM_ASCM 18U
#define SAFETY_NOOUTPUT 19U
#define SAFETY_HONDA_BOSCH_HARNESS 20U
uint16_t current_safety_mode = SAFETY_SILENT;
const safety_hooks *current_hooks = &nooutput_hooks;
@ -74,11 +75,12 @@ typedef struct {
const safety_hook_config safety_hook_registry[] = {
{SAFETY_SILENT, &nooutput_hooks},
{SAFETY_HONDA, &honda_hooks},
{SAFETY_HONDA_NIDEC, &honda_nidec_hooks},
{SAFETY_TOYOTA, &toyota_hooks},
{SAFETY_ELM327, &elm327_hooks},
{SAFETY_GM, &gm_hooks},
{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_hooks},
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_hooks}, // TODO: distinguish from above
{SAFETY_HYUNDAI, &hyundai_hooks},
{SAFETY_CHRYSLER, &chrysler_hooks},
{SAFETY_SUBARU, &subaru_hooks},

10
board/safety/safety_honda.h
View File

@ -196,7 +196,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static void honda_init(int16_t param) {
static void honda_nidec_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction = false;
@ -212,7 +212,7 @@ static void honda_bosch_init(int16_t param) {
honda_alt_brake_msg = (param == 1) ? true : false;
}
static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// fwd from car to camera. also fwd certain msgs from camera to car
// 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,
@ -260,12 +260,12 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return bus_fwd;
}
const safety_hooks honda_hooks = {
.init = honda_init,
const safety_hooks honda_nidec_hooks = {
.init = honda_nidec_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = honda_fwd_hook,
.fwd = honda_nidec_fwd_hook,
};
const safety_hooks honda_bosch_hooks = {

2
drivers/windows/panda_shared/panda.h
View File

@ -39,7 +39,7 @@
namespace panda {
typedef enum _PANDA_SAFETY_MODE : uint16_t {
SAFETY_SILENT = 0,
SAFETY_HONDA = 1,
SAFETY_HONDA_NIDEC = 1,
SAFETY_ALLOUTPUT = 17,
} PANDA_SAFETY_MODE;

5
python/__init__.py
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@ -111,11 +111,11 @@ class Panda(object):
# matches cereal.car.CarParams.SafetyModel
SAFETY_SILENT = 0
SAFETY_HONDA = 1
SAFETY_HONDA_NIDEC = 1
SAFETY_TOYOTA = 2
SAFETY_ELM327 = 3
SAFETY_GM = 4
SAFETY_HONDA_BOSCH = 5
SAFETY_HONDA_BOSCH_GIRAFFE = 5
SAFETY_FORD = 6
SAFETY_CADILLAC = 7
SAFETY_HYUNDAI = 8
@ -128,6 +128,7 @@ class Panda(object):
SAFETY_ALLOUTPUT = 17
SAFETY_GM_ASCM = 18
SAFETY_NOOUTPUT = 19
SAFETY_HONDA_BOSCH_HARNESS = 20
SERIAL_DEBUG = 0
SERIAL_ESP = 1

2
tests/safety/test_honda.py
View File

@ -14,7 +14,7 @@ class TestHondaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_HONDA, 0)
cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
cls.safety.init_tests_honda()
def _speed_msg(self, speed):

2
tests/safety/test_honda_bosch.py
View File

@ -14,7 +14,7 @@ class TestHondaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
cls.safety.init_tests_honda()
def test_spam_can_buses(self):

6
tests/safety_replay/helpers.py
View File

@ -11,7 +11,7 @@ def to_signed(d, bits):
def is_steering_msg(mode, addr):
ret = False
if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
elif mode == Panda.SAFETY_TOYOTA:
ret = addr == 0x2E4
@ -27,7 +27,7 @@ def is_steering_msg(mode, addr):
def get_steer_torque(mode, to_send):
ret = 0
if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
ret = to_send.RDLR & 0xFFFF0000
elif mode == Panda.SAFETY_TOYOTA:
ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
@ -45,7 +45,7 @@ def get_steer_torque(mode, to_send):
return ret
def set_desired_torque_last(safety, mode, torque):
if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
pass # honda safety mode doesn't enforce a rate on steering msgs
elif mode == Panda.SAFETY_TOYOTA:
safety.set_toyota_desired_torque_last(torque)

4
tests/safety_replay/test_safety_replay.py
View File

@ -11,10 +11,10 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
# (route, safety mode, param)
logs = [
("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC
("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD
("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 1), # HONDA.ACCORD
("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA