Chrysler: add brakepress cancellation (#451)
parent
db94a5b813
commit
dad5858b8c
|
@ -5,6 +5,7 @@ const int CHRYSLER_MAX_RATE_UP = 3;
|
|||
const int CHRYSLER_MAX_RATE_DOWN = 3;
|
||||
const int CHRYSLER_MAX_TORQUE_ERROR = 80; // max torque cmd in excess of torque motor
|
||||
const int CHRYSLER_GAS_THRSLD = 30; // 7% more than 2m/s
|
||||
const int CHRYSLER_STANDSTILL_THRSLD = 10; // about 1m/s
|
||||
const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};
|
||||
|
||||
// TODO: do checksum and counter checks
|
||||
|
@ -13,6 +14,7 @@ AddrCheckStruct chrysler_rx_checks[] = {
|
|||
{.addr = {514}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
|
||||
{.addr = {500}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
|
||||
{.addr = {308}, .bus = 0, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U},
|
||||
{.addr = {320}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
|
||||
};
|
||||
const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
|
||||
|
||||
|
@ -20,6 +22,7 @@ int chrysler_rt_torque_last = 0;
|
|||
int chrysler_desired_torque_last = 0;
|
||||
int chrysler_cruise_engaged_last = 0;
|
||||
bool chrysler_gas_prev = false;
|
||||
bool chrysler_brake_prev = false;
|
||||
int chrysler_speed = 0;
|
||||
uint32_t chrysler_ts_last = 0;
|
||||
struct sample_t chrysler_torque_meas; // last few torques measured
|
||||
|
@ -113,6 +116,15 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
|||
chrysler_gas_prev = gas;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of brake press
|
||||
if ((addr == 320) && (bus == 0)) {
|
||||
bool brake = (GET_BYTE(to_push, 0) & 0x7) == 5;
|
||||
if (brake && (!chrysler_brake_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
chrysler_brake_prev = brake;
|
||||
}
|
||||
|
||||
// check if stock camera ECU is on bus 0
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
|
||||
relay_malfunction = true;
|
||||
|
|
|
@ -50,6 +50,7 @@ class TestChryslerSafety(unittest.TestCase):
|
|||
cls.cnt_torque_meas = 0
|
||||
cls.cnt_gas = 0
|
||||
cls.cnt_cruise = 0
|
||||
cls.cnt_brake = 0
|
||||
|
||||
def _button_msg(self, buttons):
|
||||
to_send = make_msg(0, 571)
|
||||
|
@ -78,6 +79,14 @@ class TestChryslerSafety(unittest.TestCase):
|
|||
self.cnt_gas += 1
|
||||
return to_send
|
||||
|
||||
def _brake_msg(self, brake):
|
||||
to_send = make_msg(0, 320)
|
||||
to_send[0].RDLR = 5 if brake else 0
|
||||
to_send[0].RDHR |= (self.cnt_brake % 16) << 20
|
||||
to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
|
||||
self.cnt_brake += 1
|
||||
return to_send
|
||||
|
||||
def _set_prev_torque(self, t):
|
||||
self.safety.set_chrysler_desired_torque_last(t)
|
||||
self.safety.set_chrysler_rt_torque_last(t)
|
||||
|
@ -139,6 +148,30 @@ class TestChryslerSafety(unittest.TestCase):
|
|||
self.safety.safety_rx_hook(self._gas_msg(1))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_brake_disable(self):
|
||||
self.safety.safety_rx_hook(self._brake_msg(True))
|
||||
self.safety.safety_rx_hook(self._speed_msg(0))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.safety_rx_hook(self._brake_msg(True))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.safety.safety_rx_hook(self._brake_msg(False))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.safety_rx_hook(self._brake_msg(True))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
self.safety.safety_rx_hook(self._brake_msg(True))
|
||||
self.safety.safety_rx_hook(self._speed_msg(1))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.safety_rx_hook(self._brake_msg(True))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
self.safety.safety_rx_hook(self._speed_msg(1))
|
||||
self.safety.safety_rx_hook(self._brake_msg(False))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.safety_rx_hook(self._brake_msg(True))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_non_realtime_limit_up(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
|
|
Loading…
Reference in New Issue