359 lines
12 KiB
C
359 lines
12 KiB
C
// include first, needed by safety policies
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#include "safety_declarations.h"
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// Include the actual safety policies.
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#include "safety/safety_defaults.h"
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#include "safety/safety_honda.h"
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#include "safety/safety_toyota.h"
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#include "safety/safety_tesla.h"
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#include "safety/safety_gm_ascm.h"
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#include "safety/safety_gm.h"
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#include "safety/safety_ford.h"
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#include "safety/safety_cadillac.h"
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#include "safety/safety_hyundai.h"
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#include "safety/safety_chrysler.h"
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#include "safety/safety_subaru.h"
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#include "safety/safety_mazda.h"
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#include "safety/safety_nissan.h"
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#include "safety/safety_volkswagen.h"
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#include "safety/safety_elm327.h"
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// from cereal.car.CarParams.SafetyModel
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#define SAFETY_SILENT 0U
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#define SAFETY_HONDA_NIDEC 1U
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#define SAFETY_TOYOTA 2U
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#define SAFETY_ELM327 3U
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#define SAFETY_GM 4U
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#define SAFETY_HONDA_BOSCH_GIRAFFE 5U
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#define SAFETY_FORD 6U
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#define SAFETY_CADILLAC 7U
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#define SAFETY_HYUNDAI 8U
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#define SAFETY_CHRYSLER 9U
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#define SAFETY_TESLA 10U
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#define SAFETY_SUBARU 11U
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#define SAFETY_MAZDA 13U
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#define SAFETY_NISSAN 14U
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#define SAFETY_VOLKSWAGEN_MQB 15U
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#define SAFETY_ALLOUTPUT 17U
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#define SAFETY_GM_ASCM 18U
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#define SAFETY_NOOUTPUT 19U
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#define SAFETY_HONDA_BOSCH_HARNESS 20U
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#define SAFETY_VOLKSWAGEN_PQ 21U
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#define SAFETY_SUBARU_LEGACY 22U
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uint16_t current_safety_mode = SAFETY_SILENT;
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const safety_hooks *current_hooks = &nooutput_hooks;
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int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
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return current_hooks->rx(to_push);
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}
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int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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return current_hooks->tx(to_send);
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}
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int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
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return current_hooks->tx_lin(lin_num, data, len);
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}
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int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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return current_hooks->fwd(bus_num, to_fwd);
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}
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// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
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// algorithm. Called at init time for safety modes using CRC-8.
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void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
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for (int i = 0; i < 256; i++) {
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uint8_t crc = i;
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for (int j = 0; j < 8; j++) {
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if ((crc & 0x80U) != 0U)
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crc = (uint8_t)((crc << 1) ^ poly);
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else
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crc <<= 1;
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}
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crc_lut[i] = crc;
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}
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}
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bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
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bool allowed = false;
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for (int i = 0; i < len; i++) {
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if ((addr == addr_list[i].addr) && (bus == addr_list[i].bus)) {
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allowed = true;
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break;
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}
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}
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return allowed;
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}
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// compute the time elapsed (in microseconds) from 2 counter samples
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// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
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uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
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return ts - ts_last;
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}
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int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
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int bus = GET_BUS(to_push);
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int addr = GET_ADDR(to_push);
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int index = -1;
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for (int i = 0; i < len; i++) {
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for (uint8_t j = 0U; addr_list[i].addr[j] != 0; j++) {
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if ((addr == addr_list[i].addr[j]) && (bus == addr_list[i].bus)) {
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index = i;
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goto Return;
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}
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}
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}
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Return:
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return index;
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}
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// 1Hz safety function called by main. Now just a check for lagging safety messages
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void safety_tick(const safety_hooks *hooks) {
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uint32_t ts = TIM2->CNT;
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if (hooks->addr_check != NULL) {
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for (int i=0; i < hooks->addr_check_len; i++) {
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uint32_t elapsed_time = get_ts_elapsed(ts, hooks->addr_check[i].last_timestamp);
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// lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
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// Quite conservative to not risk false triggers.
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// 2s of lag is worse case, since the function is called at 1Hz
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bool lagging = elapsed_time > MAX(hooks->addr_check[i].expected_timestep * MAX_MISSED_MSGS, 1e6);
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hooks->addr_check[i].lagging = lagging;
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if (lagging) {
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controls_allowed = 0;
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}
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}
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}
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}
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void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
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if (index != -1) {
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uint8_t expected_counter = (addr_list[index].last_counter + 1U) % (addr_list[index].max_counter + 1U);
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addr_list[index].wrong_counters += (expected_counter == counter) ? -1 : 1;
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addr_list[index].wrong_counters = MAX(MIN(addr_list[index].wrong_counters, MAX_WRONG_COUNTERS), 0);
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addr_list[index].last_counter = counter;
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}
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}
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bool is_msg_valid(AddrCheckStruct addr_list[], int index) {
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bool valid = true;
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if (index != -1) {
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if ((!addr_list[index].valid_checksum) || (addr_list[index].wrong_counters >= MAX_WRONG_COUNTERS)) {
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valid = false;
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controls_allowed = 0;
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}
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}
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return valid;
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}
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void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
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if (index != -1) {
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uint32_t ts = TIM2->CNT;
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addr_list[index].last_timestamp = ts;
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}
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}
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bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
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AddrCheckStruct *rx_checks,
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const int rx_checks_len,
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uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
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uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
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uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push)) {
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int index = get_addr_check_index(to_push, rx_checks, rx_checks_len);
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update_addr_timestamp(rx_checks, index);
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if (index != -1) {
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// checksum check
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if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].check_checksum) {
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uint8_t checksum = get_checksum(to_push);
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uint8_t checksum_comp = compute_checksum(to_push);
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rx_checks[index].valid_checksum = checksum_comp == checksum;
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} else {
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rx_checks[index].valid_checksum = true;
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}
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// counter check (max_counter == 0 means skip check)
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if ((get_counter != NULL) && (rx_checks[index].max_counter > 0U)) {
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uint8_t counter = get_counter(to_push);
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update_counter(rx_checks, index, counter);
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} else {
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rx_checks[index].wrong_counters = 0U;
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}
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}
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return is_msg_valid(rx_checks, index);
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}
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void relay_malfunction_set(void) {
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relay_malfunction = true;
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fault_occurred(FAULT_RELAY_MALFUNCTION);
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}
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void relay_malfunction_reset(void) {
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relay_malfunction = false;
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fault_recovered(FAULT_RELAY_MALFUNCTION);
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}
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typedef struct {
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uint16_t id;
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const safety_hooks *hooks;
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} safety_hook_config;
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const safety_hook_config safety_hook_registry[] = {
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{SAFETY_SILENT, &nooutput_hooks},
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{SAFETY_HONDA_NIDEC, &honda_nidec_hooks},
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{SAFETY_TOYOTA, &toyota_hooks},
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{SAFETY_ELM327, &elm327_hooks},
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{SAFETY_GM, &gm_hooks},
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{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
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{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
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{SAFETY_HYUNDAI, &hyundai_hooks},
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{SAFETY_CHRYSLER, &chrysler_hooks},
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{SAFETY_SUBARU, &subaru_hooks},
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{SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
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{SAFETY_MAZDA, &mazda_hooks},
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{SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
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{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
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{SAFETY_NOOUTPUT, &nooutput_hooks},
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#ifdef ALLOW_DEBUG
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{SAFETY_CADILLAC, &cadillac_hooks},
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{SAFETY_TESLA, &tesla_hooks},
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{SAFETY_NISSAN, &nissan_hooks},
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{SAFETY_ALLOUTPUT, &alloutput_hooks},
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{SAFETY_GM_ASCM, &gm_ascm_hooks},
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{SAFETY_FORD, &ford_hooks},
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#endif
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};
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int set_safety_hooks(uint16_t mode, int16_t param) {
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safety_mode_cnt = 0U; // reset safety mode timer
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int set_status = -1; // not set
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int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
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for (int i = 0; i < hook_config_count; i++) {
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if (safety_hook_registry[i].id == mode) {
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current_hooks = safety_hook_registry[i].hooks;
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current_safety_mode = safety_hook_registry[i].id;
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set_status = 0; // set
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break;
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}
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}
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if ((set_status == 0) && (current_hooks->init != NULL)) {
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current_hooks->init(param);
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}
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return set_status;
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}
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// convert a trimmed integer to signed 32 bit int
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int to_signed(int d, int bits) {
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int d_signed = d;
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if (d >= (1 << MAX((bits - 1), 0))) {
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d_signed = d - (1 << MAX(bits, 0));
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}
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return d_signed;
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}
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// given a new sample, update the smaple_t struct
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void update_sample(struct sample_t *sample, int sample_new) {
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int sample_size = sizeof(sample->values) / sizeof(sample->values[0]);
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for (int i = sample_size - 1; i > 0; i--) {
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sample->values[i] = sample->values[i-1];
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}
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sample->values[0] = sample_new;
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// get the minimum and maximum measured samples
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sample->min = sample->values[0];
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sample->max = sample->values[0];
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for (int i = 1; i < sample_size; i++) {
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if (sample->values[i] < sample->min) {
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sample->min = sample->values[i];
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}
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if (sample->values[i] > sample->max) {
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sample->max = sample->values[i];
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}
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}
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}
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bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
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return (val > MAX_VAL) || (val < MIN_VAL);
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}
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// check that commanded value isn't too far from measured
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bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
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const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
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// *** val rate limit check ***
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int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
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int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
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// if we've exceeded the meas val, we must start moving toward 0
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int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN, MAX(val_meas->max, 0) + MAX_ERROR));
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int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN, MIN(val_meas->min, 0) - MAX_ERROR));
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// check for violation
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return (val < lowest_allowed) || (val > highest_allowed);
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}
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// check that commanded value isn't fighting against driver
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bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
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const int MAX_VAL, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
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const int MAX_ALLOWANCE, const int DRIVER_FACTOR) {
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int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
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int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
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int driver_max_limit = MAX_VAL + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
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int driver_min_limit = -MAX_VAL + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
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// if we've exceeded the applied torque, we must start moving toward 0
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int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN,
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MAX(driver_max_limit, 0)));
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int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN,
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MIN(driver_min_limit, 0)));
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// check for violation
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return (val < lowest_allowed) || (val > highest_allowed);
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}
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// real time check, mainly used for steer torque rate limiter
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bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
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// *** torque real time rate limit check ***
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int highest_val = MAX(val_last, 0) + MAX_RT_DELTA;
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int lowest_val = MIN(val_last, 0) - MAX_RT_DELTA;
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// check for violation
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return (val < lowest_val) || (val > highest_val);
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}
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// interp function that holds extreme values
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float interpolate(struct lookup_t xy, float x) {
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int size = sizeof(xy.x) / sizeof(xy.x[0]);
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float ret = xy.y[size - 1]; // default output is last point
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// x is lower than the first point in the x array. Return the first point
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if (x <= xy.x[0]) {
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ret = xy.y[0];
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} else {
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// find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
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for (int i=0; i < (size - 1); i++) {
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if (x < xy.x[i+1]) {
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float x0 = xy.x[i];
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float y0 = xy.y[i];
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float dx = xy.x[i+1] - x0;
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float dy = xy.y[i+1] - y0;
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// dx should not be zero as xy.x is supposed to be monotonic
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if (dx <= 0.) {
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dx = 0.0001;
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}
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ret = (dy * (x - x0) / dx) + y0;
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break;
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}
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}
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}
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return ret;
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}
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