222 lines
6.8 KiB
C
222 lines
6.8 KiB
C
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const uint32_t NISSAN_RT_INTERVAL = 250000; // 250ms between real time checks
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const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_UP = {
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{2., 7., 17.},
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{5., .8, .15}};
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const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
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{2., 7., 17.},
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{5., 3.5, .5}};
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const int NISSAN_DEG_TO_CAN = 100;
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const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}, {0x280, 2}};
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AddrCheckStruct nissan_rx_checks[] = {
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{.addr = {0x2}, .bus = 0, .expected_timestep = 10000U}, // STEER_ANGLE_SENSOR (100Hz)
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{.addr = {0x285}, .bus = 0, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
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{.addr = {0x30f}, .bus = 2, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
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{.addr = {0x15c, 0x239}, .bus = 0, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
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{.addr = {0x454, 0x1cc}, .bus = 0, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
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};
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const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
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float nissan_speed = 0;
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//int nissan_controls_allowed_last = 0;
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uint32_t nissan_ts_angle_last = 0;
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int nissan_cruise_engaged_last = 0;
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int nissan_desired_angle_last = 0;
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struct sample_t nissan_angle_meas; // last 3 steer angles
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static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
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NULL, NULL, NULL);
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bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
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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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if (bus == 0) {
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if (addr == 0x2) {
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// Current steering angle
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// Factor -0.1, little endian
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int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFF);
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// Need to multiply by 10 here as LKAS and Steering wheel are different base unit
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angle_meas_new = to_signed(angle_meas_new, 16) * 10;
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// update array of samples
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update_sample(&nissan_angle_meas, angle_meas_new);
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}
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if (addr == 0x285) {
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// Get current speed
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// Factor 0.005
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nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
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}
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// exit controls on rising edge of gas press
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// X-Trail 0x15c, Leaf 0x239
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if ((addr == 0x15c) || (addr == 0x239)) {
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bool gas_pressed = true;
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if (addr == 0x15c){
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gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
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} else {
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gas_pressed = GET_BYTE(to_push, 0) > 3;
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}
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if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
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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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// 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
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if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x169)) {
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relay_malfunction_set();
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}
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}
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// exit controls on rising edge of brake press, or if speed > 0 and brake
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// X-trail 0x454, Leaf 0x1cc
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if ((addr == 0x454) || (addr == 0x1cc)) {
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bool brake_pressed = true;
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if (addr == 0x454){
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brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
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} else {
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brake_pressed = GET_BYTE(to_push, 0) > 3;
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}
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if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
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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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// Handle cruise enabled
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if ((bus == 2) && (addr == 0x30f)) {
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bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
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if (cruise_engaged && !nissan_cruise_engaged_last) {
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controls_allowed = 1;
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}
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if (!cruise_engaged) {
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controls_allowed = 0;
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}
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nissan_cruise_engaged_last = cruise_engaged;
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}
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}
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return valid;
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}
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static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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int tx = 1;
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int addr = GET_ADDR(to_send);
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int bus = GET_BUS(to_send);
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bool violation = 0;
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if (!msg_allowed(addr, bus, NISSAN_TX_MSGS, sizeof(NISSAN_TX_MSGS) / sizeof(NISSAN_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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// steer cmd checks
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if (addr == 0x169) {
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int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3));
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bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1;
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// offeset 1310 * NISSAN_DEG_TO_CAN
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desired_angle = desired_angle - 131000;
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if (controls_allowed && lka_active) {
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// add 1 to not false trigger the violation
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float delta_angle_float;
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delta_angle_float = (interpolate(NISSAN_LOOKUP_ANGLE_RATE_UP, nissan_speed) * NISSAN_DEG_TO_CAN) + 1.;
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int delta_angle_up = (int)(delta_angle_float);
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delta_angle_float = (interpolate(NISSAN_LOOKUP_ANGLE_RATE_DOWN, nissan_speed) * NISSAN_DEG_TO_CAN) + 1.;
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int delta_angle_down = (int)(delta_angle_float);
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int highest_desired_angle = nissan_desired_angle_last + ((nissan_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
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int lowest_desired_angle = nissan_desired_angle_last - ((nissan_desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
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// check for violation;
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violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
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//nissan_controls_allowed_last = controls_allowed;
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}
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nissan_desired_angle_last = desired_angle;
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// desired steer angle should be the same as steer angle measured when controls are off
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if ((!controls_allowed) &&
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((desired_angle < (nissan_angle_meas.min - 1)) ||
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(desired_angle > (nissan_angle_meas.max + 1)))) {
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violation = 1;
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}
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// no lka_enabled bit if controls not allowed
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if (!controls_allowed && lka_active) {
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violation = 1;
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}
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}
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// acc button check, only allow cancel button to be sent
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if (addr == 0x20b) {
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// Violation of any button other than cancel is pressed
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violation |= ((GET_BYTE(to_send, 1) & 0x3d) > 0);
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}
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if (violation) {
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controls_allowed = 0;
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tx = 0;
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}
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return tx;
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}
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static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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int bus_fwd = -1;
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int addr = GET_ADDR(to_fwd);
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if (bus_num == 0) {
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int block_msg = (addr == 0x280); // CANCEL_MSG
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if (!block_msg) {
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bus_fwd = 2; // ADAS
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}
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}
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if (bus_num == 2) {
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// 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
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int block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
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if (!block_msg) {
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bus_fwd = 0; // V-CAN
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}
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}
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if (relay_malfunction) {
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bus_fwd = -1;
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}
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// fallback to do not forward
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return bus_fwd;
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}
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const safety_hooks nissan_hooks = {
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.init = nooutput_init,
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.rx = nissan_rx_hook,
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.tx = nissan_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.fwd = nissan_fwd_hook,
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.addr_check = nissan_rx_checks,
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.addr_check_len = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]),
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};
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