441 lines
17 KiB
C
441 lines
17 KiB
C
// Safety-relevant steering constants for Volkswagen
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const int VOLKSWAGEN_MAX_STEER = 300; // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
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const int VOLKSWAGEN_MAX_RT_DELTA = 75; // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
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const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000; // 250ms between real time checks
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const int VOLKSWAGEN_MAX_RATE_UP = 4; // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
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const int VOLKSWAGEN_MAX_RATE_DOWN = 10; // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
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const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
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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_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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#define MSG_HCA_01 0x126 // TX by OP, Heading Control Assist steering torque
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#define MSG_GRA_ACC_01 0x12B // TX by OP, ACC control buttons for cancel/resume
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#define MSG_LDW_02 0x397 // TX by OP, Lane line recognition and text alerts
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// Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
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const AddrBus VOLKSWAGEN_MQB_TX_MSGS[] = {{MSG_HCA_01, 0}, {MSG_GRA_ACC_01, 0}, {MSG_GRA_ACC_01, 2}, {MSG_LDW_02, 0}};
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const int VOLKSWAGEN_MQB_TX_MSGS_LEN = sizeof(VOLKSWAGEN_MQB_TX_MSGS) / sizeof(VOLKSWAGEN_MQB_TX_MSGS[0]);
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AddrCheckStruct volkswagen_mqb_rx_checks[] = {
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{.addr = {MSG_ESP_19}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
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{.addr = {MSG_EPS_01}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
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{.addr = {MSG_ESP_05}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
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{.addr = {MSG_TSK_06}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
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{.addr = {MSG_MOTOR_20}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
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};
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const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);
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// Safety-relevant CAN messages for the Volkswagen PQ35/PQ46/NMS platforms
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#define MSG_LENKHILFE_3 0x0D0 // RX from EPS, for steering angle and driver steering torque
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#define MSG_HCA_1 0x0D2 // TX by OP, Heading Control Assist steering torque
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#define MSG_MOTOR_2 0x288 // RX from ECU, for CC state and brake switch state
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#define MSG_MOTOR_3 0x380 // RX from ECU, for driver throttle input
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#define MSG_GRA_NEU 0x38A // TX by OP, ACC control buttons for cancel/resume
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#define MSG_BREMSE_3 0x4A0 // RX from ABS, for wheel speeds
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#define MSG_LDW_1 0x5BE // TX by OP, Lane line recognition and text alerts
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// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
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const AddrBus VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0}, {MSG_GRA_NEU, 0}, {MSG_GRA_NEU, 2}, {MSG_LDW_1, 0}};
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const int VOLKSWAGEN_PQ_TX_MSGS_LEN = sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]);
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AddrCheckStruct volkswagen_pq_rx_checks[] = {
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{.addr = {MSG_LENKHILFE_3}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
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{.addr = {MSG_MOTOR_2}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 20000U},
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{.addr = {MSG_MOTOR_3}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
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{.addr = {MSG_BREMSE_3}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
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};
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const int VOLKSWAGEN_PQ_RX_CHECKS_LEN = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]);
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struct sample_t volkswagen_torque_driver; // Last few driver torques measured
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int volkswagen_rt_torque_last = 0;
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int volkswagen_desired_torque_last = 0;
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uint32_t volkswagen_ts_last = 0;
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bool volkswagen_moving = false;
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int volkswagen_torque_msg = 0;
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int volkswagen_lane_msg = 0;
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uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
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static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
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return (uint8_t)GET_BYTE(to_push, 0);
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}
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static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
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// MQB message counters are consistently found at LSB 8.
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return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
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}
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static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
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// Few PQ messages have counters, and their offsets are inconsistent. This
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// function works only for Lenkhilfe_3 at this time.
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return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
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}
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static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
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int addr = GET_ADDR(to_push);
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int len = GET_LEN(to_push);
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// This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation
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// of this algorithm for a version with explanatory comments.
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uint8_t crc = 0xFFU;
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for (int i = 1; i < len; i++) {
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crc ^= (uint8_t)GET_BYTE(to_push, i);
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crc = volkswagen_crc8_lut_8h2f[crc];
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}
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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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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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crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
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break;
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case MSG_TSK_06:
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crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
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break;
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case MSG_MOTOR_20:
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crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
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break;
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default: // Undefined CAN message, CRC check expected to fail
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break;
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}
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crc = volkswagen_crc8_lut_8h2f[crc];
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return crc ^ 0xFFU;
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}
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static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
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int len = GET_LEN(to_push);
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uint8_t checksum = 0U;
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for (int i = 1; i < len; i++) {
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checksum ^= (uint8_t)GET_BYTE(to_push, i);
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}
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return checksum;
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}
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static void volkswagen_mqb_init(int16_t param) {
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UNUSED(param);
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controls_allowed = false;
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relay_malfunction_reset();
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volkswagen_torque_msg = MSG_HCA_01;
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volkswagen_lane_msg = MSG_LDW_02;
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gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
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}
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static void volkswagen_pq_init(int16_t param) {
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UNUSED(param);
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controls_allowed = false;
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relay_malfunction_reset();
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volkswagen_torque_msg = MSG_HCA_1;
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volkswagen_lane_msg = MSG_LDW_1;
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}
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static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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bool valid = addr_safety_check(to_push, volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_RX_CHECKS_LEN,
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volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
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if (valid && (GET_BUS(to_push) == 0)) {
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int addr = GET_ADDR(to_push);
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// Update in-motion state by sampling front wheel speeds
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// Signal: ESP_19.ESP_VL_Radgeschw_02 (front left) in scaled km/h
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// Signal: ESP_19.ESP_VR_Radgeschw_02 (front right) in scaled km/h
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if (addr == MSG_ESP_19) {
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int wheel_speed_fl = GET_BYTE(to_push, 4) | (GET_BYTE(to_push, 5) << 8);
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int wheel_speed_fr = GET_BYTE(to_push, 6) | (GET_BYTE(to_push, 7) << 8);
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// Check for average front speed in excess of 0.3m/s, 1.08km/h
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// DBC speed scale 0.0075: 0.3m/s = 144, sum both wheels to compare
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volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 288;
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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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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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torque_driver_new *= -1;
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}
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update_sample(&volkswagen_torque_driver, torque_driver_new);
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}
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// Update ACC status from drivetrain coordinator for controls-allowed state
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// Signal: TSK_06.TSK_Status
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if (addr == MSG_TSK_06) {
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int acc_status = (GET_BYTE(to_push, 3) & 0x7);
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controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
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}
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// Exit controls on rising edge of gas press
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// Signal: Motor_20.MO_Fahrpedalrohwert_01
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if (addr == MSG_MOTOR_20) {
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bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
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if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
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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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// Exit controls on rising edge of brake press
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// Signal: ESP_05.ESP_Fahrer_bremst
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if (addr == MSG_ESP_05) {
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bool brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
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if (brake_pressed && (!brake_pressed_prev || volkswagen_moving)) {
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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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// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
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if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == MSG_HCA_01)) {
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relay_malfunction_set();
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}
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}
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return valid;
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}
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static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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bool valid = addr_safety_check(to_push, volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_RX_CHECKS_LEN,
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volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
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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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// Update in-motion state by sampling front wheel speeds
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// Signal: Bremse_3.Radgeschw__VL_4_1 (front left)
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// Signal: Bremse_3.Radgeschw__VR_4_1 (front right)
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if ((bus == 0) && (addr == MSG_BREMSE_3)) {
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int wheel_speed_fl = (GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8)) >> 1;
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int wheel_speed_fr = (GET_BYTE(to_push, 2) | (GET_BYTE(to_push, 3) << 8)) >> 1;
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// Check for average front speed in excess of 0.3m/s, 1.08km/h
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// DBC speed scale 0.01: 0.3m/s = 108, sum both wheels to compare
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volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 216;
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}
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// Update driver input torque samples
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// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
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// Signal: Lenkhilfe_3.LH3_LMSign (direction)
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if ((bus == 0) && (addr == MSG_LENKHILFE_3)) {
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int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
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int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
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if (sign == 1) {
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torque_driver_new *= -1;
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}
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update_sample(&volkswagen_torque_driver, torque_driver_new);
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}
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// Update ACC status from ECU for controls-allowed state
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// Signal: Motor_2.GRA_Status
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if ((bus == 0) && (addr == MSG_MOTOR_2)) {
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int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
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controls_allowed = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
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}
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// Exit controls on rising edge of gas press
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// Signal: Motor_3.Fahrpedal_Rohsignal
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if ((bus == 0) && (addr == MSG_MOTOR_3)) {
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int gas_pressed = (GET_BYTE(to_push, 2));
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if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
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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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// Exit controls on rising edge of brake press
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// Signal: Motor_2.Bremslichtschalter
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if ((bus == 0) && (addr == MSG_MOTOR_2)) {
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bool brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
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if (brake_pressed && (!(brake_pressed_prev) || volkswagen_moving)) {
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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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// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
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if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_1)) {
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relay_malfunction_set();
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}
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}
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return valid;
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}
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static bool volkswagen_steering_check(int desired_torque) {
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bool violation = false;
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uint32_t ts = TIM2->CNT;
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if (controls_allowed) {
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// *** global torque limit check ***
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violation |= max_limit_check(desired_torque, VOLKSWAGEN_MAX_STEER, -VOLKSWAGEN_MAX_STEER);
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// *** torque rate limit check ***
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violation |= driver_limit_check(desired_torque, volkswagen_desired_torque_last, &volkswagen_torque_driver,
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VOLKSWAGEN_MAX_STEER, VOLKSWAGEN_MAX_RATE_UP, VOLKSWAGEN_MAX_RATE_DOWN,
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VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_DRIVER_TORQUE_FACTOR);
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volkswagen_desired_torque_last = desired_torque;
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// *** torque real time rate limit check ***
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violation |= rt_rate_limit_check(desired_torque, volkswagen_rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
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// every RT_INTERVAL set the new limits
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uint32_t ts_elapsed = get_ts_elapsed(ts, volkswagen_ts_last);
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if (ts_elapsed > VOLKSWAGEN_RT_INTERVAL) {
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volkswagen_rt_torque_last = desired_torque;
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volkswagen_ts_last = ts;
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}
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}
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// no torque if controls is not allowed
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if (!controls_allowed && (desired_torque != 0)) {
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violation = true;
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}
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// reset to 0 if either controls is not allowed or there's a violation
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if (violation || !controls_allowed) {
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volkswagen_desired_torque_last = 0;
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volkswagen_rt_torque_last = 0;
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volkswagen_ts_last = ts;
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}
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return violation;
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}
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static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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int addr = GET_ADDR(to_send);
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int bus = GET_BUS(to_send);
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int tx = 1;
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if (!msg_allowed(addr, bus, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN) || relay_malfunction) {
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tx = 0;
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}
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// Safety check for HCA_01 Heading Control Assist torque
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// Signal: HCA_01.Assist_Torque (absolute torque)
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// Signal: HCA_01.Assist_VZ (direction)
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if (addr == MSG_HCA_01) {
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int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
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int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
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if (sign == 1) {
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desired_torque *= -1;
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}
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if (volkswagen_steering_check(desired_torque)) {
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tx = 0;
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}
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}
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// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
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// This avoids unintended engagements while still allowing resume spam
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if ((addr == MSG_GRA_ACC_01) && !controls_allowed) {
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// disallow resume and set: bits 16 and 19
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if ((GET_BYTE(to_send, 2) & 0x9) != 0) {
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tx = 0;
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}
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}
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// 1 allows the message through
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return tx;
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}
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static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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int addr = GET_ADDR(to_send);
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int bus = GET_BUS(to_send);
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int tx = 1;
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if (!msg_allowed(addr, bus, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
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tx = 0;
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}
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// Safety check for HCA_1 Heading Control Assist torque
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// Signal: HCA_1.LM_Offset (absolute torque)
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// Signal: HCA_1.LM_Offsign (direction)
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if (addr == MSG_HCA_1) {
|
|
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
|
|
desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm
|
|
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
|
|
if (sign == 1) {
|
|
desired_torque *= -1;
|
|
}
|
|
|
|
if (volkswagen_steering_check(desired_torque)) {
|
|
tx = 0;
|
|
}
|
|
}
|
|
|
|
// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
|
|
// This avoids unintended engagements while still allowing resume spam
|
|
if ((addr == MSG_GRA_NEU) && !controls_allowed) {
|
|
// disallow resume and set: bits 16 and 17
|
|
if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
|
|
tx = 0;
|
|
}
|
|
}
|
|
|
|
// 1 allows the message through
|
|
return tx;
|
|
}
|
|
|
|
static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
|
int addr = GET_ADDR(to_fwd);
|
|
int bus_fwd = -1;
|
|
|
|
if (!relay_malfunction) {
|
|
switch (bus_num) {
|
|
case 0:
|
|
// Forward all traffic from the Extended CAN onward
|
|
bus_fwd = 2;
|
|
break;
|
|
case 2:
|
|
if ((addr == volkswagen_torque_msg) || (addr == volkswagen_lane_msg)) {
|
|
// OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
|
|
bus_fwd = -1;
|
|
} else {
|
|
// Forward all remaining traffic from Extended CAN devices to J533 gateway
|
|
bus_fwd = 0;
|
|
}
|
|
break;
|
|
default:
|
|
// No other buses should be in use; fallback to do-not-forward
|
|
bus_fwd = -1;
|
|
break;
|
|
}
|
|
}
|
|
return bus_fwd;
|
|
}
|
|
|
|
// Volkswagen MQB platform
|
|
const safety_hooks volkswagen_mqb_hooks = {
|
|
.init = volkswagen_mqb_init,
|
|
.rx = volkswagen_mqb_rx_hook,
|
|
.tx = volkswagen_mqb_tx_hook,
|
|
.tx_lin = nooutput_tx_lin_hook,
|
|
.fwd = volkswagen_fwd_hook,
|
|
.addr_check = volkswagen_mqb_rx_checks,
|
|
.addr_check_len = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]),
|
|
};
|
|
|
|
// Volkswagen PQ35/PQ46/NMS platforms
|
|
const safety_hooks volkswagen_pq_hooks = {
|
|
.init = volkswagen_pq_init,
|
|
.rx = volkswagen_pq_rx_hook,
|
|
.tx = volkswagen_pq_tx_hook,
|
|
.tx_lin = nooutput_tx_lin_hook,
|
|
.fwd = volkswagen_fwd_hook,
|
|
.addr_check = volkswagen_pq_rx_checks,
|
|
.addr_check_len = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]),
|
|
};
|