90 lines
3.1 KiB
Python
90 lines
3.1 KiB
Python
#!/usr/bin/env python3
|
|
import struct
|
|
import panda.tests.safety.libpandasafety_py as libpandasafety_py
|
|
from panda import Panda
|
|
|
|
def to_signed(d, bits):
|
|
ret = d
|
|
if d >= (1 << (bits - 1)):
|
|
ret = d - (1 << bits)
|
|
return ret
|
|
|
|
def is_steering_msg(mode, addr):
|
|
ret = False
|
|
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
|
|
elif mode == Panda.SAFETY_GM:
|
|
ret = addr == 384
|
|
elif mode == Panda.SAFETY_HYUNDAI:
|
|
ret = addr == 832
|
|
elif mode == Panda.SAFETY_CHRYSLER:
|
|
ret = addr == 0x292
|
|
elif mode == Panda.SAFETY_SUBARU:
|
|
ret = addr == 0x122
|
|
return ret
|
|
|
|
def get_steer_torque(mode, to_send):
|
|
ret = 0
|
|
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)
|
|
ret = to_signed(ret, 16)
|
|
elif mode == Panda.SAFETY_GM:
|
|
ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8)
|
|
ret = to_signed(ret, 11)
|
|
elif mode == Panda.SAFETY_HYUNDAI:
|
|
ret = ((to_send.RDLR >> 16) & 0x7ff) - 1024
|
|
elif mode == Panda.SAFETY_CHRYSLER:
|
|
ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
|
|
elif mode == Panda.SAFETY_SUBARU:
|
|
ret = ((to_send.RDLR >> 16) & 0x1FFF)
|
|
ret = to_signed(ret, 13)
|
|
return ret
|
|
|
|
def set_desired_torque_last(safety, mode, torque):
|
|
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)
|
|
elif mode == Panda.SAFETY_GM:
|
|
safety.set_gm_desired_torque_last(torque)
|
|
elif mode == Panda.SAFETY_HYUNDAI:
|
|
safety.set_hyundai_desired_torque_last(torque)
|
|
elif mode == Panda.SAFETY_CHRYSLER:
|
|
safety.set_chrysler_desired_torque_last(torque)
|
|
elif mode == Panda.SAFETY_SUBARU:
|
|
safety.set_subaru_desired_torque_last(torque)
|
|
|
|
def package_can_msg(msg):
|
|
rdlr, rdhr = struct.unpack('II', msg.dat.ljust(8, b'\x00'))
|
|
|
|
ret = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
if msg.address >= 0x800:
|
|
ret[0].RIR = (msg.address << 3) | 5
|
|
else:
|
|
ret[0].RIR = (msg.address << 21) | 1
|
|
ret[0].RDTR = len(msg.dat) | ((msg.src & 0xF) << 4)
|
|
ret[0].RDHR = rdhr
|
|
ret[0].RDLR = rdlr
|
|
|
|
return ret
|
|
|
|
def init_segment(safety, lr, mode):
|
|
sendcan = (msg for msg in lr if msg.which() == 'sendcan')
|
|
steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, can.address))
|
|
|
|
msg = next(steering_msgs, None)
|
|
if msg is None:
|
|
# no steering msgs
|
|
return
|
|
|
|
to_send = package_can_msg(msg)
|
|
torque = get_steer_torque(mode, to_send)
|
|
if torque != 0:
|
|
safety.set_controls_allowed(1)
|
|
set_desired_torque_last(safety, mode, torque)
|
|
assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"
|