254 lines
9.7 KiB
C
254 lines
9.7 KiB
C
const int VOLKSWAGEN_MQB_MAX_STEER = 300; // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
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const int VOLKSWAGEN_MQB_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_MQB_RT_INTERVAL = 250000; // 250ms between real time checks
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const int VOLKSWAGEN_MQB_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_MQB_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_MQB_DRIVER_TORQUE_ALLOWANCE = 80;
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const int VOLKSWAGEN_MQB_DRIVER_TORQUE_FACTOR = 3;
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#define MSG_ESP_19 0x0B2 // RX from ABS, for wheel speeds
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#define MSG_LH_EPS_03 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 CanMsg VOLKSWAGEN_MQB_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0, 8}, {MSG_GRA_ACC_01, 2, 8}, {MSG_LDW_02, 0, 8}};
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#define VOLKSWAGEN_MQB_TX_MSGS_LEN (sizeof(VOLKSWAGEN_MQB_TX_MSGS) / sizeof(VOLKSWAGEN_MQB_TX_MSGS[0]))
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AddrCheckStruct volkswagen_mqb_addr_checks[] = {
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{.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
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{.msg = {{MSG_LH_EPS_03, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
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{.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
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{.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
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{.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
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};
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#define VOLKSWAGEN_MQB_ADDR_CHECKS_LEN (sizeof(volkswagen_mqb_addr_checks) / sizeof(volkswagen_mqb_addr_checks[0]))
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addr_checks volkswagen_mqb_rx_checks = {volkswagen_mqb_addr_checks, VOLKSWAGEN_MQB_ADDR_CHECKS_LEN};
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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_mqb_get_checksum(CANPacket_t *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(CANPacket_t *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_mqb_compute_crc(CANPacket_t *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_LH_EPS_03:
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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 const addr_checks* 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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gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
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return &volkswagen_mqb_rx_checks;
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}
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static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
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bool valid = addr_safety_check(to_push, &volkswagen_mqb_rx_checks,
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volkswagen_mqb_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
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if (valid && (GET_BUS(to_push) == 0U)) {
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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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vehicle_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: LH_EPS_03.EPS_Lenkmoment (absolute torque)
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// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
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if (addr == MSG_LH_EPS_03) {
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int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1FU) << 8);
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int sign = (GET_BYTE(to_push, 6) & 0x80U) >> 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(&torque_driver, torque_driver_new);
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}
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// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
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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) & 0x7U);
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int cruise_engaged = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
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if (cruise_engaged && !cruise_engaged_prev) {
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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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cruise_engaged_prev = cruise_engaged;
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}
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// Signal: Motor_20.MO_Fahrpedalrohwert_01
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if (addr == MSG_MOTOR_20) {
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gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFFU) != 0U;
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}
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// Signal: ESP_05.ESP_Fahrer_bremst
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if (addr == MSG_ESP_05) {
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brake_pressed = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
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}
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generic_rx_checks((addr == MSG_HCA_01));
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}
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return valid;
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}
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static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
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int addr = GET_ADDR(to_send);
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int tx = 1;
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if (!msg_allowed(to_send, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN)) {
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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) & 0x3FU) << 8);
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int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
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if (sign == 1) {
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desired_torque *= -1;
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}
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bool violation = false;
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uint32_t ts = microsecond_timer_get();
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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_MQB_MAX_STEER, -VOLKSWAGEN_MQB_MAX_STEER);
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// *** torque rate limit check ***
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violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
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VOLKSWAGEN_MQB_MAX_STEER, VOLKSWAGEN_MQB_MAX_RATE_UP, VOLKSWAGEN_MQB_MAX_RATE_DOWN,
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VOLKSWAGEN_MQB_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_MQB_DRIVER_TORQUE_FACTOR);
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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, rt_torque_last, VOLKSWAGEN_MQB_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, ts_last);
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if (ts_elapsed > VOLKSWAGEN_MQB_RT_INTERVAL) {
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rt_torque_last = desired_torque;
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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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desired_torque_last = 0;
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rt_torque_last = 0;
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ts_last = ts;
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}
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if (violation) {
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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) & 0x9U) != 0U) {
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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_mqb_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
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int addr = GET_ADDR(to_fwd);
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int bus_fwd = -1;
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switch (bus_num) {
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case 0:
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// Forward all traffic from the Extended CAN onward
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bus_fwd = 2;
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break;
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case 2:
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if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
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// OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
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bus_fwd = -1;
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} else {
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// Forward all remaining traffic from Extended CAN devices to J533 gateway
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bus_fwd = 0;
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}
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break;
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default:
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// No other buses should be in use; fallback to do-not-forward
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bus_fwd = -1;
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break;
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}
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return bus_fwd;
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}
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const safety_hooks volkswagen_mqb_hooks = {
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.init = volkswagen_mqb_init,
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.rx = volkswagen_mqb_rx_hook,
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.tx = volkswagen_mqb_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.fwd = volkswagen_mqb_fwd_hook,
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};
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