254 lines
8.7 KiB
C
254 lines
8.7 KiB
C
const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_UP = {
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{2., 7., 17.},
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{5., .8, .25}};
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const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_DOWN = {
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{2., 7., 17.},
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{5., 3.5, .8}};
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const int TESLA_DEG_TO_CAN = 10;
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const float TESLA_MAX_ACCEL = 2.0; // m/s^2
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const float TESLA_MIN_ACCEL = -3.5; // m/s^2
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const int TESLA_FLAG_POWERTRAIN = 1;
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const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
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const CanMsg TESLA_TX_MSGS[] = {
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{0x488, 0, 4}, // DAS_steeringControl
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{0x45, 0, 8}, // STW_ACTN_RQ
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{0x45, 2, 8}, // STW_ACTN_RQ
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{0x2b9, 0, 8}, // DAS_control
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};
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#define TESLA_TX_LEN (sizeof(TESLA_TX_MSGS) / sizeof(TESLA_TX_MSGS[0]))
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const CanMsg TESLA_PT_TX_MSGS[] = {
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{0x2bf, 0, 8}, // DAS_control
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};
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#define TESLA_PT_TX_LEN (sizeof(TESLA_PT_TX_MSGS) / sizeof(TESLA_PT_TX_MSGS[0]))
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AddrCheckStruct tesla_addr_checks[] = {
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{.msg = {{0x370, 0, 8, .expected_timestep = 40000U}, { 0 }, { 0 }}}, // EPAS_sysStatus (25Hz)
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{.msg = {{0x108, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
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{.msg = {{0x118, 0, 6, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque2 (100Hz)
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{.msg = {{0x20a, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // BrakeMessage (50Hz)
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{.msg = {{0x368, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
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{.msg = {{0x318, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // GTW_carState (10Hz)
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};
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#define TESLA_ADDR_CHECK_LEN (sizeof(tesla_addr_checks) / sizeof(tesla_addr_checks[0]))
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addr_checks tesla_rx_checks = {tesla_addr_checks, TESLA_ADDR_CHECK_LEN};
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AddrCheckStruct tesla_pt_addr_checks[] = {
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{.msg = {{0x106, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
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{.msg = {{0x116, 0, 6, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque2 (100Hz)
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{.msg = {{0x1f8, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // BrakeMessage (50Hz)
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{.msg = {{0x256, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
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};
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#define TESLA_PT_ADDR_CHECK_LEN (sizeof(tesla_pt_addr_checks) / sizeof(tesla_pt_addr_checks[0]))
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addr_checks tesla_pt_rx_checks = {tesla_pt_addr_checks, TESLA_PT_ADDR_CHECK_LEN};
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bool tesla_longitudinal = false;
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bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus?
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static int tesla_rx_hook(CANPacket_t *to_push) {
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bool valid = addr_safety_check(to_push, tesla_powertrain ? (&tesla_pt_rx_checks) : (&tesla_rx_checks),
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NULL, NULL, NULL);
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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 (!tesla_powertrain) {
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if(addr == 0x370) {
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// Steering angle: (0.1 * val) - 819.2 in deg.
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// Store it 1/10 deg to match steering request
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int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3F) << 8) | GET_BYTE(to_push, 5)) - 8192;
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update_sample(&angle_meas, angle_meas_new);
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}
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}
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if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
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// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
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vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0F) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
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vehicle_moving = ABS(vehicle_speed) > 0.1;
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}
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if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
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// Gas pressed
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gas_pressed = (GET_BYTE(to_push, 6) != 0);
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}
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if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
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// Brake pressed
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brake_pressed = (((GET_BYTE(to_push, 0) & 0x0C) >> 2) != 1);
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}
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if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
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// Cruise state
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int cruise_state = (GET_BYTE(to_push, 1) >> 4);
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bool cruise_engaged = (cruise_state == 2) || // ENABLED
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(cruise_state == 3) || // STANDSTILL
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(cruise_state == 4) || // OVERRIDE
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(cruise_state == 6) || // PRE_FAULT
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(cruise_state == 7); // PRE_CANCEL
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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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}
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if (tesla_powertrain) {
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// 0x2bf: DAS_control should not be received on bus 0
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generic_rx_checks((addr == 0x2bf) && (bus == 0));
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} else {
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// 0x488: DAS_steeringControl should not be received on bus 0
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generic_rx_checks((addr == 0x488) && (bus == 0));
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}
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}
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return valid;
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}
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static int tesla_tx_hook(CANPacket_t *to_send) {
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int tx = 1;
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int addr = GET_ADDR(to_send);
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bool violation = false;
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if(!msg_allowed(to_send,
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tesla_powertrain ? TESLA_PT_TX_MSGS : TESLA_TX_MSGS,
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tesla_powertrain ? TESLA_PT_TX_LEN : TESLA_TX_LEN)) {
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tx = 0;
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}
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if(!tesla_powertrain && (addr == 0x488)) {
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// Steering control: (0.1 * val) - 1638.35 in deg.
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// We use 1/10 deg as a unit here
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int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7F) << 8) | GET_BYTE(to_send, 1));
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int desired_angle = raw_angle_can - 16384;
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int steer_control_type = GET_BYTE(to_send, 2) >> 6;
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bool steer_control_enabled = (steer_control_type != 0) && // NONE
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(steer_control_type != 3); // DISABLED
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// Rate limit while steering
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if(controls_allowed && steer_control_enabled) {
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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(TESLA_LOOKUP_ANGLE_RATE_UP, vehicle_speed) * TESLA_DEG_TO_CAN);
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int delta_angle_up = (int)(delta_angle_float) + 1;
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delta_angle_float = (interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, vehicle_speed) * TESLA_DEG_TO_CAN);
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int delta_angle_down = (int)(delta_angle_float) + 1;
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int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
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int lowest_desired_angle = desired_angle_last - ((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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}
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desired_angle_last = desired_angle;
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// Angle should be the same as current angle while not steering
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if(!controls_allowed && ((desired_angle < (angle_meas.min - 1)) || (desired_angle > (angle_meas.max + 1)))) {
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violation = true;
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}
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// No angle control allowed when controls are not allowed
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if(!controls_allowed && steer_control_enabled) {
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violation = true;
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}
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}
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if(!tesla_powertrain && (addr == 0x45)) {
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// No button other than cancel can be sent by us
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int control_lever_status = (GET_BYTE(to_send, 0) & 0x3F);
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if((control_lever_status != 0) && (control_lever_status != 1)) {
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violation = true;
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}
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}
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if(addr == (tesla_powertrain ? 0x2bf : 0x2b9)) {
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// DAS_control: longitudinal control message
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if (tesla_longitudinal) {
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// No AEB events may be sent by openpilot
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int aeb_event = GET_BYTE(to_send, 2) & 0x03;
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if (aeb_event != 0) {
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violation = true;
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}
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// Don't allow any acceleration limits above the safety limits
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int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1F) << 4) | (GET_BYTE(to_send, 5) >> 4);
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int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0F) << 5) | (GET_BYTE(to_send, 4) >> 3);
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float accel_max = (0.04 * raw_accel_max) - 15;
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float accel_min = (0.04 * raw_accel_min) - 15;
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if ((accel_max > TESLA_MAX_ACCEL) || (accel_min > TESLA_MAX_ACCEL)){
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violation = true;
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}
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if ((accel_max < TESLA_MIN_ACCEL) || (accel_min < TESLA_MIN_ACCEL)){
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violation = true;
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}
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} else {
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violation = true;
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}
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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 tesla_fwd_hook(int bus_num, CANPacket_t *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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// Chassis/PT to autopilot
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bus_fwd = 2;
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}
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if(bus_num == 2) {
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// Autopilot to chassis/PT
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int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
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bool block_msg = false;
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if (!tesla_powertrain && (addr == 0x488)) {
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block_msg = true;
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}
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if (tesla_longitudinal && (addr == das_control_addr)) {
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block_msg = true;
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}
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if(!block_msg) {
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bus_fwd = 0;
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}
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}
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return bus_fwd;
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}
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static const addr_checks* tesla_init(int16_t param) {
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tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
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tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
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controls_allowed = 0;
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relay_malfunction_reset();
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return tesla_powertrain ? (&tesla_pt_rx_checks) : (&tesla_rx_checks);
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}
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const safety_hooks tesla_hooks = {
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.init = tesla_init,
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.rx = tesla_rx_hook,
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.tx = tesla_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.fwd = tesla_fwd_hook,
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};
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