From 45198b73f857daa38ebd26a14ef08cd6e5e49c43 Mon Sep 17 00:00:00 2001
From: Eric Brown <eric@ebrown.net>
Date: Wed, 4 Dec 2024 15:52:32 -0700
Subject: [PATCH 1/6] Move car-specific safety code to opendbc repo
---
board/safety/safety_body.h | 50 ---
board/safety/safety_chrysler.h | 304 ----------------
board/safety/safety_defaults.h | 73 ----
board/safety/safety_elm327.h | 42 ---
board/safety/safety_ford.h | 435 ----------------------
board/safety/safety_gm.h | 259 -------------
board/safety/safety_honda.h | 461 ------------------------
board/safety/safety_hyundai.h | 347 ------------------
board/safety/safety_hyundai_canfd.h | 363 -------------------
board/safety/safety_hyundai_common.h | 128 -------
board/safety/safety_mazda.h | 131 -------
board/safety/safety_nissan.h | 163 ---------
board/safety/safety_subaru.h | 293 ---------------
board/safety/safety_subaru_preglobal.h | 129 -------
board/safety/safety_tesla.h | 244 -------------
board/safety/safety_toyota.h | 413 ---------------------
board/safety/safety_volkswagen_common.h | 13 -
board/safety/safety_volkswagen_mqb.h | 302 ----------------
board/safety/safety_volkswagen_pq.h | 259 -------------
19 files changed, 4409 deletions(-)
delete mode 100644 board/safety/safety_body.h
delete mode 100644 board/safety/safety_chrysler.h
delete mode 100644 board/safety/safety_defaults.h
delete mode 100644 board/safety/safety_elm327.h
delete mode 100644 board/safety/safety_ford.h
delete mode 100644 board/safety/safety_gm.h
delete mode 100644 board/safety/safety_honda.h
delete mode 100644 board/safety/safety_hyundai.h
delete mode 100644 board/safety/safety_hyundai_canfd.h
delete mode 100644 board/safety/safety_hyundai_common.h
delete mode 100644 board/safety/safety_mazda.h
delete mode 100644 board/safety/safety_nissan.h
delete mode 100644 board/safety/safety_subaru.h
delete mode 100644 board/safety/safety_subaru_preglobal.h
delete mode 100644 board/safety/safety_tesla.h
delete mode 100644 board/safety/safety_toyota.h
delete mode 100644 board/safety/safety_volkswagen_common.h
delete mode 100644 board/safety/safety_volkswagen_mqb.h
delete mode 100644 board/safety/safety_volkswagen_pq.h
diff --git a/board/safety/safety_body.h b/board/safety/safety_body.h
deleted file mode 100644
index fcba1b577a..0000000000
--- a/board/safety/safety_body.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-static void body_rx_hook(const CANPacket_t *to_push) {
- // body is never at standstill
- vehicle_moving = true;
-
- if (GET_ADDR(to_push) == 0x201U) {
- controls_allowed = true;
- }
-}
-
-static bool body_tx_hook(const CANPacket_t *to_send) {
- bool tx = true;
- int addr = GET_ADDR(to_send);
- int len = GET_LEN(to_send);
-
- if (!controls_allowed && (addr != 0x1)) {
- tx = false;
- }
-
- // Allow going into CAN flashing mode for base & knee even if controls are not allowed
- bool flash_msg = ((addr == 0x250) || (addr == 0x350)) && (len == 8);
- if (!controls_allowed && (GET_BYTES(to_send, 0, 4) == 0xdeadfaceU) && (GET_BYTES(to_send, 4, 4) == 0x0ab00b1eU) && flash_msg) {
- tx = true;
- }
-
- return tx;
-}
-
-static safety_config body_init(uint16_t param) {
- static RxCheck body_rx_checks[] = {
- {.msg = {{0x201, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
- };
-
- static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8}, {0x250, 0, 6}, {0x251, 0, 5}, // body
- {0x350, 0, 8}, {0x350, 0, 6}, {0x351, 0, 5}, // knee
- {0x1, 0, 8}}; // CAN flasher
-
- UNUSED(param);
- return BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
-}
-
-const safety_hooks body_hooks = {
- .init = body_init,
- .rx = body_rx_hook,
- .tx = body_tx_hook,
- .fwd = default_fwd_hook,
-};
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
deleted file mode 100644
index 2bbc942715..0000000000
--- a/board/safety/safety_chrysler.h
+++ /dev/null
@@ -1,304 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-typedef struct {
- const int EPS_2;
- const int ESP_1;
- const int ESP_8;
- const int ECM_5;
- const int DAS_3;
- const int DAS_6;
- const int LKAS_COMMAND;
- const int CRUISE_BUTTONS;
-} ChryslerAddrs;
-
-typedef enum {
- CHRYSLER_RAM_DT,
- CHRYSLER_RAM_HD,
- CHRYSLER_PACIFICA, // plus Jeep
-} ChryslerPlatform;
-static ChryslerPlatform chrysler_platform;
-static const ChryslerAddrs *chrysler_addrs;
-
-static uint32_t chrysler_get_checksum(const CANPacket_t *to_push) {
- int checksum_byte = GET_LEN(to_push) - 1U;
- return (uint8_t)(GET_BYTE(to_push, checksum_byte));
-}
-
-static uint32_t chrysler_compute_checksum(const CANPacket_t *to_push) {
- // TODO: clean this up
- // http://illmatics.com/Remote%20Car%20Hacking.pdf
- uint8_t checksum = 0xFFU;
- int len = GET_LEN(to_push);
- for (int j = 0; j < (len - 1); j++) {
- uint8_t shift = 0x80U;
- uint8_t curr = (uint8_t)GET_BYTE(to_push, j);
- for (int i=0; i<8; i++) {
- uint8_t bit_sum = curr & shift;
- uint8_t temp_chk = checksum & 0x80U;
- if (bit_sum != 0U) {
- bit_sum = 0x1C;
- if (temp_chk != 0U) {
- bit_sum = 1;
- }
- checksum = checksum << 1;
- temp_chk = checksum | 1U;
- bit_sum ^= temp_chk;
- } else {
- if (temp_chk != 0U) {
- bit_sum = 0x1D;
- }
- checksum = checksum << 1;
- bit_sum ^= checksum;
- }
- checksum = bit_sum;
- shift = shift >> 1;
- }
- }
- return (uint8_t)(~checksum);
-}
-
-static uint8_t chrysler_get_counter(const CANPacket_t *to_push) {
- return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
-}
-
-static void chrysler_rx_hook(const CANPacket_t *to_push) {
- const int bus = GET_BUS(to_push);
- const int addr = GET_ADDR(to_push);
-
- // Measured EPS torque
- if ((bus == 0) && (addr == chrysler_addrs->EPS_2)) {
- int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
- update_sample(&torque_meas, torque_meas_new);
- }
-
- // enter controls on rising edge of ACC, exit controls on ACC off
- const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
- if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
- bool cruise_engaged = GET_BIT(to_push, 21U);
- pcm_cruise_check(cruise_engaged);
- }
-
- // TODO: use the same message for both
- // update vehicle moving
- if ((chrysler_platform != CHRYSLER_PACIFICA) && (bus == 0) && (addr == chrysler_addrs->ESP_8)) {
- vehicle_moving = ((GET_BYTE(to_push, 4) << 8) + GET_BYTE(to_push, 5)) != 0U;
- }
- if ((chrysler_platform == CHRYSLER_PACIFICA) && (bus == 0) && (addr == 514)) {
- int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
- int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
- vehicle_moving = (speed_l != 0) || (speed_r != 0);
- }
-
- // exit controls on rising edge of gas press
- if ((bus == 0) && (addr == chrysler_addrs->ECM_5)) {
- gas_pressed = GET_BYTE(to_push, 0U) != 0U;
- }
-
- // exit controls on rising edge of brake press
- if ((bus == 0) && (addr == chrysler_addrs->ESP_1)) {
- brake_pressed = ((GET_BYTE(to_push, 0U) & 0xFU) >> 2U) == 1U;
- }
-
- generic_rx_checks((bus == 0) && (addr == chrysler_addrs->LKAS_COMMAND));
-}
-
-static bool chrysler_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits CHRYSLER_STEERING_LIMITS = {
- .max_steer = 261,
- .max_rt_delta = 112,
- .max_rt_interval = 250000,
- .max_rate_up = 3,
- .max_rate_down = 3,
- .max_torque_error = 80,
- .type = TorqueMotorLimited,
- };
-
- const SteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
- .max_steer = 350,
- .max_rt_delta = 112,
- .max_rt_interval = 250000,
- .max_rate_up = 6,
- .max_rate_down = 6,
- .max_torque_error = 80,
- .type = TorqueMotorLimited,
- };
-
- const SteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
- .max_steer = 361,
- .max_rt_delta = 182,
- .max_rt_interval = 250000,
- .max_rate_up = 14,
- .max_rate_down = 14,
- .max_torque_error = 80,
- .type = TorqueMotorLimited,
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
-
- // STEERING
- if (addr == chrysler_addrs->LKAS_COMMAND) {
- int start_byte = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 1;
- int desired_torque = ((GET_BYTE(to_send, start_byte) & 0x7U) << 8) | GET_BYTE(to_send, start_byte + 1);
- desired_torque -= 1024;
-
- const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
- (chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;
-
- bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? GET_BIT(to_send, 4U) : (GET_BYTE(to_send, 3) & 0x7U) == 2U;
- if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
- tx = false;
- }
- }
-
- // FORCE CANCEL: only the cancel button press is allowed
- if (addr == chrysler_addrs->CRUISE_BUTTONS) {
- const bool is_cancel = GET_BYTE(to_send, 0) == 1U;
- const bool is_resume = GET_BYTE(to_send, 0) == 0x10U;
- const bool allowed = is_cancel || (is_resume && controls_allowed);
- if (!allowed) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static int chrysler_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- // forward to camera
- if (bus_num == 0) {
- bus_fwd = 2;
- }
-
- // forward all messages from camera except LKAS messages
- const bool is_lkas = ((addr == chrysler_addrs->LKAS_COMMAND) || (addr == chrysler_addrs->DAS_6));
- if ((bus_num == 2) && !is_lkas){
- bus_fwd = 0;
- }
-
- return bus_fwd;
-}
-
-static safety_config chrysler_init(uint16_t param) {
-
- const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
-
- // CAN messages for Chrysler/Jeep platforms
- static const ChryslerAddrs CHRYSLER_ADDRS = {
- .EPS_2 = 0x220, // EPS driver input torque
- .ESP_1 = 0x140, // Brake pedal and vehicle speed
- .ESP_8 = 0x11C, // Brake pedal and vehicle speed
- .ECM_5 = 0x22F, // Throttle position sensor
- .DAS_3 = 0x1F4, // ACC engagement states from DASM
- .DAS_6 = 0x2A6, // LKAS HUD and auto headlight control from DASM
- .LKAS_COMMAND = 0x292, // LKAS controls from DASM
- .CRUISE_BUTTONS = 0x23B, // Cruise control buttons
- };
-
- // CAN messages for the 5th gen RAM DT platform
- static const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = {
- .EPS_2 = 0x31, // EPS driver input torque
- .ESP_1 = 0x83, // Brake pedal and vehicle speed
- .ESP_8 = 0x79, // Brake pedal and vehicle speed
- .ECM_5 = 0x9D, // Throttle position sensor
- .DAS_3 = 0x99, // ACC engagement states from DASM
- .DAS_6 = 0xFA, // LKAS HUD and auto headlight control from DASM
- .LKAS_COMMAND = 0xA6, // LKAS controls from DASM
- .CRUISE_BUTTONS = 0xB1, // Cruise control buttons
- };
-
- static RxCheck chrysler_ram_dt_rx_checks[] = {
- {.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- };
-
- static RxCheck chrysler_rx_checks[] = {
- {.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- //{.msg = {{ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}}},
- {.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- };
-
- static const CanMsg CHRYSLER_TX_MSGS[] = {
- {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3},
- {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6},
- {CHRYSLER_ADDRS.DAS_6, 0, 8},
- };
-
- static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
- {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3},
- {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8},
- {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
- };
-
-#ifdef ALLOW_DEBUG
- // CAN messages for the 5th gen RAM HD platform
- static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
- .EPS_2 = 0x220, // EPS driver input torque
- .ESP_1 = 0x140, // Brake pedal and vehicle speed
- .ESP_8 = 0x11C, // Brake pedal and vehicle speed
- .ECM_5 = 0x22F, // Throttle position sensor
- .DAS_3 = 0x1F4, // ACC engagement states from DASM
- .DAS_6 = 0x275, // LKAS HUD and auto headlight control from DASM
- .LKAS_COMMAND = 0x276, // LKAS controls from DASM
- .CRUISE_BUTTONS = 0x23A, // Cruise control buttons
- };
-
- static RxCheck chrysler_ram_hd_rx_checks[] = {
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- };
-
- static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
- {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
- {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
- {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
- };
-
- const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
- bool enable_ram_hd = GET_FLAG(param, CHRYSLER_PARAM_RAM_HD);
-#endif
-
- safety_config ret;
-
- bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
-
- if (enable_ram_dt) {
- chrysler_platform = CHRYSLER_RAM_DT;
- chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS;
- ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
-#ifdef ALLOW_DEBUG
- } else if (enable_ram_hd) {
- chrysler_platform = CHRYSLER_RAM_HD;
- chrysler_addrs = &CHRYSLER_RAM_HD_ADDRS;
- ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS);
-#endif
- } else {
- chrysler_platform = CHRYSLER_PACIFICA;
- chrysler_addrs = &CHRYSLER_ADDRS;
- ret = BUILD_SAFETY_CFG(chrysler_rx_checks, CHRYSLER_TX_MSGS);
- }
- return ret;
-}
-
-const safety_hooks chrysler_hooks = {
- .init = chrysler_init,
- .rx = chrysler_rx_hook,
- .tx = chrysler_tx_hook,
- .fwd = chrysler_fwd_hook,
- .get_counter = chrysler_get_counter,
- .get_checksum = chrysler_get_checksum,
- .compute_checksum = chrysler_compute_checksum,
-};
diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
deleted file mode 100644
index 6716b57b3c..0000000000
--- a/board/safety/safety_defaults.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-void default_rx_hook(const CANPacket_t *to_push) {
- UNUSED(to_push);
-}
-
-// *** no output safety mode ***
-
-static safety_config nooutput_init(uint16_t param) {
- UNUSED(param);
- return (safety_config){NULL, 0, NULL, 0};
-}
-
-static bool nooutput_tx_hook(const CANPacket_t *to_send) {
- UNUSED(to_send);
- return false;
-}
-
-static int default_fwd_hook(int bus_num, int addr) {
- UNUSED(bus_num);
- UNUSED(addr);
- return -1;
-}
-
-const safety_hooks nooutput_hooks = {
- .init = nooutput_init,
- .rx = default_rx_hook,
- .tx = nooutput_tx_hook,
- .fwd = default_fwd_hook,
-};
-
-// *** all output safety mode ***
-
-// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
-static bool alloutput_passthrough = false;
-
-static safety_config alloutput_init(uint16_t param) {
- // Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
- const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
- controls_allowed = true;
- alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
- return (safety_config){NULL, 0, NULL, 0};
-}
-
-static bool alloutput_tx_hook(const CANPacket_t *to_send) {
- UNUSED(to_send);
- return true;
-}
-
-static int alloutput_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
- UNUSED(addr);
-
- if (alloutput_passthrough) {
- if (bus_num == 0) {
- bus_fwd = 2;
- }
- if (bus_num == 2) {
- bus_fwd = 0;
- }
- }
-
- return bus_fwd;
-}
-
-const safety_hooks alloutput_hooks = {
- .init = alloutput_init,
- .rx = default_rx_hook,
- .tx = alloutput_tx_hook,
- .fwd = alloutput_fwd_hook,
-};
diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
deleted file mode 100644
index 83efd826b9..0000000000
--- a/board/safety/safety_elm327.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-#include "safety_defaults.h"
-
-static bool elm327_tx_hook(const CANPacket_t *to_send) {
- const int GM_CAMERA_DIAG_ADDR = 0x24B;
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
- int len = GET_LEN(to_send);
-
- // All ISO 15765-4 messages must be 8 bytes long
- if (len != 8) {
- tx = false;
- }
-
- // Check valid 29 bit send addresses for ISO 15765-4
- // Check valid 11 bit send addresses for ISO 15765-4
- if ((addr != 0x18DB33F1) && ((addr & 0x1FFF00FF) != 0x18DA00F1) &&
- ((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700) &&
- (addr != GM_CAMERA_DIAG_ADDR)) {
- tx = false;
- }
-
- // GM camera uses non-standard diagnostic address, this has no control message address collisions
- if ((addr == GM_CAMERA_DIAG_ADDR) && (len == 8)) {
- // Only allow known frame types for ISO 15765-2
- if ((GET_BYTE(to_send, 0) & 0xF0U) > 0x30U) {
- tx = false;
- }
- }
- return tx;
-}
-
-// If current_board->has_obd and safety_param == 0, bus 1 is multiplexed to the OBD-II port
-const safety_hooks elm327_hooks = {
- .init = nooutput_init,
- .rx = default_rx_hook,
- .tx = elm327_tx_hook,
- .fwd = default_fwd_hook,
-};
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
deleted file mode 100644
index 5b19dd9ca5..0000000000
--- a/board/safety/safety_ford.h
+++ /dev/null
@@ -1,435 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-// Safety-relevant CAN messages for Ford vehicles.
-#define FORD_EngBrakeData 0x165 // RX from PCM, for driver brake pedal and cruise state
-#define FORD_EngVehicleSpThrottle 0x204 // RX from PCM, for driver throttle input
-#define FORD_DesiredTorqBrk 0x213 // RX from ABS, for standstill state
-#define FORD_BrakeSysFeatures 0x415 // RX from ABS, for vehicle speed
-#define FORD_EngVehicleSpThrottle2 0x202 // RX from PCM, for second vehicle speed
-#define FORD_Yaw_Data_FD1 0x91 // RX from RCM, for yaw rate
-#define FORD_Steering_Data_FD1 0x083 // TX by OP, various driver switches and LKAS/CC buttons
-#define FORD_ACCDATA 0x186 // TX by OP, ACC controls
-#define FORD_ACCDATA_3 0x18A // TX by OP, ACC/TJA user interface
-#define FORD_Lane_Assist_Data1 0x3CA // TX by OP, Lane Keep Assist
-#define FORD_LateralMotionControl 0x3D3 // TX by OP, Lateral Control message
-#define FORD_LateralMotionControl2 0x3D6 // TX by OP, alternate Lateral Control message
-#define FORD_IPMA_Data 0x3D8 // TX by OP, IPMA and LKAS user interface
-
-// CAN bus numbers.
-#define FORD_MAIN_BUS 0U
-#define FORD_CAM_BUS 2U
-
-static uint8_t ford_get_counter(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- uint8_t cnt = 0;
- if (addr == FORD_BrakeSysFeatures) {
- // Signal: VehVActlBrk_No_Cnt
- cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
- } else if (addr == FORD_Yaw_Data_FD1) {
- // Signal: VehRollYaw_No_Cnt
- cnt = GET_BYTE(to_push, 5);
- } else {
- }
- return cnt;
-}
-
-static uint32_t ford_get_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- uint8_t chksum = 0;
- if (addr == FORD_BrakeSysFeatures) {
- // Signal: VehVActlBrk_No_Cs
- chksum = GET_BYTE(to_push, 3);
- } else if (addr == FORD_Yaw_Data_FD1) {
- // Signal: VehRollYawW_No_Cs
- chksum = GET_BYTE(to_push, 4);
- } else {
- }
- return chksum;
-}
-
-static uint32_t ford_compute_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- uint8_t chksum = 0;
- if (addr == FORD_BrakeSysFeatures) {
- chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // Veh_V_ActlBrk
- chksum += GET_BYTE(to_push, 2) >> 6; // VehVActlBrk_D_Qf
- chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU; // VehVActlBrk_No_Cnt
- chksum = 0xFFU - chksum;
- } else if (addr == FORD_Yaw_Data_FD1) {
- chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // VehRol_W_Actl
- chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3); // VehYaw_W_Actl
- chksum += GET_BYTE(to_push, 5); // VehRollYaw_No_Cnt
- chksum += GET_BYTE(to_push, 6) >> 6; // VehRolWActl_D_Qf
- chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U; // VehYawWActl_D_Qf
- chksum = 0xFFU - chksum;
- } else {
- }
-
- return chksum;
-}
-
-static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- bool valid = false;
- if (addr == FORD_BrakeSysFeatures) {
- valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U; // VehVActlBrk_D_Qf
- } else if (addr == FORD_EngVehicleSpThrottle2) {
- valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf
- } else if (addr == FORD_Yaw_Data_FD1) {
- valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf
- } else {
- }
- return valid;
-}
-
-static bool ford_longitudinal = false;
-
-#define FORD_INACTIVE_CURVATURE 1000U
-#define FORD_INACTIVE_CURVATURE_RATE 4096U
-#define FORD_INACTIVE_PATH_OFFSET 512U
-#define FORD_INACTIVE_PATH_ANGLE 1000U
-
-#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
-
-#define FORD_MAX_SPEED_DELTA 2.0 // m/s
-
-static bool ford_lkas_msg_check(int addr) {
- return (addr == FORD_ACCDATA_3)
- || (addr == FORD_Lane_Assist_Data1)
- || (addr == FORD_LateralMotionControl)
- || (addr == FORD_LateralMotionControl2)
- || (addr == FORD_IPMA_Data);
-}
-
-// Curvature rate limits
-static const SteeringLimits FORD_STEERING_LIMITS = {
- .max_steer = 1000,
- .angle_deg_to_can = 50000, // 1 / (2e-5) rad to can
- .max_angle_error = 100, // 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can
- .angle_rate_up_lookup = {
- {5., 25., 25.},
- {0.00045, 0.0001, 0.0001}
- },
- .angle_rate_down_lookup = {
- {5., 25., 25.},
- {0.00045, 0.00015, 0.00015}
- },
-
- // no blending at low speed due to lack of torque wind-up and inaccurate current curvature
- .angle_error_min_speed = 10.0, // m/s
-
- .enforce_angle_error = true,
- .inactive_angle_is_zero = true,
-};
-
-static void ford_rx_hook(const CANPacket_t *to_push) {
- if (GET_BUS(to_push) == FORD_MAIN_BUS) {
- int addr = GET_ADDR(to_push);
-
- // Update in motion state from standstill signal
- if (addr == FORD_DesiredTorqBrk) {
- // Signal: VehStop_D_Stat
- vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) != 1U;
- }
-
- // Update vehicle speed
- if (addr == FORD_BrakeSysFeatures) {
- // Signal: Veh_V_ActlBrk
- UPDATE_VEHICLE_SPEED(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6);
- }
-
- // Check vehicle speed against a second source
- if (addr == FORD_EngVehicleSpThrottle2) {
- // Disable controls if speeds from ABS and PCM ECUs are too far apart.
- // Signal: Veh_V_ActlEng
- float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
- bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA;
- if (is_invalid_speed) {
- controls_allowed = false;
- }
- }
-
- // Update vehicle yaw rate
- if (addr == FORD_Yaw_Data_FD1) {
- // Signal: VehYaw_W_Actl
- float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
- float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
- // convert current curvature into units on CAN for comparison with desired curvature
- update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can));
- }
-
- // Update gas pedal
- if (addr == FORD_EngVehicleSpThrottle) {
- // Pedal position: (0.1 * val) in percent
- // Signal: ApedPos_Pc_ActlArb
- gas_pressed = (((GET_BYTE(to_push, 0) & 0x03U) << 8) | GET_BYTE(to_push, 1)) > 0U;
- }
-
- // Update brake pedal and cruise state
- if (addr == FORD_EngBrakeData) {
- // Signal: BpedDrvAppl_D_Actl
- brake_pressed = ((GET_BYTE(to_push, 0) >> 4) & 0x3U) == 2U;
-
- // Signal: CcStat_D_Actl
- unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U;
- bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
- pcm_cruise_check(cruise_engaged);
- }
-
- // If steering controls messages are received on the destination bus, it's an indication
- // that the relay might be malfunctioning.
- bool stock_ecu_detected = ford_lkas_msg_check(addr);
- if (ford_longitudinal) {
- stock_ecu_detected = stock_ecu_detected || (addr == FORD_ACCDATA);
- }
- generic_rx_checks(stock_ecu_detected);
- }
-
-}
-
-static bool ford_tx_hook(const CANPacket_t *to_send) {
- const LongitudinalLimits FORD_LONG_LIMITS = {
- // acceleration cmd limits (used for brakes)
- // Signal: AccBrkTot_A_Rq
- .max_accel = 5641, // 1.9999 m/s^s
- .min_accel = 4231, // -3.4991 m/s^2
- .inactive_accel = 5128, // -0.0008 m/s^2
-
- // gas cmd limits
- // Signal: AccPrpl_A_Rq & AccPrpl_A_Pred
- .max_gas = 700, // 2.0 m/s^2
- .min_gas = 450, // -0.5 m/s^2
- .inactive_gas = 0, // -5.0 m/s^2
- };
-
- bool tx = true;
-
- int addr = GET_ADDR(to_send);
-
- // Safety check for ACCDATA accel and brake requests
- if (addr == FORD_ACCDATA) {
- // Signal: AccPrpl_A_Rq
- int gas = ((GET_BYTE(to_send, 6) & 0x3U) << 8) | GET_BYTE(to_send, 7);
- // Signal: AccPrpl_A_Pred
- int gas_pred = ((GET_BYTE(to_send, 2) & 0x3U) << 8) | GET_BYTE(to_send, 3);
- // Signal: AccBrkTot_A_Rq
- int accel = ((GET_BYTE(to_send, 0) & 0x1FU) << 8) | GET_BYTE(to_send, 1);
- // Signal: CmbbDeny_B_Actl
- bool cmbb_deny = GET_BIT(to_send, 37U);
-
- // Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
- bool brake_actuation = GET_BIT(to_send, 54U) || GET_BIT(to_send, 55U);
-
- bool violation = false;
- violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
- violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
- violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS);
-
- // Safety check for stock AEB
- violation |= cmbb_deny; // do not prevent stock AEB actuation
-
- violation |= !get_longitudinal_allowed() && brake_actuation;
-
- if (violation) {
- tx = false;
- }
- }
-
- // Safety check for Steering_Data_FD1 button signals
- // Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam)
- // which we passthru in OP.
- if (addr == FORD_Steering_Data_FD1) {
- // Violation if resume button is pressed while controls not allowed, or
- // if cancel button is pressed when cruise isn't engaged.
- bool violation = false;
- violation |= GET_BIT(to_send, 8U) && !cruise_engaged_prev; // Signal: CcAslButtnCnclPress (cancel)
- violation |= GET_BIT(to_send, 25U) && !controls_allowed; // Signal: CcAsllButtnResPress (resume)
-
- if (violation) {
- tx = false;
- }
- }
-
- // Safety check for Lane_Assist_Data1 action
- if (addr == FORD_Lane_Assist_Data1) {
- // Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid).
- // This message must be sent for Lane Centering to work, and can include
- // values such as the steering angle or lane curvature for debugging,
- // but the action (LkaActvStats_D2_Req) must be set to zero.
- unsigned int action = GET_BYTE(to_send, 0) >> 5;
- if (action != 0U) {
- tx = false;
- }
- }
-
- // Safety check for LateralMotionControl action
- if (addr == FORD_LateralMotionControl) {
- // Signal: LatCtl_D_Rq
- bool steer_control_enabled = ((GET_BYTE(to_send, 4) >> 2) & 0x7U) != 0U;
- unsigned int raw_curvature = (GET_BYTE(to_send, 0) << 3) | (GET_BYTE(to_send, 1) >> 5);
- unsigned int raw_curvature_rate = ((GET_BYTE(to_send, 1) & 0x1FU) << 8) | GET_BYTE(to_send, 2);
- unsigned int raw_path_angle = (GET_BYTE(to_send, 3) << 3) | (GET_BYTE(to_send, 4) >> 5);
- unsigned int raw_path_offset = (GET_BYTE(to_send, 5) << 2) | (GET_BYTE(to_send, 6) >> 6);
-
- // These signals are not yet tested with the current safety limits
- bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
-
- // Check angle error and steer_control_enabled
- int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
- violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
-
- if (violation) {
- tx = false;
- }
- }
-
- // Safety check for LateralMotionControl2 action
- if (addr == FORD_LateralMotionControl2) {
- // Signal: LatCtl_D2_Rq
- bool steer_control_enabled = ((GET_BYTE(to_send, 0) >> 4) & 0x7U) != 0U;
- unsigned int raw_curvature = (GET_BYTE(to_send, 2) << 3) | (GET_BYTE(to_send, 3) >> 5);
- unsigned int raw_curvature_rate = (GET_BYTE(to_send, 6) << 3) | (GET_BYTE(to_send, 7) >> 5);
- unsigned int raw_path_angle = ((GET_BYTE(to_send, 3) & 0x1FU) << 6) | (GET_BYTE(to_send, 4) >> 2);
- unsigned int raw_path_offset = ((GET_BYTE(to_send, 4) & 0x3U) << 8) | GET_BYTE(to_send, 5);
-
- // These signals are not yet tested with the current safety limits
- bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
-
- // Check angle error and steer_control_enabled
- int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
- violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
-
- if (violation) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static int ford_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- switch (bus_num) {
- case FORD_MAIN_BUS: {
- // Forward all traffic from bus 0 onward
- bus_fwd = FORD_CAM_BUS;
- break;
- }
- case FORD_CAM_BUS: {
- if (ford_lkas_msg_check(addr)) {
- // Block stock LKAS and UI messages
- bus_fwd = -1;
- } else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
- // Block stock ACC message
- bus_fwd = -1;
- } else {
- // Forward remaining traffic
- bus_fwd = FORD_MAIN_BUS;
- }
- break;
- }
- default: {
- // No other buses should be in use; fallback to do-not-forward
- bus_fwd = -1;
- break;
- }
- }
-
- return bus_fwd;
-}
-
-static safety_config ford_init(uint16_t param) {
- bool ford_canfd = false;
-
- // warning: quality flags are not yet checked in openpilot's CAN parser,
- // this may be the cause of blocked messages
- static RxCheck ford_rx_checks[] = {
- {.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
- // FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug
- // Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC
- // It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that
- {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = false, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
- // These messages have no counter or checksum
- {.msg = {{FORD_EngBrakeData, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
- {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{FORD_DesiredTorqBrk, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
- };
-
- static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
- {FORD_Steering_Data_FD1, 0, 8},
- {FORD_Steering_Data_FD1, 2, 8},
- {FORD_ACCDATA, 0, 8},
- {FORD_ACCDATA_3, 0, 8},
- {FORD_Lane_Assist_Data1, 0, 8},
- {FORD_LateralMotionControl2, 0, 8},
- {FORD_IPMA_Data, 0, 8},
- };
-
- static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
- {FORD_Steering_Data_FD1, 0, 8},
- {FORD_Steering_Data_FD1, 2, 8},
- {FORD_ACCDATA_3, 0, 8},
- {FORD_Lane_Assist_Data1, 0, 8},
- {FORD_LateralMotionControl2, 0, 8},
- {FORD_IPMA_Data, 0, 8},
- };
-
- static const CanMsg FORD_STOCK_TX_MSGS[] = {
- {FORD_Steering_Data_FD1, 0, 8},
- {FORD_Steering_Data_FD1, 2, 8},
- {FORD_ACCDATA_3, 0, 8},
- {FORD_Lane_Assist_Data1, 0, 8},
- {FORD_LateralMotionControl, 0, 8},
- {FORD_IPMA_Data, 0, 8},
- };
-
- static const CanMsg FORD_LONG_TX_MSGS[] = {
- {FORD_Steering_Data_FD1, 0, 8},
- {FORD_Steering_Data_FD1, 2, 8},
- {FORD_ACCDATA, 0, 8},
- {FORD_ACCDATA_3, 0, 8},
- {FORD_Lane_Assist_Data1, 0, 8},
- {FORD_LateralMotionControl, 0, 8},
- {FORD_IPMA_Data, 0, 8},
- };
-
- UNUSED(param);
-#ifdef ALLOW_DEBUG
- const uint16_t FORD_PARAM_LONGITUDINAL = 1;
- const uint16_t FORD_PARAM_CANFD = 2;
- ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
- ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
-#endif
-
- safety_config ret;
- // FIXME: cppcheck thinks that ford_canfd is always false. This is not true
- // if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
- // cppcheck-suppress knownConditionTrueFalse
- if (ford_canfd) {
- ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
- BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
- } else {
- ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
- BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
- }
- return ret;
-}
-
-const safety_hooks ford_hooks = {
- .init = ford_init,
- .rx = ford_rx_hook,
- .tx = ford_tx_hook,
- .fwd = ford_fwd_hook,
- .get_counter = ford_get_counter,
- .get_checksum = ford_get_checksum,
- .compute_checksum = ford_compute_checksum,
- .get_quality_flag_valid = ford_get_quality_flag_valid,
-};
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
deleted file mode 100644
index f0902a921a..0000000000
--- a/board/safety/safety_gm.h
+++ /dev/null
@@ -1,259 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-static const LongitudinalLimits *gm_long_limits;
-
-enum {
- GM_BTN_UNPRESS = 1,
- GM_BTN_RESUME = 2,
- GM_BTN_SET = 3,
- GM_BTN_CANCEL = 6,
-};
-
-typedef enum {
- GM_ASCM,
- GM_CAM
-} GmHardware;
-static GmHardware gm_hw = GM_ASCM;
-static bool gm_cam_long = false;
-static bool gm_pcm_cruise = false;
-
-static void gm_rx_hook(const CANPacket_t *to_push) {
-
- const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
-
-
-
- if (GET_BUS(to_push) == 0U) {
- int addr = GET_ADDR(to_push);
-
- if (addr == 0x184) {
- int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
- torque_driver_new = to_signed(torque_driver_new, 11);
- // update array of samples
- update_sample(&torque_driver, torque_driver_new);
- }
-
- // sample rear wheel speeds
- if (addr == 0x34A) {
- int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
- int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
- vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
- }
-
- // ACC steering wheel buttons (GM_CAM is tied to the PCM)
- if ((addr == 0x1E1) && !gm_pcm_cruise) {
- int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
-
- // enter controls on falling edge of set or rising edge of resume (avoids fault)
- bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
- bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
- if (set || res) {
- controls_allowed = true;
- }
-
- // exit controls on cancel press
- if (button == GM_BTN_CANCEL) {
- controls_allowed = false;
- }
-
- cruise_button_prev = button;
- }
-
- // Reference for brake pressed signals:
- // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
- if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
- brake_pressed = GET_BYTE(to_push, 1) >= 8U;
- }
-
- if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
- brake_pressed = GET_BIT(to_push, 40U);
- }
-
- if (addr == 0x1C4) {
- gas_pressed = GET_BYTE(to_push, 5) != 0U;
-
- // enter controls on rising edge of ACC, exit controls when ACC off
- if (gm_pcm_cruise) {
- bool cruise_engaged = (GET_BYTE(to_push, 1) >> 5) != 0U;
- pcm_cruise_check(cruise_engaged);
- }
- }
-
- if (addr == 0xBD) {
- regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
- }
-
- bool stock_ecu_detected = (addr == 0x180); // ASCMLKASteeringCmd
-
- // Check ASCMGasRegenCmd only if we're blocking it
- if (!gm_pcm_cruise && (addr == 0x2CB)) {
- stock_ecu_detected = true;
- }
- generic_rx_checks(stock_ecu_detected);
- }
-}
-
-static bool gm_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits GM_STEERING_LIMITS = {
- .max_steer = 300,
- .max_rate_up = 10,
- .max_rate_down = 15,
- .driver_torque_allowance = 65,
- .driver_torque_factor = 4,
- .max_rt_delta = 128,
- .max_rt_interval = 250000,
- .type = TorqueDriverLimited,
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
-
- // BRAKE: safety check
- if (addr == 0x315) {
- int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
- brake = (0x1000 - brake) & 0xFFF;
- if (longitudinal_brake_checks(brake, *gm_long_limits)) {
- tx = false;
- }
- }
-
- // LKA STEER: safety check
- if (addr == 0x180) {
- int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1);
- desired_torque = to_signed(desired_torque, 11);
-
- bool steer_req = GET_BIT(to_send, 3U);
-
- if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
- tx = false;
- }
- }
-
- // GAS/REGEN: safety check
- if (addr == 0x2CB) {
- bool apply = GET_BIT(to_send, 0U);
- int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
-
- bool violation = false;
- // Allow apply bit in pre-enabled and overriding states
- violation |= !controls_allowed && apply;
- violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
-
- if (violation) {
- tx = false;
- }
- }
-
- // BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
- if ((addr == 0x1E1) && gm_pcm_cruise) {
- int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
-
- bool allowed_cancel = (button == 6) && cruise_engaged_prev;
- if (!allowed_cancel) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static int gm_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- if (gm_hw == GM_CAM) {
- if (bus_num == 0) {
- // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
- bool is_pscm_msg = (addr == 0x184);
- if (!is_pscm_msg) {
- bus_fwd = 2;
- }
- }
-
- if (bus_num == 2) {
- // block lkas message and acc messages if gm_cam_long, forward all others
- bool is_lkas_msg = (addr == 0x180);
- bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
- bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
- if (!block_msg) {
- bus_fwd = 0;
- }
- }
- }
-
- return bus_fwd;
-}
-
-static safety_config gm_init(uint16_t param) {
- const uint16_t GM_PARAM_HW_CAM = 1;
-
- static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
- .max_gas = 3072,
- .min_gas = 1404,
- .inactive_gas = 1404,
- .max_brake = 400,
- };
-
- static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
- {0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2}, // obs bus
- {0x315, 2, 5}}; // ch bus
-
-
- static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
- .max_gas = 3400,
- .min_gas = 1514,
- .inactive_gas = 1554,
- .max_brake = 400,
- };
-
- static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
- {0x184, 2, 8}}; // camera bus
-
-
- // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
- static RxCheck gm_rx_checks[] = {
- {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
- {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
- {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
- {.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
- {0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
- {0xBE, 0, 8, .frequency = 10U}}}, // Escalade
- {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
- {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
- };
-
- static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, // pt bus
- {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
-
- gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
-
- if (gm_hw == GM_ASCM) {
- gm_long_limits = &GM_ASCM_LONG_LIMITS;
- } else if (gm_hw == GM_CAM) {
- gm_long_limits = &GM_CAM_LONG_LIMITS;
- } else {
- }
-
-#ifdef ALLOW_DEBUG
- const uint16_t GM_PARAM_HW_CAM_LONG = 2;
- gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
-#endif
- gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
-
- safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
- if (gm_hw == GM_CAM) {
- // FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
- // if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
- // cppcheck-suppress knownConditionTrueFalse
- ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
- }
- return ret;
-}
-
-const safety_hooks gm_hooks = {
- .init = gm_init,
- .rx = gm_rx_hook,
- .tx = gm_tx_hook,
- .fwd = gm_fwd_hook,
-};
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
deleted file mode 100644
index 60ccea1e16..0000000000
--- a/board/safety/safety_honda.h
+++ /dev/null
@@ -1,461 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-// All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
-#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
- {.msg = {{0x1A6, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, /* SCM_BUTTONS */ \
- {0x296, (pt_bus), 4, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, { 0 }}}, \
- {.msg = {{0x158, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \
- {.msg = {{0x17C, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \
-
-#define HONDA_COMMON_RX_CHECKS(pt_bus) \
- HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
- {.msg = {{0x326, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}}, /* SCM_FEEDBACK */ \
-
-// Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
-#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus) \
- {.msg = {{0x1BE, (pt_bus), 3, .check_checksum = true, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}}, /* BRAKE_MODULE */ \
-
-
-// Nidec and bosch radarless has the powertrain bus on bus 0
-static RxCheck honda_common_rx_checks[] = {
- HONDA_COMMON_RX_CHECKS(0)
-};
-
-enum {
- HONDA_BTN_NONE = 0,
- HONDA_BTN_MAIN = 1,
- HONDA_BTN_CANCEL = 2,
- HONDA_BTN_SET = 3,
- HONDA_BTN_RESUME = 4,
-};
-
-static int honda_brake = 0;
-static bool honda_brake_switch_prev = false;
-static bool honda_alt_brake_msg = false;
-static bool honda_fwd_brake = false;
-static bool honda_bosch_long = false;
-static bool honda_bosch_radarless = false;
-typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
-static HondaHw honda_hw = HONDA_NIDEC;
-
-
-static int honda_get_pt_bus(void) {
- return ((honda_hw == HONDA_BOSCH) && !honda_bosch_radarless) ? 1 : 0;
-}
-
-static uint32_t honda_get_checksum(const CANPacket_t *to_push) {
- int checksum_byte = GET_LEN(to_push) - 1U;
- return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
-}
-
-static uint32_t honda_compute_checksum(const CANPacket_t *to_push) {
- int len = GET_LEN(to_push);
- uint8_t checksum = 0U;
- unsigned int addr = GET_ADDR(to_push);
- while (addr > 0U) {
- checksum += (uint8_t)(addr & 0xFU); addr >>= 4;
- }
- for (int j = 0; j < len; j++) {
- uint8_t byte = GET_BYTE(to_push, j);
- checksum += (uint8_t)(byte & 0xFU) + (byte >> 4U);
- if (j == (len - 1)) {
- checksum -= (byte & 0xFU); // remove checksum in message
- }
- }
- return (uint8_t)((8U - checksum) & 0xFU);
-}
-
-static uint8_t honda_get_counter(const CANPacket_t *to_push) {
- int counter_byte = GET_LEN(to_push) - 1U;
- return (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U;
-}
-
-static void honda_rx_hook(const CANPacket_t *to_push) {
- const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || (honda_hw == HONDA_NIDEC);
- int pt_bus = honda_get_pt_bus();
-
- int addr = GET_ADDR(to_push);
- int bus = GET_BUS(to_push);
-
- // sample speed
- if (addr == 0x158) {
- // first 2 bytes
- vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
- }
-
- // check ACC main state
- // 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
- if ((addr == 0x326) || (addr == 0x1A6)) {
- acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
- if (!acc_main_on) {
- controls_allowed = false;
- }
- }
-
- // enter controls when PCM enters cruise state
- if (pcm_cruise && (addr == 0x17C)) {
- const bool cruise_engaged = GET_BIT(to_push, 38U);
- // engage on rising edge
- if (cruise_engaged && !cruise_engaged_prev) {
- controls_allowed = true;
- }
-
- // Since some Nidec cars can brake down to 0 after the PCM disengages,
- // we don't disengage when the PCM does.
- if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) {
- controls_allowed = false;
- }
- cruise_engaged_prev = cruise_engaged;
- }
-
- // state machine to enter and exit controls for button enabling
- // 0x1A6 for the ILX, 0x296 for the Civic Touring
- if (((addr == 0x1A6) || (addr == 0x296)) && (bus == pt_bus)) {
- int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5;
-
- // enter controls on the falling edge of set or resume
- bool set = (button != HONDA_BTN_SET) && (cruise_button_prev == HONDA_BTN_SET);
- bool res = (button != HONDA_BTN_RESUME) && (cruise_button_prev == HONDA_BTN_RESUME);
- if (acc_main_on && !pcm_cruise && (set || res)) {
- controls_allowed = true;
- }
-
- // exit controls once main or cancel are pressed
- if ((button == HONDA_BTN_MAIN) || (button == HONDA_BTN_CANCEL)) {
- controls_allowed = false;
- }
- cruise_button_prev = button;
- }
-
- // user brake signal on 0x17C reports applied brake from computer brake on accord
- // and crv, which prevents the usual brake safety from working correctly. these
- // cars have a signal on 0x1BE which only detects user's brake being applied so
- // in these cases, this is used instead.
- // most hondas: 0x17C
- // accord, crv: 0x1BE
- if (honda_alt_brake_msg) {
- if (addr == 0x1BE) {
- brake_pressed = GET_BIT(to_push, 4U);
- }
- } else {
- if (addr == 0x17C) {
- // also if brake switch is 1 for two CAN frames, as brake pressed is delayed
- const bool brake_switch = GET_BIT(to_push, 32U);
- brake_pressed = (GET_BIT(to_push, 53U)) || (brake_switch && honda_brake_switch_prev);
- honda_brake_switch_prev = brake_switch;
- }
- }
-
- if (addr == 0x17C) {
- gas_pressed = GET_BYTE(to_push, 0) != 0U;
- }
-
- // disable stock Honda AEB in alternative experience
- if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
- if ((bus == 2) && (addr == 0x1FA)) {
- bool honda_stock_aeb = GET_BIT(to_push, 29U);
- int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
-
- // Forward AEB when stock braking is higher than openpilot braking
- // only stop forwarding when AEB event is over
- if (!honda_stock_aeb) {
- honda_fwd_brake = false;
- } else if (honda_stock_brake >= honda_brake) {
- honda_fwd_brake = true;
- } else {
- // Leave Honda forward brake as is
- }
- }
- }
-
- int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side
- bool stock_ecu_detected = false;
-
- // If steering controls messages are received on the destination bus, it's an indication
- // that the relay might be malfunctioning
- if ((addr == 0xE4) || (addr == 0x194)) {
- if (((honda_hw != HONDA_NIDEC) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_NIDEC) && (bus == 0))) {
- stock_ecu_detected = true;
- }
- }
- // If Honda Bosch longitudinal mode is selected we need to ensure the radar is turned off
- // Verify this by ensuring ACC_CONTROL (0x1DF) is not received on the PT bus
- if (honda_bosch_long && !honda_bosch_radarless && (bus == pt_bus) && (addr == 0x1DF)) {
- stock_ecu_detected = true;
- }
-
- generic_rx_checks(stock_ecu_detected);
-
-}
-
-static bool honda_tx_hook(const CANPacket_t *to_send) {
-
- const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
- .max_accel = 200, // accel is used for brakes
- .min_accel = -350,
-
- .max_gas = 2000,
- .inactive_gas = -30000,
- };
-
- const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
- .max_gas = 198, // 0xc6
- .max_brake = 255,
-
- .inactive_speed = 0,
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
- int bus = GET_BUS(to_send);
-
- int bus_pt = honda_get_pt_bus();
- int bus_buttons = (honda_bosch_radarless) ? 2 : bus_pt; // the camera controls ACC on radarless Bosch cars
-
- // ACC_HUD: safety check (nidec w/o pedal)
- if ((addr == 0x30C) && (bus == bus_pt)) {
- int pcm_speed = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
- int pcm_gas = GET_BYTE(to_send, 2);
-
- bool violation = false;
- violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS);
- violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS);
- if (violation) {
- tx = false;
- }
- }
-
- // BRAKE: safety check (nidec)
- if ((addr == 0x1FA) && (bus == bus_pt)) {
- honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
- if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
- tx = false;
- }
- if (honda_fwd_brake) {
- tx = false;
- }
- }
-
- // BRAKE/GAS: safety check (bosch)
- if ((addr == 0x1DF) && (bus == bus_pt)) {
- int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7U);
- accel = to_signed(accel, 11);
-
- int gas = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
- gas = to_signed(gas, 16);
-
- bool violation = false;
- violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
- violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
- if (violation) {
- tx = false;
- }
- }
-
- // ACCEL: safety check (radarless)
- if ((addr == 0x1C8) && (bus == bus_pt)) {
- int accel = (GET_BYTE(to_send, 0) << 4) | (GET_BYTE(to_send, 1) >> 4);
- accel = to_signed(accel, 12);
-
- bool violation = false;
- violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
- if (violation) {
- tx = false;
- }
- }
-
- // STEER: safety check
- if ((addr == 0xE4) || (addr == 0x194)) {
- if (!controls_allowed) {
- bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
- if (steer_applied) {
- tx = false;
- }
- }
- }
-
- // Bosch supplemental control check
- if (addr == 0xE5) {
- if ((GET_BYTES(to_send, 0, 4) != 0x10800004U) || ((GET_BYTES(to_send, 4, 4) & 0x00FFFFFFU) != 0x0U)) {
- tx = false;
- }
- }
-
- // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
- // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
- // This avoids unintended engagements while still allowing resume spam
- if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) {
- if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
- tx = false;
- }
- }
-
- // Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
- if (addr == 0x18DAB0F1) {
- if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static safety_config honda_nidec_init(uint16_t param) {
- static CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}};
-
- const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
-
- honda_hw = HONDA_NIDEC;
- honda_brake = 0;
- honda_brake_switch_prev = false;
- honda_fwd_brake = false;
- honda_alt_brake_msg = false;
- honda_bosch_long = false;
- honda_bosch_radarless = false;
-
- safety_config ret;
-
- bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);
-
- if (enable_nidec_alt) {
- // For Nidecs with main on signal on an alternate msg (missing 0x326)
- static RxCheck honda_nidec_alt_rx_checks[] = {
- HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
- };
-
- SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret);
- } else {
- SET_RX_CHECKS(honda_common_rx_checks, ret);
- }
-
- SET_TX_MSGS(HONDA_N_TX_MSGS, ret);
-
- return ret;
-}
-
-static safety_config honda_bosch_init(uint16_t param) {
- static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch
- static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes
- static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}}; // Bosch radarless
- static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}}; // Bosch radarless w/ gas and brakes
-
- const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
- const uint16_t HONDA_PARAM_RADARLESS = 8;
-
- static RxCheck honda_common_alt_brake_rx_checks[] = {
- HONDA_COMMON_RX_CHECKS(0)
- HONDA_ALT_BRAKE_ADDR_CHECK(0)
- };
-
- static RxCheck honda_bosch_alt_brake_rx_checks[] = {
- HONDA_COMMON_RX_CHECKS(1)
- HONDA_ALT_BRAKE_ADDR_CHECK(1)
- };
-
- // Bosch has pt on bus 1, verified 0x1A6 does not exist
- static RxCheck honda_bosch_rx_checks[] = {
- HONDA_COMMON_RX_CHECKS(1)
- };
-
- honda_hw = HONDA_BOSCH;
- honda_brake_switch_prev = false;
- honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
- // Checking for alternate brake override from safety parameter
- honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
-
- // radar disabled so allow gas/brakes
-#ifdef ALLOW_DEBUG
- const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
- honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
-#endif
-
- safety_config ret;
- if (honda_bosch_radarless && honda_alt_brake_msg) {
- SET_RX_CHECKS(honda_common_alt_brake_rx_checks, ret);
- } else if (honda_bosch_radarless) {
- SET_RX_CHECKS(honda_common_rx_checks, ret);
- } else if (honda_alt_brake_msg) {
- SET_RX_CHECKS(honda_bosch_alt_brake_rx_checks, ret);
- } else {
- SET_RX_CHECKS(honda_bosch_rx_checks, ret);
- }
-
- if (honda_bosch_radarless) {
- if (honda_bosch_long) {
- SET_TX_MSGS(HONDA_RADARLESS_LONG_TX_MSGS, ret);
- } else {
- SET_TX_MSGS(HONDA_RADARLESS_TX_MSGS, ret);
- }
- } else {
- if (honda_bosch_long) {
- SET_TX_MSGS(HONDA_BOSCH_LONG_TX_MSGS, ret);
- } else {
- SET_TX_MSGS(HONDA_BOSCH_TX_MSGS, ret);
- }
- }
- return ret;
-}
-
-static int honda_nidec_fwd_hook(int bus_num, int addr) {
- // fwd from car to camera. also fwd certain msgs from camera to car
- // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
- // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud
- int bus_fwd = -1;
-
- if (bus_num == 0) {
- bus_fwd = 2;
- }
-
- if (bus_num == 2) {
- // block stock lkas messages and stock acc messages (if OP is doing ACC)
- bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
- bool is_acc_hud_msg = addr == 0x30C;
- bool is_brake_msg = addr == 0x1FA;
- bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
- if (!block_fwd) {
- bus_fwd = 0;
- }
- }
-
- return bus_fwd;
-}
-
-static int honda_bosch_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- if (bus_num == 0) {
- bus_fwd = 2;
- }
- if (bus_num == 2) {
- bool is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
- bool is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
- bool block_msg = is_lkas_msg || is_acc_msg;
- if (!block_msg) {
- bus_fwd = 0;
- }
- }
-
- return bus_fwd;
-}
-
-const safety_hooks honda_nidec_hooks = {
- .init = honda_nidec_init,
- .rx = honda_rx_hook,
- .tx = honda_tx_hook,
- .fwd = honda_nidec_fwd_hook,
- .get_counter = honda_get_counter,
- .get_checksum = honda_get_checksum,
- .compute_checksum = honda_compute_checksum,
-};
-
-const safety_hooks honda_bosch_hooks = {
- .init = honda_bosch_init,
- .rx = honda_rx_hook,
- .tx = honda_tx_hook,
- .fwd = honda_bosch_fwd_hook,
- .get_counter = honda_get_counter,
- .get_checksum = honda_get_checksum,
- .compute_checksum = honda_compute_checksum,
-};
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
deleted file mode 100644
index 3e9d23216c..0000000000
--- a/board/safety/safety_hyundai.h
+++ /dev/null
@@ -1,347 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-#include "safety_hyundai_common.h"
-
-#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
- .max_steer = (steer), \
- .max_rate_up = (rate_up), \
- .max_rate_down = (rate_down), \
- .max_rt_delta = 112, \
- .max_rt_interval = 250000, \
- .driver_torque_allowance = 50, \
- .driver_torque_factor = 2, \
- .type = TorqueDriverLimited, \
- /* the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, */ \
- /* we allow setting CF_Lkas_ActToi bit to 0 while maintaining the requested torque value for two consecutive frames */ \
- .min_valid_request_frames = 89, \
- .max_invalid_request_frames = 2, \
- .min_valid_request_rt_interval = 810000, /* 810ms; a ~10% buffer on cutting every 90 frames */ \
- .has_steer_req_tolerance = true, \
-}
-
-extern const LongitudinalLimits HYUNDAI_LONG_LIMITS;
-const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
- .max_accel = 200, // 1/100 m/s2
- .min_accel = -350, // 1/100 m/s2
-};
-
-static const CanMsg HYUNDAI_TX_MSGS[] = {
- {0x340, 0, 8}, // LKAS11 Bus 0
- {0x4F1, 0, 4}, // CLU11 Bus 0
- {0x485, 0, 4}, // LFAHDA_MFC Bus 0
-};
-
-#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
- {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \
- {0x371, 0, 8, .frequency = 100U}, { 0 }}}, \
- {.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
- {.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \
-
-#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
- {.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
-
-static bool hyundai_legacy = false;
-
-static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- uint8_t cnt = 0;
- if (addr == 0x260) {
- cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
- } else if (addr == 0x386) {
- cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
- } else if (addr == 0x394) {
- cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
- } else if (addr == 0x421) {
- cnt = GET_BYTE(to_push, 7) & 0xFU;
- } else if (addr == 0x4F1) {
- cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
- } else {
- }
- return cnt;
-}
-
-static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- uint8_t chksum = 0;
- if (addr == 0x260) {
- chksum = GET_BYTE(to_push, 7) & 0xFU;
- } else if (addr == 0x386) {
- chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
- } else if (addr == 0x394) {
- chksum = GET_BYTE(to_push, 6) & 0xFU;
- } else if (addr == 0x421) {
- chksum = GET_BYTE(to_push, 7) >> 4;
- } else {
- }
- return chksum;
-}
-
-static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- uint8_t chksum = 0;
- if (addr == 0x386) {
- // count the bits
- for (int i = 0; i < 8; i++) {
- uint8_t b = GET_BYTE(to_push, i);
- for (int j = 0; j < 8; j++) {
- uint8_t bit = 0;
- // exclude checksum and counter
- if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
- bit = (b >> (uint8_t)j) & 1U;
- }
- chksum += bit;
- }
- }
- chksum = (chksum ^ 9U) & 15U;
- } else {
- // sum of nibbles
- for (int i = 0; i < 8; i++) {
- if ((addr == 0x394) && (i == 7)) {
- continue; // exclude
- }
- uint8_t b = GET_BYTE(to_push, i);
- if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
- b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
- }
- chksum += (b % 16U) + (b / 16U);
- }
- chksum = (16U - (chksum % 16U)) % 16U;
- }
-
- return chksum;
-}
-
-static void hyundai_rx_hook(const CANPacket_t *to_push) {
- int bus = GET_BUS(to_push);
- int addr = GET_ADDR(to_push);
-
- // SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
- if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
- // 2 bits: 13-14
- int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
- hyundai_common_cruise_state_check(cruise_engaged);
- }
-
- if (bus == 0) {
- if (addr == 0x251) {
- int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
- // update array of samples
- update_sample(&torque_driver, torque_driver_new);
- }
-
- // ACC steering wheel buttons
- if (addr == 0x4F1) {
- int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
- bool main_button = GET_BIT(to_push, 3U);
- hyundai_common_cruise_buttons_check(cruise_button, main_button);
- }
-
- // gas press, different for EV, hybrid, and ICE models
- if ((addr == 0x371) && hyundai_ev_gas_signal) {
- gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
- } else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
- gas_pressed = GET_BYTE(to_push, 7) != 0U;
- } else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
- gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
- } else {
- }
-
- // sample wheel speed, averaging opposite corners
- if (addr == 0x386) {
- uint32_t front_left_speed = GET_BYTES(to_push, 0, 2) & 0x3FFFU;
- uint32_t rear_right_speed = GET_BYTES(to_push, 6, 2) & 0x3FFFU;
- vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
- }
-
- if (addr == 0x394) {
- brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
- }
-
- bool stock_ecu_detected = (addr == 0x340);
-
- // If openpilot is controlling longitudinal we need to ensure the radar is turned off
- // Enforce by checking we don't see SCC12
- if (hyundai_longitudinal && (addr == 0x421)) {
- stock_ecu_detected = true;
- }
- generic_rx_checks(stock_ecu_detected);
- }
-}
-
-static bool hyundai_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
- const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
-
- // FCA11: Block any potential actuation
- if (addr == 0x38D) {
- int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
- bool FCA_CmdAct = GET_BIT(to_send, 20U);
- bool CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
-
- if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
- tx = false;
- }
- }
-
- // ACCEL: safety check
- if (addr == 0x421) {
- int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
- int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
-
- int aeb_decel_cmd = GET_BYTE(to_send, 2);
- bool aeb_req = GET_BIT(to_send, 54U);
-
- bool violation = false;
-
- violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
- violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
- violation |= (aeb_decel_cmd != 0);
- violation |= aeb_req;
-
- if (violation) {
- tx = false;
- }
- }
-
- // LKA STEER: safety check
- if (addr == 0x340) {
- int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
- bool steer_req = GET_BIT(to_send, 27U);
-
- const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
- if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
- tx = false;
- }
- }
-
- // UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
- if (addr == 0x7D0) {
- if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
- tx = false;
- }
- }
-
- // BUTTONS: used for resume spamming and cruise cancellation
- if ((addr == 0x4F1) && !hyundai_longitudinal) {
- int button = GET_BYTE(to_send, 0) & 0x7U;
-
- bool allowed_resume = (button == 1) && controls_allowed;
- bool allowed_cancel = (button == 4) && cruise_engaged_prev;
- if (!(allowed_resume || allowed_cancel)) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static int hyundai_fwd_hook(int bus_num, int addr) {
-
- int bus_fwd = -1;
-
- // forward cam to ccan and viceversa, except lkas cmd
- if (bus_num == 0) {
- bus_fwd = 2;
- }
- if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) {
- bus_fwd = 0;
- }
-
- return bus_fwd;
-}
-
-static safety_config hyundai_init(uint16_t param) {
- static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
- {0x340, 0, 8}, // LKAS11 Bus 0
- {0x4F1, 0, 4}, // CLU11 Bus 0
- {0x485, 0, 4}, // LFAHDA_MFC Bus 0
- {0x420, 0, 8}, // SCC11 Bus 0
- {0x421, 0, 8}, // SCC12 Bus 0
- {0x50A, 0, 8}, // SCC13 Bus 0
- {0x389, 0, 8}, // SCC14 Bus 0
- {0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
- {0x38D, 0, 8}, // FCA11 Bus 0
- {0x483, 0, 8}, // FCA12 Bus 0
- {0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
- };
-
- static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
- {0x340, 0, 8}, // LKAS11 Bus 0
- {0x4F1, 2, 4}, // CLU11 Bus 2
- {0x485, 0, 4}, // LFAHDA_MFC Bus 0
- };
-
- hyundai_common_init(param);
- hyundai_legacy = false;
-
- if (hyundai_camera_scc) {
- hyundai_longitudinal = false;
- }
-
- safety_config ret;
- if (hyundai_longitudinal) {
- static RxCheck hyundai_long_rx_checks[] = {
- HYUNDAI_COMMON_RX_CHECKS(false)
- // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
- {.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- };
-
- ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
- } else if (hyundai_camera_scc) {
- static RxCheck hyundai_cam_scc_rx_checks[] = {
- HYUNDAI_COMMON_RX_CHECKS(false)
- HYUNDAI_SCC12_ADDR_CHECK(2)
- };
-
- ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
- } else {
- static RxCheck hyundai_rx_checks[] = {
- HYUNDAI_COMMON_RX_CHECKS(false)
- HYUNDAI_SCC12_ADDR_CHECK(0)
- };
-
- ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
- }
- return ret;
-}
-
-static safety_config hyundai_legacy_init(uint16_t param) {
- // older hyundai models have less checks due to missing counters and checksums
- static RxCheck hyundai_legacy_rx_checks[] = {
- HYUNDAI_COMMON_RX_CHECKS(true)
- HYUNDAI_SCC12_ADDR_CHECK(0)
- };
-
- hyundai_common_init(param);
- hyundai_legacy = true;
- hyundai_longitudinal = false;
- hyundai_camera_scc = false;
- return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
-}
-
-const safety_hooks hyundai_hooks = {
- .init = hyundai_init,
- .rx = hyundai_rx_hook,
- .tx = hyundai_tx_hook,
- .fwd = hyundai_fwd_hook,
- .get_counter = hyundai_get_counter,
- .get_checksum = hyundai_get_checksum,
- .compute_checksum = hyundai_compute_checksum,
-};
-
-const safety_hooks hyundai_legacy_hooks = {
- .init = hyundai_legacy_init,
- .rx = hyundai_rx_hook,
- .tx = hyundai_tx_hook,
- .fwd = hyundai_fwd_hook,
- .get_counter = hyundai_get_counter,
- .get_checksum = hyundai_get_checksum,
- .compute_checksum = hyundai_compute_checksum,
-};
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
deleted file mode 100644
index b42889bb0e..0000000000
--- a/board/safety/safety_hyundai_canfd.h
+++ /dev/null
@@ -1,363 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-#include "safety_hyundai_common.h"
-
-// *** Addresses checked in rx hook ***
-// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
-#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
- {.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
- {0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \
- {0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}}, \
- {.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
- {.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
- {.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
-
-#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus) \
- {.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, { 0 }, { 0 }}}, \
-
-#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
- {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
-
-// SCC_CONTROL (from ADAS unit or camera)
-#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
- {.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
-
-static bool hyundai_canfd_alt_buttons = false;
-static bool hyundai_canfd_hda2_alt_steering = false;
-
-static int hyundai_canfd_hda2_get_lkas_addr(void) {
- return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
-}
-
-static uint8_t hyundai_canfd_get_counter(const CANPacket_t *to_push) {
- uint8_t ret = 0;
- if (GET_LEN(to_push) == 8U) {
- ret = GET_BYTE(to_push, 1) >> 4;
- } else {
- ret = GET_BYTE(to_push, 2);
- }
- return ret;
-}
-
-static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) {
- uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8);
- return chksum;
-}
-
-static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
- int bus = GET_BUS(to_push);
- int addr = GET_ADDR(to_push);
-
- const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
- const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
-
- if (bus == pt_bus) {
- // driver torque
- if (addr == 0xea) {
- int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
- torque_driver_new -= 4095;
- update_sample(&torque_driver, torque_driver_new);
- }
-
- // cruise buttons
- const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
- if (addr == button_addr) {
- bool main_button = false;
- int cruise_button = 0;
- if (addr == 0x1cf) {
- cruise_button = GET_BYTE(to_push, 2) & 0x7U;
- main_button = GET_BIT(to_push, 19U);
- } else {
- cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
- main_button = GET_BIT(to_push, 34U);
- }
- hyundai_common_cruise_buttons_check(cruise_button, main_button);
- }
-
- // gas press, different for EV, hybrid, and ICE models
- if ((addr == 0x35) && hyundai_ev_gas_signal) {
- gas_pressed = GET_BYTE(to_push, 5) != 0U;
- } else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
- gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U);
- } else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
- gas_pressed = GET_BIT(to_push, 176U);
- } else {
- }
-
- // brake press
- if (addr == 0x175) {
- brake_pressed = GET_BIT(to_push, 81U);
- }
-
- // vehicle moving
- if (addr == 0xa0) {
- uint32_t front_left_speed = GET_BYTES(to_push, 8, 2);
- uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2);
- vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
- }
- }
-
- if (bus == scc_bus) {
- // cruise state
- if ((addr == 0x1a0) && !hyundai_longitudinal) {
- // 1=enabled, 2=driver override
- int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U);
- bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
- hyundai_common_cruise_state_check(cruise_engaged);
- }
- }
-
- const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
- bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
- if (hyundai_longitudinal) {
- // on HDA2, ensure ADRV ECU is still knocked out
- // on others, ensure accel msg is blocked from camera
- const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
- stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
- }
- generic_rx_checks(stock_ecu_detected);
-
-}
-
-static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
- .max_steer = 270,
- .max_rt_delta = 112,
- .max_rt_interval = 250000,
- .max_rate_up = 2,
- .max_rate_down = 3,
- .driver_torque_allowance = 250,
- .driver_torque_factor = 2,
- .type = TorqueDriverLimited,
-
- // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
- // we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
- .min_valid_request_frames = 89,
- .max_invalid_request_frames = 2,
- .min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames
- .has_steer_req_tolerance = true,
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
-
- // steering
- const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
- if (addr == steer_addr) {
- int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
- bool steer_req = GET_BIT(to_send, 52U);
-
- if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
- tx = false;
- }
- }
-
- // cruise buttons check
- if (addr == 0x1cf) {
- int button = GET_BYTE(to_send, 2) & 0x7U;
- bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
- bool is_resume = (button == HYUNDAI_BTN_RESUME);
-
- bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
- if (!allowed) {
- tx = false;
- }
- }
-
- // UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
- if ((addr == 0x730) && hyundai_canfd_hda2) {
- if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
- tx = false;
- }
- }
-
- // ACCEL: safety check
- if (addr == 0x1a0) {
- int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U;
- int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U;
-
- bool violation = false;
-
- if (hyundai_longitudinal) {
- violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
- violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
- } else {
- // only used to cancel on here
- if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
- violation = true;
- }
- }
-
- if (violation) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- if (bus_num == 0) {
- bus_fwd = 2;
- }
- if (bus_num == 2) {
- // LKAS for HDA2, LFA for HDA1
- int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;
- bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2;
- bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
-
- // HUD icons
- bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
-
- // CRUISE_INFO for non-HDA2, we send our own longitudinal commands
- bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
-
- bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
- if (!block_msg) {
- bus_fwd = 0;
- }
- }
-
- return bus_fwd;
-}
-
-static safety_config hyundai_canfd_init(uint16_t param) {
- const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
- const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
-
- static const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
- {0x50, 0, 16}, // LKAS
- {0x1CF, 1, 8}, // CRUISE_BUTTON
- {0x2A4, 0, 24}, // CAM_0x2A4
- };
-
- static const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
- {0x110, 0, 32}, // LKAS_ALT
- {0x1CF, 1, 8}, // CRUISE_BUTTON
- {0x362, 0, 32}, // CAM_0x362
- };
-
- static const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
- {0x50, 0, 16}, // LKAS
- {0x1CF, 1, 8}, // CRUISE_BUTTON
- {0x2A4, 0, 24}, // CAM_0x2A4
- {0x51, 0, 32}, // ADRV_0x51
- {0x730, 1, 8}, // tester present for ADAS ECU disable
- {0x12A, 1, 16}, // LFA
- {0x160, 1, 16}, // ADRV_0x160
- {0x1E0, 1, 16}, // LFAHDA_CLUSTER
- {0x1A0, 1, 32}, // CRUISE_INFO
- {0x1EA, 1, 32}, // ADRV_0x1ea
- {0x200, 1, 8}, // ADRV_0x200
- {0x345, 1, 8}, // ADRV_0x345
- {0x1DA, 1, 32}, // ADRV_0x1da
- };
-
- static const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
- {0x12A, 0, 16}, // LFA
- {0x1A0, 0, 32}, // CRUISE_INFO
- {0x1CF, 2, 8}, // CRUISE_BUTTON
- {0x1E0, 0, 16}, // LFAHDA_CLUSTER
- };
-
-
- hyundai_common_init(param);
-
- gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
- hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
- hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);
-
- // no long for radar-SCC HDA1 yet
- if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
- hyundai_longitudinal = false;
- }
-
- safety_config ret;
- if (hyundai_longitudinal) {
- if (hyundai_canfd_hda2) {
- static RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
- HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
- };
-
- ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
- } else {
- static RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
- HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
- };
-
- // Longitudinal checks for HDA1
- static RxCheck hyundai_canfd_long_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
- HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
- };
-
- ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
- BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
- }
- } else {
- if (hyundai_canfd_hda2) {
- // *** HDA2 checks ***
- // E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
- // Does not use the alt buttons message
- static RxCheck hyundai_canfd_hda2_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
- HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
- HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
- };
-
- ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
- BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
- } else if (!hyundai_camera_scc) {
- static RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
- HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
- HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
- };
-
- // Radar sends SCC messages on these cars instead of camera
- static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
- HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
- HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
- };
-
- ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
- BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
- } else {
- // *** Non-HDA2 checks ***
- static RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
- HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
- HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
- };
-
- // Camera sends SCC messages on HDA1.
- // Both button messages exist on some platforms, so we ensure we track the correct one using flag
- static RxCheck hyundai_canfd_rx_checks[] = {
- HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
- HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
- HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
- };
-
- ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
- BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
- }
- }
-
- return ret;
-}
-
-const safety_hooks hyundai_canfd_hooks = {
- .init = hyundai_canfd_init,
- .rx = hyundai_canfd_rx_hook,
- .tx = hyundai_canfd_tx_hook,
- .fwd = hyundai_canfd_fwd_hook,
- .get_counter = hyundai_canfd_get_counter,
- .get_checksum = hyundai_canfd_get_checksum,
- .compute_checksum = hyundai_common_canfd_compute_checksum,
-};
diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
deleted file mode 100644
index d83b396401..0000000000
--- a/board/safety/safety_hyundai_common.h
+++ /dev/null
@@ -1,128 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-extern uint16_t hyundai_canfd_crc_lut[256];
-uint16_t hyundai_canfd_crc_lut[256];
-
-static const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms
- //
-extern const uint32_t HYUNDAI_STANDSTILL_THRSLD;
-const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12; // 0.375 kph
-
-enum {
- HYUNDAI_BTN_NONE = 0,
- HYUNDAI_BTN_RESUME = 1,
- HYUNDAI_BTN_SET = 2,
- HYUNDAI_BTN_CANCEL = 4,
-};
-
-// common state
-extern bool hyundai_ev_gas_signal;
-bool hyundai_ev_gas_signal = false;
-
-extern bool hyundai_hybrid_gas_signal;
-bool hyundai_hybrid_gas_signal = false;
-
-extern bool hyundai_longitudinal;
-bool hyundai_longitudinal = false;
-
-extern bool hyundai_camera_scc;
-bool hyundai_camera_scc = false;
-
-extern bool hyundai_canfd_hda2;
-bool hyundai_canfd_hda2 = false;
-
-extern bool hyundai_alt_limits;
-bool hyundai_alt_limits = false;
-
-static uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
-
-void hyundai_common_init(uint16_t param) {
- const int HYUNDAI_PARAM_EV_GAS = 1;
- const int HYUNDAI_PARAM_HYBRID_GAS = 2;
- const int HYUNDAI_PARAM_CAMERA_SCC = 8;
- const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
- const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
-
- hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
- hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
- hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
- hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
- hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
-
- hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
-
-#ifdef ALLOW_DEBUG
- const int HYUNDAI_PARAM_LONGITUDINAL = 4;
- hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
-#else
- hyundai_longitudinal = false;
-#endif
-}
-
-void hyundai_common_cruise_state_check(const bool cruise_engaged) {
- // some newer HKG models can re-enable after spamming cancel button,
- // so keep track of user button presses to deny engagement if no interaction
-
- // enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
- if (!hyundai_longitudinal) {
- if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
- controls_allowed = true;
- }
-
- if (!cruise_engaged) {
- controls_allowed = false;
- }
- cruise_engaged_prev = cruise_engaged;
- }
-}
-
-void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) {
- if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) {
- hyundai_last_button_interaction = 0U;
- } else {
- hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
- }
-
- if (hyundai_longitudinal) {
- // enter controls on falling edge of resume or set
- bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
- bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
- if (set || res) {
- controls_allowed = true;
- }
-
- // exit controls on cancel press
- if (cruise_button == HYUNDAI_BTN_CANCEL) {
- controls_allowed = false;
- }
-
- cruise_button_prev = cruise_button;
- }
-}
-
-uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
- int len = GET_LEN(to_push);
- uint32_t address = GET_ADDR(to_push);
-
- uint16_t crc = 0;
-
- for (int i = 2; i < len; i++) {
- crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
- }
-
- // Add address to crc
- crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
- crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
-
- if (len == 24) {
- crc ^= 0x819dU;
- } else if (len == 32) {
- crc ^= 0x9f5bU;
- } else {
-
- }
-
- return crc;
-}
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
deleted file mode 100644
index ed87451f77..0000000000
--- a/board/safety/safety_mazda.h
+++ /dev/null
@@ -1,131 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-// CAN msgs we care about
-#define MAZDA_LKAS 0x243
-#define MAZDA_LKAS_HUD 0x440
-#define MAZDA_CRZ_CTRL 0x21c
-#define MAZDA_CRZ_BTNS 0x09d
-#define MAZDA_STEER_TORQUE 0x240
-#define MAZDA_ENGINE_DATA 0x202
-#define MAZDA_PEDALS 0x165
-
-// CAN bus numbers
-#define MAZDA_MAIN 0
-#define MAZDA_CAM 2
-
-// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
-static void mazda_rx_hook(const CANPacket_t *to_push) {
- if ((int)GET_BUS(to_push) == MAZDA_MAIN) {
- int addr = GET_ADDR(to_push);
-
- if (addr == MAZDA_ENGINE_DATA) {
- // sample speed: scale by 0.01 to get kph
- int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
- vehicle_moving = speed > 10; // moving when speed > 0.1 kph
- }
-
- if (addr == MAZDA_STEER_TORQUE) {
- int torque_driver_new = GET_BYTE(to_push, 0) - 127U;
- // update array of samples
- update_sample(&torque_driver, torque_driver_new);
- }
-
- // enter controls on rising edge of ACC, exit controls on ACC off
- if (addr == MAZDA_CRZ_CTRL) {
- bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
- pcm_cruise_check(cruise_engaged);
- }
-
- if (addr == MAZDA_ENGINE_DATA) {
- gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0U));
- }
-
- if (addr == MAZDA_PEDALS) {
- brake_pressed = (GET_BYTE(to_push, 0) & 0x10U);
- }
-
- generic_rx_checks((addr == MAZDA_LKAS));
- }
-}
-
-static bool mazda_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits MAZDA_STEERING_LIMITS = {
- .max_steer = 800,
- .max_rate_up = 10,
- .max_rate_down = 25,
- .max_rt_delta = 300,
- .max_rt_interval = 250000,
- .driver_torque_factor = 1,
- .driver_torque_allowance = 15,
- .type = TorqueDriverLimited,
- };
-
- bool tx = true;
- int bus = GET_BUS(to_send);
- // Check if msg is sent on the main BUS
- if (bus == MAZDA_MAIN) {
- int addr = GET_ADDR(to_send);
-
- // steer cmd checks
- if (addr == MAZDA_LKAS) {
- int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - 2048U;
-
- if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) {
- tx = false;
- }
- }
-
- // cruise buttons check
- if (addr == MAZDA_CRZ_BTNS) {
- // allow resume spamming while controls allowed, but
- // only allow cancel while contrls not allowed
- bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
- if (!controls_allowed && !cancel_cmd) {
- tx = false;
- }
- }
- }
-
- return tx;
-}
-
-static int mazda_fwd_hook(int bus, int addr) {
- int bus_fwd = -1;
-
- if (bus == MAZDA_MAIN) {
- bus_fwd = MAZDA_CAM;
- } else if (bus == MAZDA_CAM) {
- bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
- if (!block) {
- bus_fwd = MAZDA_MAIN;
- }
- } else {
- // don't fwd
- }
-
- return bus_fwd;
-}
-
-static safety_config mazda_init(uint16_t param) {
- static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
-
- static RxCheck mazda_rx_checks[] = {
- {.msg = {{MAZDA_CRZ_CTRL, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{MAZDA_CRZ_BTNS, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
- {.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}},
- {.msg = {{MAZDA_ENGINE_DATA, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{MAZDA_PEDALS, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
- };
-
- UNUSED(param);
- return BUILD_SAFETY_CFG(mazda_rx_checks, MAZDA_TX_MSGS);
-}
-
-const safety_hooks mazda_hooks = {
- .init = mazda_init,
- .rx = mazda_rx_hook,
- .tx = mazda_tx_hook,
- .fwd = mazda_fwd_hook,
-};
diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
deleted file mode 100644
index fd47e09448..0000000000
--- a/board/safety/safety_nissan.h
+++ /dev/null
@@ -1,163 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-static bool nissan_alt_eps = false;
-
-static void nissan_rx_hook(const CANPacket_t *to_push) {
- int bus = GET_BUS(to_push);
- int addr = GET_ADDR(to_push);
-
- if (bus == (nissan_alt_eps ? 1 : 0)) {
- if (addr == 0x2) {
- // Current steering angle
- // Factor -0.1, little endian
- int angle_meas_new = (GET_BYTES(to_push, 0, 4) & 0xFFFFU);
- // Multiply by -10 to match scale of LKAS angle
- angle_meas_new = to_signed(angle_meas_new, 16) * -10;
-
- // update array of samples
- update_sample(&angle_meas, angle_meas_new);
- }
-
- if (addr == 0x285) {
- // Get current speed and standstill
- uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1));
- uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3));
- vehicle_moving = (right_rear | left_rear) != 0U;
- UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6);
- }
-
- // X-Trail 0x15c, Leaf 0x239
- if ((addr == 0x15c) || (addr == 0x239)) {
- if (addr == 0x15c){
- gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U;
- } else {
- gas_pressed = GET_BYTE(to_push, 0) > 3U;
- }
- }
-
- // X-trail 0x454, Leaf 0x239
- if ((addr == 0x454) || (addr == 0x239)) {
- if (addr == 0x454){
- brake_pressed = (GET_BYTE(to_push, 2) & 0x80U) != 0U;
- } else {
- brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1U) != 0U;
- }
- }
- }
-
- // Handle cruise enabled
- if ((addr == 0x30f) && (bus == (nissan_alt_eps ? 1 : 2))) {
- bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U;
- pcm_cruise_check(cruise_engaged);
- }
-
- generic_rx_checks((addr == 0x169) && (bus == 0));
-}
-
-
-static bool nissan_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits NISSAN_STEERING_LIMITS = {
- .angle_deg_to_can = 100,
- .angle_rate_up_lookup = {
- {0., 5., 15.},
- {5., .8, .15}
- },
- .angle_rate_down_lookup = {
- {0., 5., 15.},
- {5., 3.5, .4}
- },
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
- bool violation = false;
-
- // steer cmd checks
- if (addr == 0x169) {
- int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3U));
- bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1U;
-
- // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
- desired_angle = -desired_angle + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);
-
- if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) {
- violation = true;
- }
- }
-
- // acc button check, only allow cancel button to be sent
- if (addr == 0x20b) {
- // Violation of any button other than cancel is pressed
- violation |= ((GET_BYTE(to_send, 1) & 0x3dU) > 0U);
- }
-
- if (violation) {
- tx = false;
- }
-
- return tx;
-}
-
-
-static int nissan_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- if (bus_num == 0) {
- bool block_msg = (addr == 0x280); // CANCEL_MSG
- if (!block_msg) {
- bus_fwd = 2; // ADAS
- }
- }
-
- if (bus_num == 2) {
- // 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
- bool block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
- if (!block_msg) {
- bus_fwd = 0; // V-CAN
- }
- }
-
- return bus_fwd;
-}
-
-static safety_config nissan_init(uint16_t param) {
- static const CanMsg NISSAN_TX_MSGS[] = {
- {0x169, 0, 8}, // LKAS
- {0x2b1, 0, 8}, // PROPILOT_HUD
- {0x4cc, 0, 8}, // PROPILOT_HUD_INFO_MSG
- {0x20b, 2, 6}, // CRUISE_THROTTLE (X-Trail)
- {0x20b, 1, 6}, // CRUISE_THROTTLE (Altima)
- {0x280, 2, 8} // CANCEL_MSG (Leaf)
- };
-
- // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
- static RxCheck nissan_rx_checks[] = {
- {.msg = {{0x2, 0, 5, .frequency = 100U},
- {0x2, 1, 5, .frequency = 100U}, { 0 }}}, // STEER_ANGLE_SENSOR
- {.msg = {{0x285, 0, 8, .frequency = 50U},
- {0x285, 1, 8, .frequency = 50U}, { 0 }}}, // WHEEL_SPEEDS_REAR
- {.msg = {{0x30f, 2, 3, .frequency = 10U},
- {0x30f, 1, 3, .frequency = 10U}, { 0 }}}, // CRUISE_STATE
- {.msg = {{0x15c, 0, 8, .frequency = 50U},
- {0x15c, 1, 8, .frequency = 50U},
- {0x239, 0, 8, .frequency = 50U}}}, // GAS_PEDAL
- {.msg = {{0x454, 0, 8, .frequency = 10U},
- {0x454, 1, 8, .frequency = 10U},
- {0x1cc, 0, 4, .frequency = 100U}}}, // DOORS_LIGHTS / BRAKE
- };
-
- // EPS Location. false = V-CAN, true = C-CAN
- const int NISSAN_PARAM_ALT_EPS_BUS = 1;
-
- nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS);
- return BUILD_SAFETY_CFG(nissan_rx_checks, NISSAN_TX_MSGS);
-}
-
-const safety_hooks nissan_hooks = {
- .init = nissan_init,
- .rx = nissan_rx_hook,
- .tx = nissan_tx_hook,
- .fwd = nissan_fwd_hook,
-};
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
deleted file mode 100644
index 290150657e..0000000000
--- a/board/safety/safety_subaru.h
+++ /dev/null
@@ -1,293 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down) \
- { \
- .max_steer = (steer_max), \
- .max_rt_delta = 940, \
- .max_rt_interval = 250000, \
- .max_rate_up = (rate_up), \
- .max_rate_down = (rate_down), \
- .driver_torque_factor = 50, \
- .driver_torque_allowance = 60, \
- .type = TorqueDriverLimited, \
- /* the EPS will temporary fault if the steering rate is too high, so we cut the \
- the steering torque every 7 frames for 1 frame if the steering rate is high */ \
- .min_valid_request_frames = 7, \
- .max_invalid_request_frames = 1, \
- .min_valid_request_rt_interval = 144000, /* 10% tolerance */ \
- .has_steer_req_tolerance = true, \
- }
-
-#define MSG_SUBARU_Brake_Status 0x13c
-#define MSG_SUBARU_CruiseControl 0x240
-#define MSG_SUBARU_Throttle 0x40
-#define MSG_SUBARU_Steering_Torque 0x119
-#define MSG_SUBARU_Wheel_Speeds 0x13a
-
-#define MSG_SUBARU_ES_LKAS 0x122
-#define MSG_SUBARU_ES_Brake 0x220
-#define MSG_SUBARU_ES_Distance 0x221
-#define MSG_SUBARU_ES_Status 0x222
-#define MSG_SUBARU_ES_DashStatus 0x321
-#define MSG_SUBARU_ES_LKAS_State 0x322
-#define MSG_SUBARU_ES_Infotainment 0x323
-
-#define MSG_SUBARU_ES_UDS_Request 0x787
-
-#define MSG_SUBARU_ES_HighBeamAssist 0x121
-#define MSG_SUBARU_ES_STATIC_1 0x22a
-#define MSG_SUBARU_ES_STATIC_2 0x325
-
-#define SUBARU_MAIN_BUS 0
-#define SUBARU_ALT_BUS 1
-#define SUBARU_CAM_BUS 2
-
-#define SUBARU_COMMON_TX_MSGS(alt_bus, lkas_msg) \
- {lkas_msg, SUBARU_MAIN_BUS, 8}, \
- {MSG_SUBARU_ES_Distance, alt_bus, 8}, \
- {MSG_SUBARU_ES_DashStatus, SUBARU_MAIN_BUS, 8}, \
- {MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS, 8}, \
- {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
-
-#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
- {MSG_SUBARU_ES_Brake, alt_bus, 8}, \
- {MSG_SUBARU_ES_Status, alt_bus, 8}, \
-
-#define SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS() \
- {MSG_SUBARU_ES_UDS_Request, SUBARU_CAM_BUS, 8}, \
- {MSG_SUBARU_ES_HighBeamAssist, SUBARU_MAIN_BUS, 8}, \
- {MSG_SUBARU_ES_STATIC_1, SUBARU_MAIN_BUS, 8}, \
- {MSG_SUBARU_ES_STATIC_2, SUBARU_MAIN_BUS, 8}, \
-
-#define SUBARU_COMMON_RX_CHECKS(alt_bus) \
- {.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
- {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
- {.msg = {{MSG_SUBARU_Wheel_Speeds, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
- {.msg = {{MSG_SUBARU_Brake_Status, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
- {.msg = {{MSG_SUBARU_CruiseControl, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 20U}, { 0 }, { 0 }}}, \
-
-static bool subaru_gen2 = false;
-static bool subaru_longitudinal = false;
-
-static uint32_t subaru_get_checksum(const CANPacket_t *to_push) {
- return (uint8_t)GET_BYTE(to_push, 0);
-}
-
-static uint8_t subaru_get_counter(const CANPacket_t *to_push) {
- return (uint8_t)(GET_BYTE(to_push, 1) & 0xFU);
-}
-
-static uint32_t subaru_compute_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
- int len = GET_LEN(to_push);
- uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U);
- for (int i = 1; i < len; i++) {
- checksum += (uint8_t)GET_BYTE(to_push, i);
- }
- return checksum;
-}
-
-static void subaru_rx_hook(const CANPacket_t *to_push) {
- const int bus = GET_BUS(to_push);
- const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
-
- int addr = GET_ADDR(to_push);
- if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
- int torque_driver_new;
- torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 16) & 0x7FFU);
- torque_driver_new = -1 * to_signed(torque_driver_new, 11);
- update_sample(&torque_driver, torque_driver_new);
-
- int angle_meas_new = (GET_BYTES(to_push, 4, 2) & 0xFFFFU);
- // convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
- angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);
- update_sample(&angle_meas, angle_meas_new);
- }
-
- // enter controls on rising edge of ACC, exit controls on ACC off
- if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
- bool cruise_engaged = GET_BIT(to_push, 41U);
- pcm_cruise_check(cruise_engaged);
- }
-
- // update vehicle moving with any non-zero wheel speed
- if ((addr == MSG_SUBARU_Wheel_Speeds) && (bus == alt_main_bus)) {
- uint32_t fr = (GET_BYTES(to_push, 1, 3) >> 4) & 0x1FFFU;
- uint32_t rr = (GET_BYTES(to_push, 3, 3) >> 1) & 0x1FFFU;
- uint32_t rl = (GET_BYTES(to_push, 4, 3) >> 6) & 0x1FFFU;
- uint32_t fl = (GET_BYTES(to_push, 6, 2) >> 3) & 0x1FFFU;
-
- vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
-
- UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4U * 0.057);
- }
-
- if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_main_bus)) {
- brake_pressed = GET_BIT(to_push, 62U);
- }
-
- if ((addr == MSG_SUBARU_Throttle) && (bus == SUBARU_MAIN_BUS)) {
- gas_pressed = GET_BYTE(to_push, 4) != 0U;
- }
-
- generic_rx_checks((addr == MSG_SUBARU_ES_LKAS) && (bus == SUBARU_MAIN_BUS));
-}
-
-static bool subaru_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
- const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
-
- const LongitudinalLimits SUBARU_LONG_LIMITS = {
- .min_gas = 808, // appears to be engine braking
- .max_gas = 3400, // approx 2 m/s^2 when maxing cruise_rpm and cruise_throttle
- .inactive_gas = 1818, // this is zero acceleration
- .max_brake = 600, // approx -3.5 m/s^2
-
- .min_transmission_rpm = 0,
- .max_transmission_rpm = 3600,
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
- bool violation = false;
-
- // steer cmd checks
- if (addr == MSG_SUBARU_ES_LKAS) {
- int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x1FFFU);
- desired_torque = -1 * to_signed(desired_torque, 13);
-
- bool steer_req = GET_BIT(to_send, 29U);
-
- const SteeringLimits limits = subaru_gen2 ? SUBARU_GEN2_STEERING_LIMITS : SUBARU_STEERING_LIMITS;
- violation |= steer_torque_cmd_checks(desired_torque, steer_req, limits);
- }
-
- // check es_brake brake_pressure limits
- if (addr == MSG_SUBARU_ES_Brake) {
- int es_brake_pressure = GET_BYTES(to_send, 2, 2);
- violation |= longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
- }
-
- // check es_distance cruise_throttle limits
- if (addr == MSG_SUBARU_ES_Distance) {
- int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0x1FFFU);
- bool cruise_cancel = GET_BIT(to_send, 56U);
-
- if (subaru_longitudinal) {
- violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
- } else {
- // If openpilot is not controlling long, only allow ES_Distance for cruise cancel requests,
- // (when Cruise_Cancel is true, and Cruise_Throttle is inactive)
- violation |= (cruise_throttle != SUBARU_LONG_LIMITS.inactive_gas);
- violation |= (!cruise_cancel);
- }
- }
-
- // check es_status transmission_rpm limits
- if (addr == MSG_SUBARU_ES_Status) {
- int transmission_rpm = (GET_BYTES(to_send, 2, 2) & 0x1FFFU);
- violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS);
- }
-
- if (addr == MSG_SUBARU_ES_UDS_Request) {
- // tester present ('\x02\x3E\x80\x00\x00\x00\x00\x00') is allowed for gen2 longitudinal to keep eyesight disabled
- bool is_tester_present = (GET_BYTES(to_send, 0, 4) == 0x00803E02U) && (GET_BYTES(to_send, 4, 4) == 0x0U);
-
- // reading ES button data by identifier (b'\x03\x22\x11\x30\x00\x00\x00\x00') is also allowed (DID 0x1130)
- bool is_button_rdbi = (GET_BYTES(to_send, 0, 4) == 0x30112203U) && (GET_BYTES(to_send, 4, 4) == 0x0U);
-
- violation |= !(is_tester_present || is_button_rdbi);
- }
-
- if (violation){
- tx = false;
- }
- return tx;
-}
-
-static int subaru_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- if (bus_num == SUBARU_MAIN_BUS) {
- bus_fwd = SUBARU_CAM_BUS; // to the eyesight camera
- }
-
- if (bus_num == SUBARU_CAM_BUS) {
- // Global platform
- bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
- (addr == MSG_SUBARU_ES_DashStatus) ||
- (addr == MSG_SUBARU_ES_LKAS_State) ||
- (addr == MSG_SUBARU_ES_Infotainment));
-
- bool block_long = ((addr == MSG_SUBARU_ES_Brake) ||
- (addr == MSG_SUBARU_ES_Distance) ||
- (addr == MSG_SUBARU_ES_Status));
-
- bool block_msg = block_lkas || (subaru_longitudinal && block_long);
- if (!block_msg) {
- bus_fwd = SUBARU_MAIN_BUS; // Main CAN
- }
- }
-
- return bus_fwd;
-}
-
-static safety_config subaru_init(uint16_t param) {
- static const CanMsg SUBARU_TX_MSGS[] = {
- SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
- };
-
- static const CanMsg SUBARU_LONG_TX_MSGS[] = {
- SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
- SUBARU_COMMON_LONG_TX_MSGS(SUBARU_MAIN_BUS)
- };
-
- static const CanMsg SUBARU_GEN2_TX_MSGS[] = {
- SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
- };
-
- static const CanMsg SUBARU_GEN2_LONG_TX_MSGS[] = {
- SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
- SUBARU_COMMON_LONG_TX_MSGS(SUBARU_ALT_BUS)
- SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()
- };
-
- static RxCheck subaru_rx_checks[] = {
- SUBARU_COMMON_RX_CHECKS(SUBARU_MAIN_BUS)
- };
-
- static RxCheck subaru_gen2_rx_checks[] = {
- SUBARU_COMMON_RX_CHECKS(SUBARU_ALT_BUS)
- };
-
- const uint16_t SUBARU_PARAM_GEN2 = 1;
-
- subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);
-
-#ifdef ALLOW_DEBUG
- const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
- subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
-#endif
-
- safety_config ret;
- if (subaru_gen2) {
- ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_LONG_TX_MSGS) : \
- BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_TX_MSGS);
- } else {
- ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_LONG_TX_MSGS) : \
- BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_TX_MSGS);
- }
- return ret;
-}
-
-const safety_hooks subaru_hooks = {
- .init = subaru_init,
- .rx = subaru_rx_hook,
- .tx = subaru_tx_hook,
- .fwd = subaru_fwd_hook,
- .get_counter = subaru_get_counter,
- .get_checksum = subaru_get_checksum,
- .compute_checksum = subaru_compute_checksum,
-};
diff --git a/board/safety/safety_subaru_preglobal.h b/board/safety/safety_subaru_preglobal.h
deleted file mode 100644
index 760840f333..0000000000
--- a/board/safety/safety_subaru_preglobal.h
+++ /dev/null
@@ -1,129 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-// Preglobal platform
-// 0x161 is ES_CruiseThrottle
-// 0x164 is ES_LKAS
-
-#define MSG_SUBARU_PG_CruiseControl 0x144
-#define MSG_SUBARU_PG_Throttle 0x140
-#define MSG_SUBARU_PG_Wheel_Speeds 0xD4
-#define MSG_SUBARU_PG_Brake_Pedal 0xD1
-#define MSG_SUBARU_PG_ES_LKAS 0x164
-#define MSG_SUBARU_PG_ES_Distance 0x161
-#define MSG_SUBARU_PG_Steering_Torque 0x371
-
-#define SUBARU_PG_MAIN_BUS 0
-#define SUBARU_PG_CAM_BUS 2
-
-static bool subaru_pg_reversed_driver_torque = false;
-
-static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) {
- const int bus = GET_BUS(to_push);
-
- if (bus == SUBARU_PG_MAIN_BUS) {
- int addr = GET_ADDR(to_push);
- if (addr == MSG_SUBARU_PG_Steering_Torque) {
- int torque_driver_new;
- torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
- torque_driver_new = to_signed(torque_driver_new, 11);
- torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new;
- update_sample(&torque_driver, torque_driver_new);
- }
-
- // enter controls on rising edge of ACC, exit controls on ACC off
- if (addr == MSG_SUBARU_PG_CruiseControl) {
- bool cruise_engaged = GET_BIT(to_push, 49U);
- pcm_cruise_check(cruise_engaged);
- }
-
- // update vehicle moving with any non-zero wheel speed
- if (addr == MSG_SUBARU_PG_Wheel_Speeds) {
- vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
- }
-
- if (addr == MSG_SUBARU_PG_Brake_Pedal) {
- brake_pressed = ((GET_BYTES(to_push, 0, 4) >> 16) & 0xFFU) > 0U;
- }
-
- if (addr == MSG_SUBARU_PG_Throttle) {
- gas_pressed = GET_BYTE(to_push, 0) != 0U;
- }
-
- generic_rx_checks((addr == MSG_SUBARU_PG_ES_LKAS));
- }
-}
-
-static bool subaru_preglobal_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits SUBARU_PG_STEERING_LIMITS = {
- .max_steer = 2047,
- .max_rt_delta = 940,
- .max_rt_interval = 250000,
- .max_rate_up = 50,
- .max_rate_down = 70,
- .driver_torque_factor = 10,
- .driver_torque_allowance = 75,
- .type = TorqueDriverLimited,
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
-
- // steer cmd checks
- if (addr == MSG_SUBARU_PG_ES_LKAS) {
- int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 8) & 0x1FFFU);
- desired_torque = -1 * to_signed(desired_torque, 13);
-
- bool steer_req = GET_BIT(to_send, 24U);
-
- if (steer_torque_cmd_checks(desired_torque, steer_req, SUBARU_PG_STEERING_LIMITS)) {
- tx = false;
- }
-
- }
- return tx;
-}
-
-static int subaru_preglobal_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- if (bus_num == SUBARU_PG_MAIN_BUS) {
- bus_fwd = SUBARU_PG_CAM_BUS; // Camera CAN
- }
-
- if (bus_num == SUBARU_PG_CAM_BUS) {
- bool block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS));
- if (!block_msg) {
- bus_fwd = SUBARU_PG_MAIN_BUS; // Main CAN
- }
- }
-
- return bus_fwd;
-}
-
-static safety_config subaru_preglobal_init(uint16_t param) {
- static const CanMsg SUBARU_PG_TX_MSGS[] = {
- {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8},
- {MSG_SUBARU_PG_ES_LKAS, SUBARU_PG_MAIN_BUS, 8}
- };
-
- // TODO: do checksum and counter checks after adding the signals to the outback dbc file
- static RxCheck subaru_preglobal_rx_checks[] = {
- {.msg = {{MSG_SUBARU_PG_Throttle, SUBARU_PG_MAIN_BUS, 8, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS, 8, .frequency = 20U}, { 0 }, { 0 }}},
- };
-
- const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
-
- subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
- return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
-}
-
-const safety_hooks subaru_preglobal_hooks = {
- .init = subaru_preglobal_init,
- .rx = subaru_preglobal_rx_hook,
- .tx = subaru_preglobal_tx_hook,
- .fwd = subaru_preglobal_fwd_hook,
-};
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
deleted file mode 100644
index 7ea50dcfe5..0000000000
--- a/board/safety/safety_tesla.h
+++ /dev/null
@@ -1,244 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-static bool tesla_longitudinal = false;
-static bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus?
-static bool tesla_raven = false;
-
-static bool tesla_stock_aeb = false;
-
-static void tesla_rx_hook(const CANPacket_t *to_push) {
- int bus = GET_BUS(to_push);
- int addr = GET_ADDR(to_push);
-
- if (!tesla_powertrain) {
- if((!tesla_raven && (addr == 0x370) && (bus == 0)) || (tesla_raven && (addr == 0x131) && (bus == 2))) {
- // Steering angle: (0.1 * val) - 819.2 in deg.
- // Store it 1/10 deg to match steering request
- int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
- update_sample(&angle_meas, angle_meas_new);
- }
- }
-
- if(bus == 0) {
- if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
- // Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
- float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
- vehicle_moving = ABS(speed) > 0.1;
- UPDATE_VEHICLE_SPEED(speed);
- }
-
- if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
- // Gas pressed
- gas_pressed = (GET_BYTE(to_push, 6) != 0U);
- }
-
- if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
- // Brake pressed
- brake_pressed = (((GET_BYTE(to_push, 0) & 0x0CU) >> 2) != 1U);
- }
-
- if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
- // Cruise state
- int cruise_state = (GET_BYTE(to_push, 1) >> 4);
- bool cruise_engaged = (cruise_state == 2) || // ENABLED
- (cruise_state == 3) || // STANDSTILL
- (cruise_state == 4) || // OVERRIDE
- (cruise_state == 6) || // PRE_FAULT
- (cruise_state == 7); // PRE_CANCEL
- pcm_cruise_check(cruise_engaged);
- }
- }
-
- if (bus == 2) {
- int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
- if (tesla_longitudinal && (addr == das_control_addr)) {
- // "AEB_ACTIVE"
- tesla_stock_aeb = ((GET_BYTE(to_push, 2) & 0x03U) == 1U);
- }
- }
-
- if (tesla_powertrain) {
- // 0x2bf: DAS_control should not be received on bus 0
- generic_rx_checks((addr == 0x2bf) && (bus == 0));
- } else {
- // 0x488: DAS_steeringControl should not be received on bus 0
- generic_rx_checks((addr == 0x488) && (bus == 0));
- }
-
-}
-
-
-static bool tesla_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits TESLA_STEERING_LIMITS = {
- .angle_deg_to_can = 10,
- .angle_rate_up_lookup = {
- {0., 5., 15.},
- {10., 1.6, .3}
- },
- .angle_rate_down_lookup = {
- {0., 5., 15.},
- {10., 7.0, .8}
- },
- };
-
- const LongitudinalLimits TESLA_LONG_LIMITS = {
- .max_accel = 425, // 2. m/s^2
- .min_accel = 287, // -3.52 m/s^2 // TODO: limit to -3.48
- .inactive_accel = 375, // 0. m/s^2
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
- bool violation = false;
-
- if(!tesla_powertrain && (addr == 0x488)) {
- // Steering control: (0.1 * val) - 1638.35 in deg.
- // We use 1/10 deg as a unit here
- int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7FU) << 8) | GET_BYTE(to_send, 1));
- int desired_angle = raw_angle_can - 16384;
- int steer_control_type = GET_BYTE(to_send, 2) >> 6;
- bool steer_control_enabled = (steer_control_type != 0) && // NONE
- (steer_control_type != 3); // DISABLED
-
- if (steer_angle_cmd_checks(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS)) {
- violation = true;
- }
- }
-
- if (!tesla_powertrain && (addr == 0x45)) {
- // No button other than cancel can be sent by us
- int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU);
- if (control_lever_status != 1) {
- violation = true;
- }
- }
-
- if(addr == (tesla_powertrain ? 0x2bf : 0x2b9)) {
- // DAS_control: longitudinal control message
- if (tesla_longitudinal) {
- // No AEB events may be sent by openpilot
- int aeb_event = GET_BYTE(to_send, 2) & 0x03U;
- if (aeb_event != 0) {
- violation = true;
- }
-
- // Don't send messages when the stock AEB system is active
- if (tesla_stock_aeb) {
- violation = true;
- }
-
- // Don't allow any acceleration limits above the safety limits
- int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1FU) << 4) | (GET_BYTE(to_send, 5) >> 4);
- int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3);
- violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS);
- violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS);
- } else {
- violation = true;
- }
- }
-
- if (violation) {
- tx = false;
- }
-
- return tx;
-}
-
-static int tesla_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- if(bus_num == 0) {
- // Chassis/PT to autopilot
- bus_fwd = 2;
- }
-
- if(bus_num == 2) {
- // Autopilot to chassis/PT
- int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
-
- bool block_msg = false;
- if (!tesla_powertrain && (addr == 0x488)) {
- block_msg = true;
- }
-
- if (tesla_longitudinal && (addr == das_control_addr) && !tesla_stock_aeb) {
- block_msg = true;
- }
-
- if(!block_msg) {
- bus_fwd = 0;
- }
- }
-
- return bus_fwd;
-}
-
-static safety_config tesla_init(uint16_t param) {
- const int TESLA_FLAG_POWERTRAIN = 1;
- const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
- const int TESLA_FLAG_RAVEN = 4;
-
- static const CanMsg TESLA_TX_MSGS[] = {
- {0x488, 0, 4}, // DAS_steeringControl
- {0x45, 0, 8}, // STW_ACTN_RQ
- {0x45, 2, 8}, // STW_ACTN_RQ
- {0x2b9, 0, 8}, // DAS_control
- };
-
- static const CanMsg TESLA_PT_TX_MSGS[] = {
- {0x2bf, 0, 8}, // DAS_control
- };
-
- tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
- tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
- tesla_raven = GET_FLAG(param, TESLA_FLAG_RAVEN);
-
- tesla_stock_aeb = false;
-
- safety_config ret;
- if (tesla_powertrain) {
- static RxCheck tesla_pt_rx_checks[] = {
- {.msg = {{0x106, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
- {.msg = {{0x116, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
- {.msg = {{0x1f8, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
- {.msg = {{0x2bf, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
- {.msg = {{0x256, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
- };
-
- ret = BUILD_SAFETY_CFG(tesla_pt_rx_checks, TESLA_PT_TX_MSGS);
- } else if (tesla_raven) {
- static RxCheck tesla_raven_rx_checks[] = {
- {.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
- {.msg = {{0x131, 2, 8, .frequency = 100U}, { 0 }, { 0 }}}, // EPAS3P_sysStatus
- {.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
- {.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
- {.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
- {.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
- {.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState
- };
-
- ret = BUILD_SAFETY_CFG(tesla_raven_rx_checks, TESLA_TX_MSGS);
- } else {
- static RxCheck tesla_rx_checks[] = {
- {.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
- {.msg = {{0x370, 0, 8, .frequency = 25U}, { 0 }, { 0 }}}, // EPAS_sysStatus
- {.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
- {.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
- {.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
- {.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
- {.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState
- };
-
- ret = BUILD_SAFETY_CFG(tesla_rx_checks, TESLA_TX_MSGS);
- }
- return ret;
-}
-
-const safety_hooks tesla_hooks = {
- .init = tesla_init,
- .rx = tesla_rx_hook,
- .tx = tesla_tx_hook,
- .fwd = tesla_fwd_hook,
-};
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
deleted file mode 100644
index 7008bf8419..0000000000
--- a/board/safety/safety_toyota.h
+++ /dev/null
@@ -1,413 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-
-// Stock longitudinal
-#define TOYOTA_BASE_TX_MSGS \
- {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + ACC & PCM cancel cmds */ \
-
-#define TOYOTA_COMMON_TX_MSGS \
- TOYOTA_BASE_TX_MSGS \
- {0x2E4, 0, 5}, \
-
-#define TOYOTA_COMMON_SECOC_TX_MSGS \
- TOYOTA_BASE_TX_MSGS \
- {0x2E4, 0, 8}, {0x131, 0, 8}, \
-
-#define TOYOTA_COMMON_LONG_TX_MSGS \
- TOYOTA_COMMON_TX_MSGS \
- {0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, /* DSU bus 0 */ \
- {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \
- {0x411, 0, 8}, /* PCS_HUD */ \
- {0x750, 0, 8}, /* radar diagnostic address */ \
-
-#define TOYOTA_COMMON_RX_CHECKS(lta) \
- {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \
- {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \
- {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, \
- {0x176, 0, 8, .check_checksum = true, .frequency = 32U}, { 0 }}}, \
- {.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U}, \
- {0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \
- {0x226, 0, 8, .check_checksum = false, .frequency = 40U}}}, \
-
-static bool toyota_secoc = false;
-static bool toyota_alt_brake = false;
-static bool toyota_stock_longitudinal = false;
-static bool toyota_lta = false;
-static int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
-
-static uint32_t toyota_compute_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
- int len = GET_LEN(to_push);
- uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len);
- for (int i = 0; i < (len - 1); i++) {
- checksum += (uint8_t)GET_BYTE(to_push, i);
- }
- return checksum;
-}
-
-static uint32_t toyota_get_checksum(const CANPacket_t *to_push) {
- int checksum_byte = GET_LEN(to_push) - 1U;
- return (uint8_t)(GET_BYTE(to_push, checksum_byte));
-}
-
-static bool toyota_get_quality_flag_valid(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- bool valid = false;
- if (addr == 0x260) {
- valid = !GET_BIT(to_push, 3U); // STEER_ANGLE_INITIALIZING
- }
- return valid;
-}
-
-static void toyota_rx_hook(const CANPacket_t *to_push) {
- const int TOYOTA_LTA_MAX_ANGLE = 1657; // EPS only accepts up to 94.9461
-
- if (GET_BUS(to_push) == 0U) {
- int addr = GET_ADDR(to_push);
-
- // get eps motor torque (0.66 factor in dbc)
- if (addr == 0x260) {
- int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
- torque_meas_new = to_signed(torque_meas_new, 16);
-
- // scale by dbc_factor
- torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
-
- // update array of sample
- update_sample(&torque_meas, torque_meas_new);
-
- // increase torque_meas by 1 to be conservative on rounding
- torque_meas.min--;
- torque_meas.max++;
-
- // driver torque for angle limiting
- int torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
- torque_driver_new = to_signed(torque_driver_new, 16);
- update_sample(&torque_driver, torque_driver_new);
-
- // LTA request angle should match current angle while inactive, clipped to max accepted angle.
- // note that angle can be relative to init angle on some TSS2 platforms, LTA has the same offset
- bool steer_angle_initializing = GET_BIT(to_push, 3U);
- if (!steer_angle_initializing) {
- int angle_meas_new = (GET_BYTE(to_push, 3) << 8U) | GET_BYTE(to_push, 4);
- angle_meas_new = CLAMP(to_signed(angle_meas_new, 16), -TOYOTA_LTA_MAX_ANGLE, TOYOTA_LTA_MAX_ANGLE);
- update_sample(&angle_meas, angle_meas_new);
- }
- }
-
- // enter controls on rising edge of ACC, exit controls on ACC off
- // exit controls on rising edge of gas press, if not alternative experience
- // exit controls on rising edge of brake press
- if (toyota_secoc) {
- if (addr == 0x176) {
- bool cruise_engaged = GET_BIT(to_push, 5U); // PCM_CRUISE.CRUISE_ACTIVE
- pcm_cruise_check(cruise_engaged);
- }
- if (addr == 0x116) {
- gas_pressed = GET_BYTE(to_push, 1) != 0U; // GAS_PEDAL.GAS_PEDAL_USER
- }
- if (addr == 0x101) {
- brake_pressed = GET_BIT(to_push, 3U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_rav4_prime_generated.dbc)
- }
- } else {
- if (addr == 0x1D2) {
- bool cruise_engaged = GET_BIT(to_push, 5U); // PCM_CRUISE.CRUISE_ACTIVE
- pcm_cruise_check(cruise_engaged);
- gas_pressed = !GET_BIT(to_push, 4U); // PCM_CRUISE.GAS_RELEASED
- }
- if (!toyota_alt_brake && (addr == 0x226)) {
- brake_pressed = GET_BIT(to_push, 37U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_nodsu_pt_generated.dbc)
- }
- if (toyota_alt_brake && (addr == 0x224)) {
- brake_pressed = GET_BIT(to_push, 5U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_new_mc_pt_generated.dbc)
- }
- }
-
- // sample speed
- if (addr == 0xaa) {
- int speed = 0;
- // sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
- for (uint8_t i = 0U; i < 8U; i += 2U) {
- int wheel_speed = (GET_BYTE(to_push, i) << 8U) | GET_BYTE(to_push, (i + 1U));
- speed += wheel_speed - 6767;
- }
- // check that all wheel speeds are at zero value
- vehicle_moving = speed != 0;
-
- UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 / 3.6);
- }
-
- bool stock_ecu_detected = addr == 0x2E4; // STEERING_LKA
- if (!toyota_stock_longitudinal && (addr == 0x343)) {
- stock_ecu_detected = true; // ACC_CONTROL
- }
- generic_rx_checks(stock_ecu_detected);
- }
-}
-
-static bool toyota_tx_hook(const CANPacket_t *to_send) {
- const SteeringLimits TOYOTA_STEERING_LIMITS = {
- .max_steer = 1500,
- .max_rate_up = 15, // ramp up slow
- .max_rate_down = 25, // ramp down fast
- .max_torque_error = 350, // max torque cmd in excess of motor torque
- .max_rt_delta = 450, // the real time limit is 1800/sec, a 20% buffer
- .max_rt_interval = 250000,
- .type = TorqueMotorLimited,
-
- // the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
- // we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
- .min_valid_request_frames = 18,
- .max_invalid_request_frames = 1,
- .min_valid_request_rt_interval = 170000, // 170ms; a ~10% buffer on cutting every 19 frames
- .has_steer_req_tolerance = true,
-
- // LTA angle limits
- // factor for STEER_TORQUE_SENSOR->STEER_ANGLE and STEERING_LTA->STEER_ANGLE_CMD (1 / 0.0573)
- .angle_deg_to_can = 17.452007,
- .angle_rate_up_lookup = {
- {5., 25., 25.},
- {0.3, 0.15, 0.15}
- },
- .angle_rate_down_lookup = {
- {5., 25., 25.},
- {0.36, 0.26, 0.26}
- },
- };
-
- const int TOYOTA_LTA_MAX_MEAS_TORQUE = 1500;
- const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
-
- // longitudinal limits
- const LongitudinalLimits TOYOTA_LONG_LIMITS = {
- .max_accel = 2000, // 2.0 m/s2
- .min_accel = -3500, // -3.5 m/s2
- };
-
- bool tx = true;
- int addr = GET_ADDR(to_send);
- int bus = GET_BUS(to_send);
-
- // Check if msg is sent on BUS 0
- if (bus == 0) {
- // ACCEL: safety check on byte 1-2
- if (addr == 0x343) {
- int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
- desired_accel = to_signed(desired_accel, 16);
-
- bool violation = false;
- violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
-
- // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
- if (toyota_stock_longitudinal) {
- bool cancel_req = GET_BIT(to_send, 24U);
- if (!cancel_req) {
- violation = true;
- }
- if (desired_accel != TOYOTA_LONG_LIMITS.inactive_accel) {
- violation = true;
- }
- }
-
- if (violation) {
- tx = false;
- }
- }
-
- // AEB: block all actuation. only used when DSU is unplugged
- if (addr == 0x283) {
- // only allow the checksum, which is the last byte
- bool block = (GET_BYTES(to_send, 0, 4) != 0U) || (GET_BYTE(to_send, 4) != 0U) || (GET_BYTE(to_send, 5) != 0U);
- if (block) {
- tx = false;
- }
- }
-
- // STEERING_LTA angle steering check
- if (addr == 0x191) {
- // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
- bool lta_request = GET_BIT(to_send, 0U);
- bool lta_request2 = GET_BIT(to_send, 25U);
- int torque_wind_down = GET_BYTE(to_send, 5);
- int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
- lta_angle = to_signed(lta_angle, 16);
-
- bool steer_control_enabled = lta_request || lta_request2;
- if (!toyota_lta) {
- // using torque (LKA), block LTA msgs with actuation requests
- if (steer_control_enabled || (lta_angle != 0) || (torque_wind_down != 0)) {
- tx = false;
- }
- } else {
- // check angle rate limits and inactive angle
- if (steer_angle_cmd_checks(lta_angle, steer_control_enabled, TOYOTA_STEERING_LIMITS)) {
- tx = false;
- }
-
- if (lta_request != lta_request2) {
- tx = false;
- }
-
- // TORQUE_WIND_DOWN is gated on steer request
- if (!steer_control_enabled && (torque_wind_down != 0)) {
- tx = false;
- }
-
- // TORQUE_WIND_DOWN can only be no or full torque
- if ((torque_wind_down != 0) && (torque_wind_down != 100)) {
- tx = false;
- }
-
- // check if we should wind down torque
- int driver_torque = MIN(ABS(torque_driver.min), ABS(torque_driver.max));
- if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) {
- tx = false;
- }
-
- int eps_torque = MIN(ABS(torque_meas.min), ABS(torque_meas.max));
- if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
- tx = false;
- }
- }
- }
-
- // STEERING_LTA_2 angle steering check (SecOC)
- if (toyota_secoc && (addr == 0x131)) {
- // SecOC cars block any form of LTA actuation for now
- bool lta_request = GET_BIT(to_send, 3U); // STEERING_LTA_2.STEER_REQUEST
- bool lta_request2 = GET_BIT(to_send, 0U); // STEERING_LTA_2.STEER_REQUEST_2
- int lta_angle_msb = GET_BYTE(to_send, 2); // STEERING_LTA_2.STEER_ANGLE_CMD (MSB)
- int lta_angle_lsb = GET_BYTE(to_send, 3); // STEERING_LTA_2.STEER_ANGLE_CMD (LSB)
-
- bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0);
- if (actuation) {
- tx = false;
- }
- }
-
- // STEER: safety check on bytes 2-3
- if (addr == 0x2E4) {
- int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
- desired_torque = to_signed(desired_torque, 16);
- bool steer_req = GET_BIT(to_send, 0U);
- // When using LTA (angle control), assert no actuation on LKA message
- if (!toyota_lta) {
- if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_STEERING_LIMITS)) {
- tx = false;
- }
- } else {
- if ((desired_torque != 0) || steer_req) {
- tx = false;
- }
- }
- }
- }
-
- // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
- if (addr == 0x750) {
- // this address is sub-addressed. only allow tester present to radar (0xF)
- bool invalid_uds_msg = (GET_BYTES(to_send, 0, 4) != 0x003E020FU) || (GET_BYTES(to_send, 4, 4) != 0x0U);
- if (invalid_uds_msg) {
- tx = 0;
- }
- }
-
- return tx;
-}
-
-static safety_config toyota_init(uint16_t param) {
- static const CanMsg TOYOTA_TX_MSGS[] = {
- TOYOTA_COMMON_TX_MSGS
- };
-
- static const CanMsg TOYOTA_SECOC_TX_MSGS[] = {
- TOYOTA_COMMON_SECOC_TX_MSGS
- };
-
- static const CanMsg TOYOTA_LONG_TX_MSGS[] = {
- TOYOTA_COMMON_LONG_TX_MSGS
- };
-
- // safety param flags
- // first byte is for EPS factor, second is for flags
- const uint32_t TOYOTA_PARAM_OFFSET = 8U;
- const uint32_t TOYOTA_EPS_FACTOR = (1UL << TOYOTA_PARAM_OFFSET) - 1U;
- const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET;
- const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
- const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
-
-#ifdef ALLOW_DEBUG
- const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
- toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC);
-#endif
-
- toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
- toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
- toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
- toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
-
- safety_config ret;
- if (toyota_stock_longitudinal) {
- if (toyota_secoc) {
- SET_TX_MSGS(TOYOTA_SECOC_TX_MSGS, ret);
- } else {
- SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
- }
- } else {
- SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
- }
-
- if (toyota_lta) {
- // Check the quality flag for angle measurement when using LTA, since it's not set on TSS-P cars
- static RxCheck toyota_lta_rx_checks[] = {
- TOYOTA_COMMON_RX_CHECKS(true)
- };
-
- SET_RX_CHECKS(toyota_lta_rx_checks, ret);
- } else {
- static RxCheck toyota_lka_rx_checks[] = {
- TOYOTA_COMMON_RX_CHECKS(false)
- };
-
- SET_RX_CHECKS(toyota_lka_rx_checks, ret);
- }
-
- return ret;
-}
-
-static int toyota_fwd_hook(int bus_num, int addr) {
-
- int bus_fwd = -1;
-
- if (bus_num == 0) {
- bus_fwd = 2;
- }
-
- if (bus_num == 2) {
- // block stock lkas messages and stock acc messages (if OP is doing ACC)
- // in TSS2, 0x191 is LTA which we need to block to avoid controls collision
- bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
- // on SecOC cars 0x131 is also LTA
- is_lkas_msg |= toyota_secoc && (addr == 0x131);
- // in TSS2 the camera does ACC as well, so filter 0x343
- bool is_acc_msg = (addr == 0x343);
- bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
- if (!block_msg) {
- bus_fwd = 0;
- }
- }
-
- return bus_fwd;
-}
-
-const safety_hooks toyota_hooks = {
- .init = toyota_init,
- .rx = toyota_rx_hook,
- .tx = toyota_tx_hook,
- .fwd = toyota_fwd_hook,
- .get_checksum = toyota_get_checksum,
- .compute_checksum = toyota_compute_checksum,
- .get_quality_flag_valid = toyota_get_quality_flag_valid,
-};
diff --git a/board/safety/safety_volkswagen_common.h b/board/safety/safety_volkswagen_common.h
deleted file mode 100644
index f94879212b..0000000000
--- a/board/safety/safety_volkswagen_common.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-extern const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL;
-const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL = 1;
-
-extern bool volkswagen_longitudinal;
-bool volkswagen_longitudinal = false;
-
-extern bool volkswagen_set_button_prev;
-bool volkswagen_set_button_prev = false;
-
-extern bool volkswagen_resume_button_prev;
-bool volkswagen_resume_button_prev = false;
diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
deleted file mode 100644
index 40f7cbccc9..0000000000
--- a/board/safety/safety_volkswagen_mqb.h
+++ /dev/null
@@ -1,302 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-#include "safety_volkswagen_common.h"
-
-#define MSG_ESP_19 0x0B2 // RX from ABS, for wheel speeds
-#define MSG_LH_EPS_03 0x09F // RX from EPS, for driver steering torque
-#define MSG_ESP_05 0x106 // RX from ABS, for brake switch state
-#define MSG_TSK_06 0x120 // RX from ECU, for ACC status from drivetrain coordinator
-#define MSG_MOTOR_20 0x121 // RX from ECU, for driver throttle input
-#define MSG_ACC_06 0x122 // TX by OP, ACC control instructions to the drivetrain coordinator
-#define MSG_HCA_01 0x126 // TX by OP, Heading Control Assist steering torque
-#define MSG_GRA_ACC_01 0x12B // TX by OP, ACC control buttons for cancel/resume
-#define MSG_ACC_07 0x12E // TX by OP, ACC control instructions to the drivetrain coordinator
-#define MSG_ACC_02 0x30C // TX by OP, ACC HUD data to the instrument cluster
-#define MSG_MOTOR_14 0x3BE // RX from ECU, for brake switch status
-#define MSG_LDW_02 0x397 // TX by OP, Lane line recognition and text alerts
-
-static uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
-static bool volkswagen_mqb_brake_pedal_switch = false;
-static bool volkswagen_mqb_brake_pressure_detected = false;
-
-static uint32_t volkswagen_mqb_get_checksum(const CANPacket_t *to_push) {
- return (uint8_t)GET_BYTE(to_push, 0);
-}
-
-static uint8_t volkswagen_mqb_get_counter(const CANPacket_t *to_push) {
- // MQB message counters are consistently found at LSB 8.
- return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
-}
-
-static uint32_t volkswagen_mqb_compute_crc(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
- int len = GET_LEN(to_push);
-
- // This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation
- // of this algorithm for a version with explanatory comments.
-
- uint8_t crc = 0xFFU;
- for (int i = 1; i < len; i++) {
- crc ^= (uint8_t)GET_BYTE(to_push, i);
- crc = volkswagen_crc8_lut_8h2f[crc];
- }
-
- uint8_t counter = volkswagen_mqb_get_counter(to_push);
- if (addr == MSG_LH_EPS_03) {
- crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
- } else if (addr == MSG_ESP_05) {
- crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
- } else if (addr == MSG_TSK_06) {
- crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
- } else if (addr == MSG_MOTOR_20) {
- crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
- } else if (addr == MSG_GRA_ACC_01) {
- crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
- } else {
- // Undefined CAN message, CRC check expected to fail
- }
- crc = volkswagen_crc8_lut_8h2f[crc];
-
- return (uint8_t)(crc ^ 0xFFU);
-}
-
-static safety_config volkswagen_mqb_init(uint16_t param) {
- // Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
- static const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0, 8}, {MSG_GRA_ACC_01, 2, 8},
- {MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8}};
-
- static const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8},
- {MSG_ACC_02, 0, 8}, {MSG_ACC_06, 0, 8}, {MSG_ACC_07, 0, 8}};
-
- static RxCheck volkswagen_mqb_rx_checks[] = {
- {.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{MSG_LH_EPS_03, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{MSG_MOTOR_14, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 10U}, { 0 }, { 0 }}},
- {.msg = {{MSG_GRA_ACC_01, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 33U}, { 0 }, { 0 }}},
- };
-
- UNUSED(param);
-
- volkswagen_set_button_prev = false;
- volkswagen_resume_button_prev = false;
- volkswagen_mqb_brake_pedal_switch = false;
- volkswagen_mqb_brake_pressure_detected = false;
-
-#ifdef ALLOW_DEBUG
- volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
-#endif
- gen_crc_lookup_table_8(0x2F, volkswagen_crc8_lut_8h2f);
- return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_LONG_TX_MSGS) : \
- BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_STOCK_TX_MSGS);
-}
-
-static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) {
- if (GET_BUS(to_push) == 0U) {
- int addr = GET_ADDR(to_push);
-
- // Update in-motion state by sampling wheel speeds
- if (addr == MSG_ESP_19) {
- // sum 4 wheel speeds
- int speed = 0;
- for (uint8_t i = 0U; i < 8U; i += 2U) {
- int wheel_speed = GET_BYTE(to_push, i) | (GET_BYTE(to_push, i + 1U) << 8);
- speed += wheel_speed;
- }
- // Check all wheel speeds for any movement
- vehicle_moving = speed > 0;
- }
-
- // Update driver input torque samples
- // Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
- // Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
- if (addr == MSG_LH_EPS_03) {
- int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1FU) << 8);
- int sign = (GET_BYTE(to_push, 6) & 0x80U) >> 7;
- if (sign == 1) {
- torque_driver_new *= -1;
- }
- update_sample(&torque_driver, torque_driver_new);
- }
-
- if (addr == MSG_TSK_06) {
- // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
- // Always exit controls on main switch off
- // Signal: TSK_06.TSK_Status
- int acc_status = (GET_BYTE(to_push, 3) & 0x7U);
- bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
- acc_main_on = cruise_engaged || (acc_status == 2);
-
- if (!volkswagen_longitudinal) {
- pcm_cruise_check(cruise_engaged);
- }
-
- if (!acc_main_on) {
- controls_allowed = false;
- }
- }
-
- if (addr == MSG_GRA_ACC_01) {
- // If using openpilot longitudinal, enter controls on falling edge of Set or Resume with main switch on
- // Signal: GRA_ACC_01.GRA_Tip_Setzen
- // Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
- if (volkswagen_longitudinal) {
- bool set_button = GET_BIT(to_push, 16U);
- bool resume_button = GET_BIT(to_push, 19U);
- if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
- controls_allowed = acc_main_on;
- }
- volkswagen_set_button_prev = set_button;
- volkswagen_resume_button_prev = resume_button;
- }
- // Always exit controls on rising edge of Cancel
- // Signal: GRA_ACC_01.GRA_Abbrechen
- if (GET_BIT(to_push, 13U)) {
- controls_allowed = false;
- }
- }
-
- // Signal: Motor_20.MO_Fahrpedalrohwert_01
- if (addr == MSG_MOTOR_20) {
- gas_pressed = ((GET_BYTES(to_push, 0, 4) >> 12) & 0xFFU) != 0U;
- }
-
- // Signal: Motor_14.MO_Fahrer_bremst (ECU detected brake pedal switch F63)
- if (addr == MSG_MOTOR_14) {
- volkswagen_mqb_brake_pedal_switch = (GET_BYTE(to_push, 3) & 0x10U) >> 4;
- }
-
- // Signal: ESP_05.ESP_Fahrer_bremst (ESP detected driver brake pressure above platform specified threshold)
- if (addr == MSG_ESP_05) {
- volkswagen_mqb_brake_pressure_detected = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
- }
-
- brake_pressed = volkswagen_mqb_brake_pedal_switch || volkswagen_mqb_brake_pressure_detected;
-
- generic_rx_checks((addr == MSG_HCA_01));
- }
-}
-
-static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
- // lateral limits
- const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
- .max_steer = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
- .max_rt_delta = 75, // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
- .max_rt_interval = 250000, // 250ms between real time checks
- .max_rate_up = 4, // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
- .max_rate_down = 10, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
- .driver_torque_allowance = 80,
- .driver_torque_factor = 3,
- .type = TorqueDriverLimited,
- };
-
- // longitudinal limits
- // acceleration in m/s2 * 1000 to avoid floating point math
- const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
- .max_accel = 2000,
- .min_accel = -3500,
- .inactive_accel = 3010, // VW sends one increment above the max range when inactive
- };
-
- int addr = GET_ADDR(to_send);
- bool tx = true;
-
- // Safety check for HCA_01 Heading Control Assist torque
- // Signal: HCA_01.HCA_01_LM_Offset (absolute torque)
- // Signal: HCA_01.HCA_01_LM_OffSign (direction)
- if (addr == MSG_HCA_01) {
- int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x1U) << 8);
- bool sign = GET_BIT(to_send, 31U);
- if (sign) {
- desired_torque *= -1;
- }
-
- bool steer_req = GET_BIT(to_send, 30U);
-
- if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MQB_STEERING_LIMITS)) {
- tx = false;
- }
- }
-
- // Safety check for both ACC_06 and ACC_07 acceleration requests
- // To avoid floating point math, scale upward and compare to pre-scaled safety m/s2 boundaries
- if ((addr == MSG_ACC_06) || (addr == MSG_ACC_07)) {
- bool violation = false;
- int desired_accel = 0;
-
- if (addr == MSG_ACC_06) {
- // Signal: ACC_06.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22)
- desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
- } else {
- // Signal: ACC_07.ACC_Folgebeschl (acceleration in m/s2, scale 0.03, offset -4.6)
- int secondary_accel = (GET_BYTE(to_send, 4) * 30U) - 4600U;
- violation |= (secondary_accel != 3020); // enforce always inactive (one increment above max range) at this time
- // Signal: ACC_07.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22)
- desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U;
- }
-
- violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
-
- if (violation) {
- tx = false;
- }
- }
-
- // 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_ACC_01) && !controls_allowed) {
- // disallow resume and set: bits 16 and 19
- if ((GET_BYTE(to_send, 2) & 0x9U) != 0U) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static int volkswagen_mqb_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- switch (bus_num) {
- case 0:
- if (addr == MSG_LH_EPS_03) {
- // openpilot needs to replace apparent driver steering input torque to pacify VW Emergency Assist
- bus_fwd = -1;
- } else {
- // Forward all remaining traffic from Extended CAN onward
- bus_fwd = 2;
- }
- break;
- case 2:
- if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
- // openpilot takes over LKAS steering control and related HUD messages from the camera
- bus_fwd = -1;
- } else if (volkswagen_longitudinal && ((addr == MSG_ACC_02) || (addr == MSG_ACC_06) || (addr == MSG_ACC_07))) {
- // openpilot takes over acceleration/braking control and related HUD messages from the stock ACC radar
- 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;
-}
-
-const safety_hooks volkswagen_mqb_hooks = {
- .init = volkswagen_mqb_init,
- .rx = volkswagen_mqb_rx_hook,
- .tx = volkswagen_mqb_tx_hook,
- .fwd = volkswagen_mqb_fwd_hook,
- .get_counter = volkswagen_mqb_get_counter,
- .get_checksum = volkswagen_mqb_get_checksum,
- .compute_checksum = volkswagen_mqb_compute_crc,
-};
diff --git a/board/safety/safety_volkswagen_pq.h b/board/safety/safety_volkswagen_pq.h
deleted file mode 100644
index 75979a5149..0000000000
--- a/board/safety/safety_volkswagen_pq.h
+++ /dev/null
@@ -1,259 +0,0 @@
-#pragma once
-
-#include "safety_declarations.h"
-#include "safety_volkswagen_common.h"
-
-#define MSG_LENKHILFE_3 0x0D0 // RX from EPS, for steering angle and driver steering torque
-#define MSG_HCA_1 0x0D2 // TX by OP, Heading Control Assist steering torque
-#define MSG_BREMSE_1 0x1A0 // RX from ABS, for ego speed
-#define MSG_MOTOR_2 0x288 // RX from ECU, for CC state and brake switch state
-#define MSG_ACC_SYSTEM 0x368 // TX by OP, longitudinal acceleration controls
-#define MSG_MOTOR_3 0x380 // RX from ECU, for driver throttle input
-#define MSG_GRA_NEU 0x38A // TX by OP, ACC control buttons for cancel/resume
-#define MSG_MOTOR_5 0x480 // RX from ECU, for ACC main switch state
-#define MSG_ACC_GRA_ANZEIGE 0x56A // TX by OP, ACC HUD
-#define MSG_LDW_1 0x5BE // TX by OP, Lane line recognition and text alerts
-
-static uint32_t volkswagen_pq_get_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
-
- return (uint32_t)GET_BYTE(to_push, (addr == MSG_MOTOR_5) ? 7 : 0);
-}
-
-static uint8_t volkswagen_pq_get_counter(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
- uint8_t counter = 0U;
-
- if (addr == MSG_LENKHILFE_3) {
- counter = (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
- } else if (addr == MSG_GRA_NEU) {
- counter = (uint8_t)(GET_BYTE(to_push, 2) & 0xF0U) >> 4;
- } else {
- }
-
- return counter;
-}
-
-static uint32_t volkswagen_pq_compute_checksum(const CANPacket_t *to_push) {
- int addr = GET_ADDR(to_push);
- int len = GET_LEN(to_push);
- uint8_t checksum = 0U;
- int checksum_byte = (addr == MSG_MOTOR_5) ? 7 : 0;
-
- // Simple XOR over the payload, except for the byte where the checksum lives.
- for (int i = 0; i < len; i++) {
- if (i != checksum_byte) {
- checksum ^= (uint8_t)GET_BYTE(to_push, i);
- }
- }
-
- return checksum;
-}
-
-static safety_config volkswagen_pq_init(uint16_t param) {
- // Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
- static const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8},
- {MSG_GRA_NEU, 0, 4}, {MSG_GRA_NEU, 2, 4}};
-
- static const CanMsg VOLKSWAGEN_PQ_LONG_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8},
- {MSG_ACC_SYSTEM, 0, 8}, {MSG_ACC_GRA_ANZEIGE, 0, 8}};
-
- static RxCheck volkswagen_pq_rx_checks[] = {
- {.msg = {{MSG_LENKHILFE_3, 0, 6, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{MSG_BREMSE_1, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{MSG_MOTOR_2, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{MSG_MOTOR_3, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{MSG_MOTOR_5, 0, 8, .check_checksum = true, .max_counter = 0U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{MSG_GRA_NEU, 0, 4, .check_checksum = true, .max_counter = 15U, .frequency = 30U}, { 0 }, { 0 }}},
- };
-
- UNUSED(param);
-
- volkswagen_set_button_prev = false;
- volkswagen_resume_button_prev = false;
-
-#ifdef ALLOW_DEBUG
- volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
-#endif
- return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_LONG_TX_MSGS) : \
- BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_STOCK_TX_MSGS);
-}
-
-static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) {
- if (GET_BUS(to_push) == 0U) {
- int addr = GET_ADDR(to_push);
-
- // Update in-motion state from speed value.
- // Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
- if (addr == MSG_BREMSE_1) {
- int speed = ((GET_BYTE(to_push, 2) & 0xFEU) >> 1) | (GET_BYTE(to_push, 3) << 7);
- vehicle_moving = speed > 0;
- }
-
- // Update driver input torque samples
- // Signal: Lenkhilfe_3.LH3_LM (absolute torque)
- // Signal: Lenkhilfe_3.LH3_LMSign (direction)
- if (addr == MSG_LENKHILFE_3) {
- int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3U) << 8);
- int sign = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
- if (sign == 1) {
- torque_driver_new *= -1;
- }
- update_sample(&torque_driver, torque_driver_new);
- }
-
- if (volkswagen_longitudinal) {
- if (addr == MSG_MOTOR_5) {
- // ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
- // Signal: Motor_5.GRA_Hauptschalter
- acc_main_on = GET_BIT(to_push, 50U);
- if (!acc_main_on) {
- controls_allowed = false;
- }
- }
-
- if (addr == MSG_GRA_NEU) {
- // If ACC main switch is on, enter controls on falling edge of Set or Resume
- // Signal: GRA_Neu.GRA_Neu_Setzen
- // Signal: GRA_Neu.GRA_Neu_Recall
- bool set_button = GET_BIT(to_push, 16U);
- bool resume_button = GET_BIT(to_push, 17U);
- if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
- controls_allowed = acc_main_on;
- }
- volkswagen_set_button_prev = set_button;
- volkswagen_resume_button_prev = resume_button;
- // Exit controls on rising edge of Cancel, override Set/Resume if present simultaneously
- // Signal: GRA_ACC_01.GRA_Abbrechen
- if (GET_BIT(to_push, 9U)) {
- controls_allowed = false;
- }
- }
- } else {
- if (addr == MSG_MOTOR_2) {
- // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
- // Signal: Motor_2.GRA_Status
- int acc_status = (GET_BYTE(to_push, 2) & 0xC0U) >> 6;
- bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
- pcm_cruise_check(cruise_engaged);
- }
- }
-
- // Signal: Motor_3.Fahrpedal_Rohsignal
- if (addr == MSG_MOTOR_3) {
- gas_pressed = (GET_BYTE(to_push, 2));
- }
-
- // Signal: Motor_2.Bremslichtschalter
- if (addr == MSG_MOTOR_2) {
- brake_pressed = (GET_BYTE(to_push, 2) & 0x1U);
- }
-
- generic_rx_checks((addr == MSG_HCA_1));
- }
-}
-
-static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
- // lateral limits
- const SteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = {
- .max_steer = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
- .max_rt_delta = 113, // 6 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 75 ; 125 * 1.5 for safety pad = 113
- .max_rt_interval = 250000, // 250ms between real time checks
- .max_rate_up = 6, // 3.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
- .max_rate_down = 10, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
- .driver_torque_factor = 3,
- .driver_torque_allowance = 80,
- .type = TorqueDriverLimited,
- };
-
- // longitudinal limits
- // acceleration in m/s2 * 1000 to avoid floating point math
- const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
- .max_accel = 2000,
- .min_accel = -3500,
- .inactive_accel = 3010, // VW sends one increment above the max range when inactive
- };
-
- int addr = GET_ADDR(to_send);
- bool tx = true;
-
- // Safety check for HCA_1 Heading Control Assist torque
- // Signal: HCA_1.LM_Offset (absolute torque)
- // Signal: HCA_1.LM_Offsign (direction)
- if (addr == MSG_HCA_1) {
- int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7FU) << 8);
- desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm
- int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
- if (sign == 1) {
- desired_torque *= -1;
- }
-
- uint32_t hca_status = ((GET_BYTE(to_send, 1) >> 4) & 0xFU);
- bool steer_req = ((hca_status == 5U) || (hca_status == 7U));
-
- if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_PQ_STEERING_LIMITS)) {
- tx = false;
- }
- }
-
- // Safety check for acceleration commands
- // To avoid floating point math, scale upward and compare to pre-scaled safety m/s2 boundaries
- if (addr == MSG_ACC_SYSTEM) {
- // Signal: ACC_System.ACS_Sollbeschl (acceleration in m/s2, scale 0.005, offset -7.22)
- int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
-
- if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
- tx = false;
- }
- }
-
- // 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) {
- // Signal: GRA_Neu.GRA_Neu_Setzen
- // Signal: GRA_Neu.GRA_Neu_Recall
- if (GET_BIT(to_send, 16U) || GET_BIT(to_send, 17U)) {
- tx = false;
- }
- }
-
- return tx;
-}
-
-static int volkswagen_pq_fwd_hook(int bus_num, int addr) {
- int bus_fwd = -1;
-
- switch (bus_num) {
- case 0:
- // Forward all traffic from the Extended CAN onward
- bus_fwd = 2;
- break;
- case 2:
- if ((addr == MSG_HCA_1) || (addr == MSG_LDW_1)) {
- // openpilot takes over LKAS steering control and related HUD messages from the camera
- bus_fwd = -1;
- } else if (volkswagen_longitudinal && ((addr == MSG_ACC_SYSTEM) || (addr == MSG_ACC_GRA_ANZEIGE))) {
- // openpilot takes over acceleration/braking control and related HUD messages from the stock ACC radar
- } 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;
-}
-
-const safety_hooks volkswagen_pq_hooks = {
- .init = volkswagen_pq_init,
- .rx = volkswagen_pq_rx_hook,
- .tx = volkswagen_pq_tx_hook,
- .fwd = volkswagen_pq_fwd_hook,
- .get_counter = volkswagen_pq_get_counter,
- .get_checksum = volkswagen_pq_get_checksum,
- .compute_checksum = volkswagen_pq_compute_checksum,
-};
From 096368b6772efebac7fa307415951ec398508047 Mon Sep 17 00:00:00 2001
From: Eric Brown <eric@ebrown.net>
Date: Wed, 4 Dec 2024 16:37:16 -0700
Subject: [PATCH 2/6] Move car-specific panda flags into opendbc
---
python/__init__.py | 42 ------------------------------------------
1 file changed, 42 deletions(-)
diff --git a/python/__init__.py b/python/__init__.py
index 88ccf897a1..5156ed3eb7 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -183,48 +183,6 @@ class Panda:
HARNESS_STATUS_NORMAL = 1
HARNESS_STATUS_FLIPPED = 2
- # first byte is for EPS scaling factor
- FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
- FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
- FLAG_TOYOTA_LTA = (4 << 8)
- FLAG_TOYOTA_SECOC = (8 << 8)
-
- FLAG_HONDA_ALT_BRAKE = 1
- FLAG_HONDA_BOSCH_LONG = 2
- FLAG_HONDA_NIDEC_ALT = 4
- FLAG_HONDA_RADARLESS = 8
-
- FLAG_HYUNDAI_EV_GAS = 1
- FLAG_HYUNDAI_HYBRID_GAS = 2
- FLAG_HYUNDAI_LONG = 4
- FLAG_HYUNDAI_CAMERA_SCC = 8
- FLAG_HYUNDAI_CANFD_HDA2 = 16
- FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
- FLAG_HYUNDAI_ALT_LIMITS = 64
- FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
-
- FLAG_TESLA_POWERTRAIN = 1
- FLAG_TESLA_LONG_CONTROL = 2
- FLAG_TESLA_RAVEN = 4
-
- FLAG_VOLKSWAGEN_LONG_CONTROL = 1
-
- FLAG_CHRYSLER_RAM_DT = 1
- FLAG_CHRYSLER_RAM_HD = 2
-
- FLAG_SUBARU_GEN2 = 1
- FLAG_SUBARU_LONG = 2
-
- FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 1
-
- FLAG_NISSAN_ALT_EPS_BUS = 1
-
- FLAG_GM_HW_CAM = 1
- FLAG_GM_HW_CAM_LONG = 2
-
- FLAG_FORD_LONG_CONTROL = 1
- FLAG_FORD_CANFD = 2
-
def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500, cli: bool = True):
self._disable_checks = disable_checks
From cbb774a143207bb75d2918c0ae9064de7203c602 Mon Sep 17 00:00:00 2001
From: Eric Brown <eric@ebrown.net>
Date: Wed, 4 Dec 2024 16:51:02 -0700
Subject: [PATCH 3/6] Move car-specific panda flags into opendbc
---
tests/hitl/2_health.py | 5 +--
tests/safety/test_chrysler.py | 6 ++--
tests/safety/test_ford.py | 7 +++--
tests/safety/test_gm.py | 6 ++--
tests/safety/test_honda.py | 13 ++++----
tests/safety/test_hyundai.py | 8 +++--
tests/safety/test_hyundai_canfd.py | 44 ++++++++++++++-------------
tests/safety/test_nissan.py | 4 ++-
tests/safety/test_subaru.py | 8 +++--
tests/safety/test_subaru_preglobal.py | 4 ++-
tests/safety/test_tesla.py | 8 +++--
tests/safety/test_toyota.py | 11 ++++---
tests/safety/test_volkswagen_mqb.py | 3 +-
tests/safety/test_volkswagen_pq.py | 4 ++-
tests/safety_replay/helpers.py | 5 +--
15 files changed, 80 insertions(+), 56 deletions(-)
diff --git a/tests/hitl/2_health.py b/tests/hitl/2_health.py
index 12c75f561d..03a065bba5 100644
--- a/tests/hitl/2_health.py
+++ b/tests/hitl/2_health.py
@@ -1,6 +1,7 @@
import time
import pytest
+from opendbc.car.hyundai.values import HyundaiPandaFlags
from panda import Panda
@@ -36,10 +37,10 @@ def test_hw_type(p):
def test_heartbeat(p, panda_jungle):
panda_jungle.set_ignition(True)
# TODO: add more cases here once the tests aren't super slow
- p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
+ p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
p.send_heartbeat()
assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
- assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
+ assert p.health()['safety_param'] == HyundaiPandaFlags.FLAG_HYUNDAI_LONG
# shouldn't do anything once we're in a car safety mode
p.set_heartbeat_disabled()
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index 5bbb6dd103..24ee934de3 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -1,5 +1,7 @@
#!/usr/bin/env python3
import unittest
+
+from opendbc.car.chrysler.values import ChryslerPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -89,7 +91,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
def setUp(self):
self.packer = CANPackerPanda("chrysler_ram_dt_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_DT)
+ self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_DT)
self.safety.init_tests()
def _speed_msg(self, speed):
@@ -113,7 +115,7 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
def setUp(self):
self.packer = CANPackerPanda("chrysler_ram_hd_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_HD)
+ self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_HD)
self.safety.init_tests()
def _speed_msg(self, speed):
diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
index a97e26430b..0bccfc864d 100755
--- a/tests/safety/test_ford.py
+++ b/tests/safety/test_ford.py
@@ -4,6 +4,7 @@
import unittest
import panda.tests.safety.common as common
+from opendbc.car.ford.values import FordPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
@@ -381,7 +382,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_CANFD)
+ self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_CANFD)
self.safety.init_tests()
@@ -457,7 +458,7 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL)
+ self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_LONG_CONTROL)
self.safety.init_tests()
@@ -472,7 +473,7 @@ class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL | Panda.FLAG_FORD_CANFD)
+ self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_LONG_CONTROL | FordPandaFlags.FLAG_FORD_CANFD)
self.safety.init_tests()
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index c6c5ac6b3a..aa83fdafe7 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -1,5 +1,7 @@
#!/usr/bin/env python3
import unittest
+
+from opendbc.car.gm.values import GMPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -187,7 +189,7 @@ def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM)
+ self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM)
self.safety.init_tests()
def test_buttons(self):
@@ -219,7 +221,7 @@ def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
+ self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM | GMPandaFlags.FLAG_GM_HW_CAM_LONG)
self.safety.init_tests()
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 082199c02b..08b6eb4111 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -2,6 +2,7 @@
import unittest
import numpy as np
+from opendbc.car.honda.values import HondaPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -357,7 +358,7 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
def setUp(self):
self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
+ self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, HondaPandaFlags.FLAG_HONDA_NIDEC_ALT)
self.safety.init_tests()
def _acc_state_msg(self, main_on):
@@ -422,7 +423,7 @@ class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
"""
def setUp(self):
super().setUp()
- self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_ALT_BRAKE)
+ self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
self.safety.init_tests()
def _user_brake_msg(self, brake):
@@ -471,7 +472,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
def setUp(self):
super().setUp()
- self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG)
+ self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
self.safety.init_tests()
def _send_gas_brake_msg(self, gas, accel):
@@ -531,7 +532,7 @@ class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessS
def setUp(self):
super().setUp()
- self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS)
+ self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS)
self.safety.init_tests()
@@ -542,7 +543,7 @@ class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRa
def setUp(self):
super().setUp()
- self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_ALT_BRAKE)
+ self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
self.safety.init_tests()
@@ -556,7 +557,7 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
def setUp(self):
super().setUp()
- self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG)
+ self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
self.safety.init_tests()
def _accel_msg(self, accel):
diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
index 1bff99fa75..51386563d3 100755
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import random
import unittest
+
+from opendbc.car.hyundai.values import HyundaiPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -121,7 +123,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_ALT_LIMITS)
self.safety.init_tests()
@@ -132,7 +134,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC)
self.safety.init_tests()
@@ -178,7 +180,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py
index 7f280b6319..ef6b4ee9a0 100755
--- a/tests/safety/test_hyundai_canfd.py
+++ b/tests/safety/test_hyundai_canfd.py
@@ -1,6 +1,8 @@
#!/usr/bin/env python3
from parameterized import parameterized_class
import unittest
+
+from opendbc.car.hyundai.values import HyundaiPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -107,13 +109,13 @@ def setUp(self):
@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
- {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
- {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
- {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
+ {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+ {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+ {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
# Camera SCC
- {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
- {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
- {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
+ {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+ {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+ {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
])
class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
pass
@@ -121,13 +123,13 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
- {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
- {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
- {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
+ {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+ {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+ {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
# Camera SCC
- {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
- {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
- {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
+ {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+ {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+ {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
])
class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
@@ -136,7 +138,7 @@ class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
self.safety.init_tests()
def _button_msg(self, buttons, main_button=0, bus=1):
@@ -171,7 +173,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
self.safety.init_tests()
@@ -191,8 +193,8 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
- Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+ HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
self.safety.init_tests()
@@ -213,7 +215,7 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -227,9 +229,9 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
# Tests HDA1 longitudinal for ICE, hybrid, EV
@parameterized_class([
# Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
- {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
- {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
- {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
+ {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+ {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS},
+ {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS},
])
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
@@ -253,7 +255,7 @@ def setUpClass(cls):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
+ self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
diff --git a/tests/safety/test_nissan.py b/tests/safety/test_nissan.py
index 4c83ca329e..c5dda2cca9 100755
--- a/tests/safety/test_nissan.py
+++ b/tests/safety/test_nissan.py
@@ -1,5 +1,7 @@
#!/usr/bin/env python3
import unittest
+
+from opendbc.car.nissan.values import NissanPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -88,7 +90,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
def setUp(self):
self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_ALT_EPS_BUS)
+ self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, NissanPandaFlags.FLAG_NISSAN_ALT_EPS_BUS)
self.safety.init_tests()
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 7d07f79aaf..2afbfe92fb 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import enum
import unittest
+
+from opendbc.car.subaru.values import SubaruPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -182,17 +184,17 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
- FLAGS = Panda.FLAG_SUBARU_GEN2
+ FLAGS = SubaruPandaFlags.FLAG_SUBARU_GEN2
TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)
class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
- FLAGS = Panda.FLAG_SUBARU_LONG
+ FLAGS = SubaruPandaFlags.FLAG_SUBARU_LONG
TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs(SUBARU_MAIN_BUS)
class TestSubaruGen2LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
- FLAGS = Panda.FLAG_SUBARU_LONG | Panda.FLAG_SUBARU_GEN2
+ FLAGS = SubaruPandaFlags.FLAG_SUBARU_LONG | SubaruPandaFlags.FLAG_SUBARU_GEN2
TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) + long_tx_msgs(SUBARU_ALT_BUS) + gen2_long_additional_tx_msgs()
def _rdbi_msg(self, did: int):
diff --git a/tests/safety/test_subaru_preglobal.py b/tests/safety/test_subaru_preglobal.py
index 06c4cdefc8..c555a34df6 100755
--- a/tests/safety/test_subaru_preglobal.py
+++ b/tests/safety/test_subaru_preglobal.py
@@ -1,5 +1,7 @@
#!/usr/bin/env python3
import unittest
+
+from opendbc.car.subaru.values import SubaruPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -62,7 +64,7 @@ def _pcm_status_msg(self, enable):
class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
- FLAGS = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
+ FLAGS = SubaruPandaFlags.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
DBC = "subaru_outback_2019_generated"
diff --git a/tests/safety/test_tesla.py b/tests/safety/test_tesla.py
index 9461ff68f9..f26c346d46 100755
--- a/tests/safety/test_tesla.py
+++ b/tests/safety/test_tesla.py
@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import unittest
import numpy as np
+
+from opendbc.car.tesla.values import TeslaPandaFlags
from panda import Panda
import panda.tests.safety.common as common
from panda.tests.libpanda import libpanda_py
@@ -112,7 +114,7 @@ class TestTeslaRavenSteeringSafety(TestTeslaSteeringSafety):
def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_RAVEN)
+ self.safety.set_safety_hooks(Panda.SAFETY_TESLA, TeslaPandaFlags.FLAG_TESLA_RAVEN)
self.safety.init_tests()
def _angle_meas_msg(self, angle: float):
@@ -165,7 +167,7 @@ class TestTeslaChassisLongitudinalSafety(TestTeslaLongitudinalSafety):
def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL)
+ self.safety.set_safety_hooks(Panda.SAFETY_TESLA, TeslaPandaFlags.FLAG_TESLA_LONG_CONTROL)
self.safety.init_tests()
@@ -177,7 +179,7 @@ class TestTeslaPTLongitudinalSafety(TestTeslaLongitudinalSafety):
def setUp(self):
self.packer = CANPackerPanda("tesla_powertrain")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN)
+ self.safety.set_safety_hooks(Panda.SAFETY_TESLA, TeslaPandaFlags.FLAG_TESLA_LONG_CONTROL | TeslaPandaFlags.FLAG_TESLA_POWERTRAIN)
self.safety.init_tests()
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index e60b29c5c2..a8200d61b7 100755
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -4,6 +4,7 @@
import unittest
import itertools
+from opendbc.car.toyota.values import ToyotaPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -166,7 +167,7 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_LTA)
+ self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_LTA)
self.safety.init_tests()
# Only allow LKA msgs with no actuation
@@ -268,7 +269,7 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
def setUp(self):
self.packer = CANPackerPanda("toyota_new_mc_pt_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_ALT_BRAKE)
+ self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_ALT_BRAKE)
self.safety.init_tests()
def _user_brake_msg(self, brake):
@@ -313,7 +314,7 @@ class TestToyotaStockLongitudinalTorque(TestToyotaStockLongitudinalBase, TestToy
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL)
+ self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL)
self.safety.init_tests()
@@ -322,7 +323,7 @@ class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyo
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_LTA)
+ self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL | ToyotaPandaFlags.FLAG_TOYOTA_LTA)
self.safety.init_tests()
@@ -335,7 +336,7 @@ class TestToyotaSecOcSafety(TestToyotaStockLongitudinalBase):
def setUp(self):
self.packer = CANPackerPanda("toyota_rav4_prime_generated")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_SECOC)
+ self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL | ToyotaPandaFlags.FLAG_TOYOTA_SECOC)
self.safety.init_tests()
# This platform also has alternate brake and PCM messages, but same naming in the DBC, so same packers work
diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py
index 276ee6c27d..6dd739d792 100755
--- a/tests/safety/test_volkswagen_mqb.py
+++ b/tests/safety/test_volkswagen_mqb.py
@@ -5,6 +5,7 @@
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
+from opendbc.car.volkswagen.values import VolkswagenPandaFlags
MAX_ACCEL = 2.0
MIN_ACCEL = -3.5
@@ -165,7 +166,7 @@ class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafety):
def setUp(self):
self.packer = CANPackerPanda("vw_mqb_2010")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL)
+ self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, VolkswagenPandaFlags.FLAG_VOLKSWAGEN_LONG_CONTROL)
self.safety.init_tests()
# stock cruise controls are entirely bypassed under openpilot longitudinal control
diff --git a/tests/safety/test_volkswagen_pq.py b/tests/safety/test_volkswagen_pq.py
index f2bc317868..c557e9a7d3 100755
--- a/tests/safety/test_volkswagen_pq.py
+++ b/tests/safety/test_volkswagen_pq.py
@@ -1,5 +1,7 @@
#!/usr/bin/env python3
import unittest
+
+from opendbc.car.volkswagen.values import VolkswagenPandaFlags
from panda import Panda
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
@@ -147,7 +149,7 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAcce
def setUp(self):
self.packer = CANPackerPanda("vw_golf_mk4")
self.safety = libpanda_py.libpanda
- self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL)
+ self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, VolkswagenPandaFlags.FLAG_VOLKSWAGEN_LONG_CONTROL)
self.safety.init_tests()
# stock cruise controls are entirely bypassed under openpilot longitudinal control
diff --git a/tests/safety_replay/helpers.py b/tests/safety_replay/helpers.py
index a1a6cd3a59..cc4300d5b7 100644
--- a/tests/safety_replay/helpers.py
+++ b/tests/safety_replay/helpers.py
@@ -1,4 +1,5 @@
import panda.tests.libpanda.libpanda_py as libpanda_py
+from opendbc.car.toyota.values import ToyotaPandaFlags
from panda import Panda
def to_signed(d, bits):
@@ -12,7 +13,7 @@ def is_steering_msg(mode, param, addr):
if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
elif mode == Panda.SAFETY_TOYOTA:
- ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4)
+ ret = addr == (0x191 if param & ToyotaPandaFlags.FLAG_TOYOTA_LTA else 0x2E4)
elif mode == Panda.SAFETY_GM:
ret = addr == 384
elif mode == Panda.SAFETY_HYUNDAI:
@@ -33,7 +34,7 @@ def get_steer_value(mode, param, to_send):
torque = (to_send.data[0] << 8) | to_send.data[1]
torque = to_signed(torque, 16)
elif mode == Panda.SAFETY_TOYOTA:
- if param & Panda.FLAG_TOYOTA_LTA:
+ if param & ToyotaPandaFlags.FLAG_TOYOTA_LTA:
angle = (to_send.data[1] << 8) | to_send.data[2]
angle = to_signed(angle, 16)
else:
From 3c5e4155923881ccda6018cd88ff89680f623415 Mon Sep 17 00:00:00 2001
From: Eric Brown <eric@ebrown.net>
Date: Wed, 4 Dec 2024 17:07:16 -0700
Subject: [PATCH 4/6] Move uds.py to opendbc repo
---
python/uds.py | 943 --------------------------------------------------
1 file changed, 943 deletions(-)
delete mode 100644 python/uds.py
diff --git a/python/uds.py b/python/uds.py
deleted file mode 100644
index 612eb206b0..0000000000
--- a/python/uds.py
+++ /dev/null
@@ -1,943 +0,0 @@
-import time
-import struct
-from collections import deque
-from typing import NamedTuple, Deque, cast
-from collections.abc import Callable, Generator
-from enum import IntEnum
-from functools import partial
-
-class SERVICE_TYPE(IntEnum):
- DIAGNOSTIC_SESSION_CONTROL = 0x10
- ECU_RESET = 0x11
- SECURITY_ACCESS = 0x27
- COMMUNICATION_CONTROL = 0x28
- TESTER_PRESENT = 0x3E
- ACCESS_TIMING_PARAMETER = 0x83
- SECURED_DATA_TRANSMISSION = 0x84
- CONTROL_DTC_SETTING = 0x85
- RESPONSE_ON_EVENT = 0x86
- LINK_CONTROL = 0x87
- READ_DATA_BY_IDENTIFIER = 0x22
- READ_MEMORY_BY_ADDRESS = 0x23
- READ_SCALING_DATA_BY_IDENTIFIER = 0x24
- READ_DATA_BY_PERIODIC_IDENTIFIER = 0x2A
- DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C
- WRITE_DATA_BY_IDENTIFIER = 0x2E
- WRITE_MEMORY_BY_ADDRESS = 0x3D
- CLEAR_DIAGNOSTIC_INFORMATION = 0x14
- READ_DTC_INFORMATION = 0x19
- INPUT_OUTPUT_CONTROL_BY_IDENTIFIER = 0x2F
- ROUTINE_CONTROL = 0x31
- REQUEST_DOWNLOAD = 0x34
- REQUEST_UPLOAD = 0x35
- TRANSFER_DATA = 0x36
- REQUEST_TRANSFER_EXIT = 0x37
-
-class SESSION_TYPE(IntEnum):
- DEFAULT = 1
- PROGRAMMING = 2
- EXTENDED_DIAGNOSTIC = 3
- SAFETY_SYSTEM_DIAGNOSTIC = 4
-
-class RESET_TYPE(IntEnum):
- HARD = 1
- KEY_OFF_ON = 2
- SOFT = 3
- ENABLE_RAPID_POWER_SHUTDOWN = 4
- DISABLE_RAPID_POWER_SHUTDOWN = 5
-
-class ACCESS_TYPE(IntEnum):
- REQUEST_SEED = 1
- SEND_KEY = 2
-
-class CONTROL_TYPE(IntEnum):
- ENABLE_RX_ENABLE_TX = 0
- ENABLE_RX_DISABLE_TX = 1
- DISABLE_RX_ENABLE_TX = 2
- DISABLE_RX_DISABLE_TX = 3
-
-class MESSAGE_TYPE(IntEnum):
- NORMAL = 1
- NETWORK_MANAGEMENT = 2
- NORMAL_AND_NETWORK_MANAGEMENT = 3
-
-class TIMING_PARAMETER_TYPE(IntEnum):
- READ_EXTENDED_SET = 1
- SET_TO_DEFAULT_VALUES = 2
- READ_CURRENTLY_ACTIVE = 3
- SET_TO_GIVEN_VALUES = 4
-
-class DTC_SETTING_TYPE(IntEnum):
- ON = 1
- OFF = 2
-
-class RESPONSE_EVENT_TYPE(IntEnum):
- STOP_RESPONSE_ON_EVENT = 0
- ON_DTC_STATUS_CHANGE = 1
- ON_TIMER_INTERRUPT = 2
- ON_CHANGE_OF_DATA_IDENTIFIER = 3
- REPORT_ACTIVATED_EVENTS = 4
- START_RESPONSE_ON_EVENT = 5
- CLEAR_RESPONSE_ON_EVENT = 6
- ON_COMPARISON_OF_VALUES = 7
-
-class LINK_CONTROL_TYPE(IntEnum):
- VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE = 1
- VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE = 2
- TRANSITION_BAUDRATE = 3
-
-class BAUD_RATE_TYPE(IntEnum):
- PC9600 = 1
- PC19200 = 2
- PC38400 = 3
- PC57600 = 4
- PC115200 = 5
- CAN125000 = 16
- CAN250000 = 17
- CAN500000 = 18
- CAN1000000 = 19
-
-class DATA_IDENTIFIER_TYPE(IntEnum):
- BOOT_SOFTWARE_IDENTIFICATION = 0xF180
- APPLICATION_SOFTWARE_IDENTIFICATION = 0xF181
- APPLICATION_DATA_IDENTIFICATION = 0xF182
- BOOT_SOFTWARE_FINGERPRINT = 0xF183
- APPLICATION_SOFTWARE_FINGERPRINT = 0xF184
- APPLICATION_DATA_FINGERPRINT = 0xF185
- ACTIVE_DIAGNOSTIC_SESSION = 0xF186
- VEHICLE_MANUFACTURER_SPARE_PART_NUMBER = 0xF187
- VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER = 0xF188
- VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER = 0xF189
- SYSTEM_SUPPLIER_IDENTIFIER = 0xF18A
- ECU_MANUFACTURING_DATE = 0xF18B
- ECU_SERIAL_NUMBER = 0xF18C
- SUPPORTED_FUNCTIONAL_UNITS = 0xF18D
- VEHICLE_MANUFACTURER_KIT_ASSEMBLY_PART_NUMBER = 0xF18E
- VIN = 0xF190
- VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER = 0xF191
- SYSTEM_SUPPLIER_ECU_HARDWARE_NUMBER = 0xF192
- SYSTEM_SUPPLIER_ECU_HARDWARE_VERSION_NUMBER = 0xF193
- SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER = 0xF194
- SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER = 0xF195
- EXHAUST_REGULATION_OR_TYPE_APPROVAL_NUMBER = 0xF196
- SYSTEM_NAME_OR_ENGINE_TYPE = 0xF197
- REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER = 0xF198
- PROGRAMMING_DATE = 0xF199
- CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER = 0xF19A
- CALIBRATION_DATE = 0xF19B
- CALIBRATION_EQUIPMENT_SOFTWARE_NUMBER = 0xF19C
- ECU_INSTALLATION_DATE = 0xF19D
- ODX_FILE = 0xF19E
- ENTITY = 0xF19F
-
-class TRANSMISSION_MODE_TYPE(IntEnum):
- SEND_AT_SLOW_RATE = 1
- SEND_AT_MEDIUM_RATE = 2
- SEND_AT_FAST_RATE = 3
- STOP_SENDING = 4
-
-class DYNAMIC_DEFINITION_TYPE(IntEnum):
- DEFINE_BY_IDENTIFIER = 1
- DEFINE_BY_MEMORY_ADDRESS = 2
- CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER = 3
-
-class ISOTP_FRAME_TYPE(IntEnum):
- SINGLE = 0
- FIRST = 1
- CONSECUTIVE = 2
- FLOW = 3
-
-class DynamicSourceDefinition(NamedTuple):
- data_identifier: int
- position: int
- memory_size: int
- memory_address: int
-
-class DTC_GROUP_TYPE(IntEnum):
- EMISSIONS = 0x000000
- ALL = 0xFFFFFF
-
-class DTC_REPORT_TYPE(IntEnum):
- NUMBER_OF_DTC_BY_STATUS_MASK = 0x01
- DTC_BY_STATUS_MASK = 0x02
- DTC_SNAPSHOT_IDENTIFICATION = 0x03
- DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER = 0x04
- DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER = 0x05
- DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x06
- NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD = 0x07
- DTC_BY_SEVERITY_MASK_RECORD = 0x08
- SEVERITY_INFORMATION_OF_DTC = 0x09
- SUPPORTED_DTC = 0x0A
- FIRST_TEST_FAILED_DTC = 0x0B
- FIRST_CONFIRMED_DTC = 0x0C
- MOST_RECENT_TEST_FAILED_DTC = 0x0D
- MOST_RECENT_CONFIRMED_DTC = 0x0E
- MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x0F
- MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER = 0x10
- NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK = 0x11
- NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x12
- EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK = 0x13
- DTC_FAULT_DETECTION_COUNTER = 0x14
- DTC_WITH_PERMANENT_STATUS = 0x15
-
-class DTC_STATUS_MASK_TYPE(IntEnum):
- TEST_FAILED = 0x01
- TEST_FAILED_THIS_OPERATION_CYCLE = 0x02
- PENDING_DTC = 0x04
- CONFIRMED_DTC = 0x08
- TEST_NOT_COMPLETED_SINCE_LAST_CLEAR = 0x10
- TEST_FAILED_SINCE_LAST_CLEAR = 0x20
- TEST_NOT_COMPLETED_THIS_OPERATION_CYCLE = 0x40
- WARNING_INDICATOR_REQUESTED = 0x80
- ALL = 0xFF
-
-class DTC_SEVERITY_MASK_TYPE(IntEnum):
- MAINTENANCE_ONLY = 0x20
- CHECK_AT_NEXT_HALT = 0x40
- CHECK_IMMEDIATELY = 0x80
- ALL = 0xE0
-
-class CONTROL_PARAMETER_TYPE(IntEnum):
- RETURN_CONTROL_TO_ECU = 0
- RESET_TO_DEFAULT = 1
- FREEZE_CURRENT_STATE = 2
- SHORT_TERM_ADJUSTMENT = 3
-
-class ROUTINE_CONTROL_TYPE(IntEnum):
- START = 1
- STOP = 2
- REQUEST_RESULTS = 3
-
-class ROUTINE_IDENTIFIER_TYPE(IntEnum):
- ERASE_MEMORY = 0xFF00
- CHECK_PROGRAMMING_DEPENDENCIES = 0xFF01
- ERASE_MIRROR_MEMORY_DTCS = 0xFF02
-
-class MessageTimeoutError(Exception):
- pass
-
-class NegativeResponseError(Exception):
- def __init__(self, message, service_id, error_code):
- super().__init__()
- self.message = message
- self.service_id = service_id
- self.error_code = error_code
-
- def __str__(self):
- return self.message
-
-class InvalidServiceIdError(Exception):
- pass
-
-class InvalidSubFunctionError(Exception):
- pass
-
-class InvalidSubAddressError(Exception):
- pass
-
-_negative_response_codes = {
- 0x00: 'positive response',
- 0x10: 'general reject',
- 0x11: 'service not supported',
- 0x12: 'sub-function not supported',
- 0x13: 'incorrect message length or invalid format',
- 0x14: 'response too long',
- 0x21: 'busy repeat request',
- 0x22: 'conditions not correct',
- 0x24: 'request sequence error',
- 0x25: 'no response from subnet component',
- 0x26: 'failure prevents execution of requested action',
- 0x31: 'request out of range',
- 0x33: 'security access denied',
- 0x35: 'invalid key',
- 0x36: 'exceed number of attempts',
- 0x37: 'required time delay not expired',
- 0x70: 'upload download not accepted',
- 0x71: 'transfer data suspended',
- 0x72: 'general programming failure',
- 0x73: 'wrong block sequence counter',
- 0x78: 'request correctly received - response pending',
- 0x7e: 'sub-function not supported in active session',
- 0x7f: 'service not supported in active session',
- 0x81: 'rpm too high',
- 0x82: 'rpm too low',
- 0x83: 'engine is running',
- 0x84: 'engine is not running',
- 0x85: 'engine run time too low',
- 0x86: 'temperature too high',
- 0x87: 'temperature too low',
- 0x88: 'vehicle speed too high',
- 0x89: 'vehicle speed too low',
- 0x8a: 'throttle/pedal too high',
- 0x8b: 'throttle/pedal too low',
- 0x8c: 'transmission not in neutral',
- 0x8d: 'transmission not in gear',
- 0x8f: 'brake switch(es) not closed',
- 0x90: 'shifter lever not in park',
- 0x91: 'torque converter clutch locked',
- 0x92: 'voltage too high',
- 0x93: 'voltage too low',
-}
-
-def get_dtc_num_as_str(dtc_num_bytes):
- # ISO 15031-6
- designator = {
- 0b00: "P",
- 0b01: "C",
- 0b10: "B",
- 0b11: "U",
- }
- d = designator[dtc_num_bytes[0] >> 6]
- n = bytes([dtc_num_bytes[0] & 0x3F]) + dtc_num_bytes[1:]
- return d + n.hex()
-
-def get_dtc_status_names(status):
- result = list()
- for m in DTC_STATUS_MASK_TYPE:
- if m == DTC_STATUS_MASK_TYPE.ALL:
- continue
- if status & m.value:
- result.append(m.name)
- return result
-
-class CanClient():
- def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, bytes, int]]],
- tx_addr: int, rx_addr: int, bus: int, sub_addr: int | None = None, debug: bool = False):
- self.tx = can_send
- self.rx = can_recv
- self.tx_addr = tx_addr
- self.rx_addr = rx_addr
- self.rx_buff: Deque[bytes] = deque()
- self.sub_addr = sub_addr
- self.bus = bus
- self.debug = debug
-
- def _recv_filter(self, bus: int, addr: int) -> bool:
- # handle functional addresses (switch to first addr to respond)
- if self.tx_addr == 0x7DF:
- is_response = addr >= 0x7E8 and addr <= 0x7EF
- if is_response:
- if self.debug:
- print(f"switch to physical addr {hex(addr)}")
- self.tx_addr = addr - 8
- self.rx_addr = addr
- return is_response
- if self.tx_addr == 0x18DB33F1:
- is_response = addr >= 0x18DAF100 and addr <= 0x18DAF1FF
- if is_response:
- if self.debug:
- print(f"switch to physical addr {hex(addr)}")
- self.tx_addr = 0x18DA00F1 + (addr << 8 & 0xFF00)
- self.rx_addr = addr
- return bus == self.bus and addr == self.rx_addr
-
- def _recv_buffer(self, drain: bool = False) -> None:
- while True:
- msgs = self.rx()
- if drain:
- if self.debug:
- print(f"CAN-RX: drain - {len(msgs)}")
- self.rx_buff.clear()
- else:
- for rx_addr, rx_data, rx_bus in msgs or []:
- if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0:
- rx_data = bytes(rx_data) # convert bytearray to bytes
-
- if self.debug:
- print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
-
- # Cut off sub addr in first byte
- if self.sub_addr is not None:
- if rx_data[0] != self.sub_addr:
- raise InvalidSubAddressError(f"isotp - rx: invalid sub-address: {rx_data[0]}, expected: {self.sub_addr}")
- rx_data = rx_data[1:]
-
- self.rx_buff.append(rx_data)
- # break when non-full buffer is processed
- if len(msgs) < 254:
- return
-
- def recv(self, drain: bool = False) -> Generator[bytes, None, None]:
- # buffer rx messages in case two response messages are received at once
- # (e.g. response pending and success/failure response)
- self._recv_buffer(drain)
- try:
- while True:
- yield self.rx_buff.popleft()
- except IndexError:
- pass # empty
-
- def send(self, msgs: list[bytes], delay: float = 0) -> None:
- for i, msg in enumerate(msgs):
- if delay and i != 0:
- if self.debug:
- print(f"CAN-TX: delay - {delay}")
- time.sleep(delay)
-
- if self.sub_addr is not None:
- msg = bytes([self.sub_addr]) + msg
-
- if self.debug:
- print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(msg)}")
- assert len(msg) <= 8
-
- self.tx(self.tx_addr, msg, self.bus)
- # prevent rx buffer from overflowing on large tx
- if i % 10 == 9:
- self._recv_buffer()
-
-class IsoTpMessage():
- def __init__(self, can_client: CanClient, timeout: float = 1, single_frame_mode: bool = False, separation_time: float = 0,
- debug: bool = False, max_len: int = 8):
- self._can_client = can_client
- self.timeout = timeout
- self.single_frame_mode = single_frame_mode
- self.debug = debug
- self.max_len = max_len
-
- # <= 127, separation time in milliseconds
- # 0xF1 to 0xF9 UF, 100 to 900 microseconds
- if 1e-4 <= separation_time <= 9e-4:
- offset = int(round(separation_time, 4) * 1e4) - 1
- separation_time = 0xF1 + offset
- elif 0 <= separation_time <= 0.127:
- separation_time = round(separation_time * 1000)
- else:
- raise Exception("Separation time not in range")
-
- self.flow_control_msg = bytes([
- 0x30, # flow control
- 0x01 if self.single_frame_mode else 0x00, # block size
- separation_time,
- ]).ljust(self.max_len, b"\x00")
-
- def send(self, dat: bytes, setup_only: bool = False) -> None:
- # throw away any stale data
- self._can_client.recv(drain=True)
-
- self.tx_dat = dat
- self.tx_len = len(dat)
- self.tx_idx = 0
- self.tx_done = False
-
- self.rx_dat = b""
- self.rx_len = 0
- self.rx_idx = 0
- self.rx_done = False
-
- if self.debug and not setup_only:
- print(f"ISO-TP: REQUEST - {hex(self._can_client.tx_addr)} 0x{bytes.hex(self.tx_dat)}")
- self._tx_first_frame(setup_only=setup_only)
-
- def _tx_first_frame(self, setup_only: bool = False) -> None:
- if self.tx_len < self.max_len:
- # single frame (send all bytes)
- if self.debug and not setup_only:
- print(f"ISO-TP: TX - single frame - {hex(self._can_client.tx_addr)}")
- msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00")
- self.tx_done = True
- else:
- # first frame (send first 6 bytes)
- if self.debug and not setup_only:
- print(f"ISO-TP: TX - first frame - {hex(self._can_client.tx_addr)}")
- msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:self.max_len - 2]).ljust(self.max_len - 2, b"\x00")
- if not setup_only:
- self._can_client.send([msg])
-
- def recv(self, timeout=None) -> tuple[bytes | None, bool]:
- if timeout is None:
- timeout = self.timeout
-
- start_time = time.monotonic()
- rx_in_progress = False
- try:
- while True:
- for msg in self._can_client.recv():
- frame_type = self._isotp_rx_next(msg)
- start_time = time.monotonic()
- # Anything that signifies we're building a response
- rx_in_progress = frame_type in (ISOTP_FRAME_TYPE.FIRST, ISOTP_FRAME_TYPE.CONSECUTIVE)
- if self.tx_done and self.rx_done:
- return self.rx_dat, False
- # no timeout indicates non-blocking
- if timeout == 0:
- return None, rx_in_progress
- if time.monotonic() - start_time > timeout:
- raise MessageTimeoutError("timeout waiting for response")
- finally:
- if self.debug and self.rx_dat:
- print(f"ISO-TP: RESPONSE - {hex(self._can_client.rx_addr)} 0x{bytes.hex(self.rx_dat)}")
-
- def _isotp_rx_next(self, rx_data: bytes) -> ISOTP_FRAME_TYPE:
- # TODO: Handle CAN frame data optimization, which is allowed with some frame types
- # # ISO 15765-2 specifies an eight byte CAN frame for ISO-TP communication
- # assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}"
-
- if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE:
- assert self.rx_dat == b"" or self.rx_done, "isotp - rx: single frame with active frame"
- self.rx_len = rx_data[0] & 0x0F
- assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
- self.rx_dat = rx_data[1:1 + self.rx_len]
- self.rx_idx = 0
- self.rx_done = True
- if self.debug:
- print(f"ISO-TP: RX - single frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
- return ISOTP_FRAME_TYPE.SINGLE
-
- elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FIRST:
- # Once a first frame is received, further frames must be consecutive
- assert self.rx_dat == b"" or self.rx_done, "isotp - rx: first frame with active frame"
- self.rx_len = ((rx_data[0] & 0x0F) << 8) + rx_data[1]
- assert self.rx_len >= self.max_len, f"isotp - rx: invalid first frame length: {self.rx_len}"
- assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}"
- self.rx_dat = rx_data[2:]
- self.rx_idx = 0
- self.rx_done = False
- if self.debug:
- print(f"ISO-TP: RX - first frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
- if self.debug:
- print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}")
- # send flow control message
- self._can_client.send([self.flow_control_msg])
- return ISOTP_FRAME_TYPE.FIRST
-
- elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.CONSECUTIVE:
- assert not self.rx_done, "isotp - rx: consecutive frame with no active frame"
- self.rx_idx += 1
- assert self.rx_idx & 0xF == rx_data[0] & 0xF, "isotp - rx: invalid consecutive frame index"
- rx_size = self.rx_len - len(self.rx_dat)
- self.rx_dat += rx_data[1:1 + rx_size]
- if self.rx_len == len(self.rx_dat):
- self.rx_done = True
- elif self.single_frame_mode:
- # notify ECU to send next frame
- self._can_client.send([self.flow_control_msg])
- if self.debug:
- print(f"ISO-TP: RX - consecutive frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
- return ISOTP_FRAME_TYPE.CONSECUTIVE
-
- elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FLOW:
- assert not self.tx_done, "isotp - rx: flow control with no active frame"
- assert rx_data[0] != 0x32, "isotp - rx: flow-control overflow/abort"
- assert rx_data[0] == 0x30 or rx_data[0] == 0x31, "isotp - rx: flow-control transfer state indicator invalid"
- if rx_data[0] == 0x30:
- if self.debug:
- print(f"ISO-TP: RX - flow control continue - {hex(self._can_client.tx_addr)}")
- delay_ts = rx_data[2] & 0x7F
- # scale is 1 milliseconds if first bit == 0, 100 micro seconds if first bit == 1
- delay_div = 1000. if rx_data[2] & 0x80 == 0 else 10000.
- delay_sec = delay_ts / delay_div
-
- # first frame = 6 bytes, each consecutive frame = 7 bytes
- num_bytes = self.max_len - 1
- start = self.max_len - 2 + self.tx_idx * num_bytes
- count = rx_data[1]
- end = start + count * num_bytes if count > 0 else self.tx_len
- tx_msgs = []
- for i in range(start, end, num_bytes):
- self.tx_idx += 1
- # consecutive tx messages
- msg = (bytes([0x20 | (self.tx_idx & 0xF)]) + self.tx_dat[i:i + num_bytes]).ljust(self.max_len, b"\x00")
- tx_msgs.append(msg)
- # send consecutive tx messages
- self._can_client.send(tx_msgs, delay=delay_sec)
- if end >= self.tx_len:
- self.tx_done = True
- if self.debug:
- print(f"ISO-TP: TX - consecutive frame - {hex(self._can_client.tx_addr)} idx={self.tx_idx} done={self.tx_done}")
- elif rx_data[0] == 0x31:
- # wait (do nothing until next flow control message)
- if self.debug:
- print(f"ISO-TP: TX - flow control wait - {hex(self._can_client.tx_addr)}")
- return ISOTP_FRAME_TYPE.FLOW
-
- # 4-15 - reserved
- else:
- raise Exception(f"isotp - rx: invalid frame type: {rx_data[0] >> 4}")
-
-
-FUNCTIONAL_ADDRS = [0x7DF, 0x18DB33F1]
-
-
-def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8):
- if tx_addr in FUNCTIONAL_ADDRS:
- return None
-
- if tx_addr < 0xFFF8:
- # pseudo-standard 11 bit response addr (add 8) works for most manufacturers
- # allow override; some manufacturers use other offsets for non-OBD2 access
- return tx_addr + rx_offset
-
- if tx_addr > 0x10000000 and tx_addr < 0xFFFFFFFF:
- # standard 29 bit response addr (flip last two bytes)
- return (tx_addr & 0xFFFF0000) + (tx_addr << 8 & 0xFF00) + (tx_addr >> 8 & 0xFF)
-
- raise ValueError(f"invalid tx_addr: {tx_addr}")
-
-
-class UdsClient():
- def __init__(self, panda, tx_addr: int, rx_addr: int | None = None, bus: int = 0, sub_addr: int | None = None, timeout: float = 1,
- debug: bool = False, tx_timeout: float = 1, response_pending_timeout: float = 10):
- self.bus = bus
- self.tx_addr = tx_addr
- self.rx_addr = rx_addr if rx_addr is not None else get_rx_addr_for_tx_addr(tx_addr)
- self.sub_addr = sub_addr
- self.timeout = timeout
- self.debug = debug
- can_send_with_timeout = partial(panda.can_send, timeout=int(tx_timeout*1000))
- self._can_client = CanClient(can_send_with_timeout, panda.can_recv, self.tx_addr, self.rx_addr, self.bus, self.sub_addr, debug=self.debug)
- self.response_pending_timeout = response_pending_timeout
-
- # generic uds request
- def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int | None = None, data: bytes | None = None) -> bytes:
- req = bytes([service_type])
- if subfunction is not None:
- req += bytes([subfunction])
- if data is not None:
- req += data
-
- # send request, wait for response
- max_len = 8 if self.sub_addr is None else 7
- isotp_msg = IsoTpMessage(self._can_client, timeout=self.timeout, debug=self.debug, max_len=max_len)
- isotp_msg.send(req)
- response_pending = False
- while True:
- timeout = self.response_pending_timeout if response_pending else self.timeout
- resp, _ = isotp_msg.recv(timeout)
-
- if resp is None:
- continue
-
- response_pending = False
- resp_sid = resp[0] if len(resp) > 0 else None
-
- # negative response
- if resp_sid == 0x7F:
- service_id = resp[1] if len(resp) > 1 else -1
- try:
- service_desc = SERVICE_TYPE(service_id).name
- except BaseException:
- service_desc = 'NON_STANDARD_SERVICE'
- error_code = resp[2] if len(resp) > 2 else -1
- try:
- error_desc = _negative_response_codes[error_code]
- except BaseException:
- error_desc = resp[3:].hex()
- # wait for another message if response pending
- if error_code == 0x78:
- response_pending = True
- if self.debug:
- print("UDS-RX: response pending")
- continue
- raise NegativeResponseError(f'{service_desc} - {error_desc}', service_id, error_code)
-
- # positive response
- if service_type + 0x40 != resp_sid:
- resp_sid_hex = hex(resp_sid) if resp_sid is not None else None
- raise InvalidServiceIdError(f'invalid response service id: {resp_sid_hex}')
-
- if subfunction is not None:
- resp_sfn = resp[1] if len(resp) > 1 else None
- if subfunction != resp_sfn:
- resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None
- raise InvalidSubFunctionError(f'invalid response subfunction: {resp_sfn_hex}')
-
- # return data (exclude service id and sub-function id)
- return resp[(1 if subfunction is None else 2):]
-
- # services
- def diagnostic_session_control(self, session_type: SESSION_TYPE):
- self._uds_request(SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, subfunction=session_type)
-
- def ecu_reset(self, reset_type: RESET_TYPE):
- resp = self._uds_request(SERVICE_TYPE.ECU_RESET, subfunction=reset_type)
- power_down_time = None
- if reset_type == RESET_TYPE.ENABLE_RAPID_POWER_SHUTDOWN:
- power_down_time = resp[0]
- return power_down_time
-
- def security_access(self, access_type: ACCESS_TYPE, security_key: bytes = b'', data_record: bytes = b''):
- request_seed = access_type % 2 != 0
- if request_seed and len(security_key) != 0:
- raise ValueError('security_key not allowed')
- if not request_seed and len(security_key) == 0:
- raise ValueError('security_key is missing')
- if not request_seed and len(data_record) != 0:
- raise ValueError('data_record not allowed')
- data = security_key + data_record
- resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=data)
- if request_seed:
- security_seed = resp
- return security_seed
-
- def communication_control(self, control_type: CONTROL_TYPE, message_type: MESSAGE_TYPE):
- data = bytes([message_type])
- self._uds_request(SERVICE_TYPE.COMMUNICATION_CONTROL, subfunction=control_type, data=data)
-
- def tester_present(self, ):
- self._uds_request(SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00)
-
- def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes | None = None):
- write_custom_values = timing_parameter_type == TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES
- read_values = (timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or
- timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET)
- if not write_custom_values and parameter_values is not None:
- raise ValueError('parameter_values not allowed')
- if write_custom_values and parameter_values is None:
- raise ValueError('parameter_values is missing')
- resp = self._uds_request(SERVICE_TYPE.ACCESS_TIMING_PARAMETER, subfunction=timing_parameter_type, data=parameter_values)
- if read_values:
- # TODO: parse response into values?
- parameter_values = resp
- return parameter_values
-
- def secured_data_transmission(self, data: bytes):
- # TODO: split data into multiple input parameters?
- resp = self._uds_request(SERVICE_TYPE.SECURED_DATA_TRANSMISSION, subfunction=None, data=data)
- # TODO: parse response into multiple output values?
- return resp
-
- def control_dtc_setting(self, dtc_setting_type: DTC_SETTING_TYPE):
- self._uds_request(SERVICE_TYPE.CONTROL_DTC_SETTING, subfunction=dtc_setting_type)
-
- def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_event: bool, window_time: int,
- event_type_record: int, service_response_record: int):
- if store_event:
- response_event_type |= 0x20 # type: ignore
- # TODO: split record parameters into arrays
- data = bytes([window_time, event_type_record, service_response_record])
- resp = self._uds_request(SERVICE_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data)
-
- if response_event_type == RESPONSE_EVENT_TYPE.REPORT_ACTIVATED_EVENTS:
- return {
- "num_of_activated_events": resp[0],
- "data": resp[1:], # TODO: parse the reset of response
- }
-
- return {
- "num_of_identified_events": resp[0],
- "event_window_time": resp[1],
- "data": resp[2:], # TODO: parse the reset of response
- }
-
- def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE | None = None):
- data: bytes | None
-
- if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE:
- # baud_rate_type = BAUD_RATE_TYPE
- data = bytes([cast(int, baud_rate_type)])
- elif link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE:
- # baud_rate_type = custom value (3 bytes big-endian)
- data = struct.pack('!I', baud_rate_type)[1:]
- else:
- data = None
- self._uds_request(SERVICE_TYPE.LINK_CONTROL, subfunction=link_control_type, data=data)
-
- def read_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE):
- # TODO: support list of identifiers
- data = struct.pack('!H', data_identifier_type)
- resp = self._uds_request(SERVICE_TYPE.READ_DATA_BY_IDENTIFIER, subfunction=None, data=data)
- resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
- if resp_id != data_identifier_type:
- raise ValueError(f'invalid response data identifier: {hex(resp_id)} expected: {hex(data_identifier_type)}')
- return resp[2:]
-
- def read_memory_by_address(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 1):
- if memory_address_bytes < 1 or memory_address_bytes > 4:
- raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}')
- if memory_size_bytes < 1 or memory_size_bytes > 4:
- raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}')
- data = bytes([memory_size_bytes << 4 | memory_address_bytes])
-
- if memory_address >= 1 << (memory_address_bytes * 8):
- raise ValueError(f'invalid memory_address: {memory_address}')
- data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
- if memory_size >= 1 << (memory_size_bytes * 8):
- raise ValueError(f'invalid memory_size: {memory_size}')
- data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
-
- resp = self._uds_request(SERVICE_TYPE.READ_MEMORY_BY_ADDRESS, subfunction=None, data=data)
- return resp
-
- def read_scaling_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE):
- data = struct.pack('!H', data_identifier_type)
- resp = self._uds_request(SERVICE_TYPE.READ_SCALING_DATA_BY_IDENTIFIER, subfunction=None, data=data)
- resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
- if resp_id != data_identifier_type:
- raise ValueError(f'invalid response data identifier: {hex(resp_id)}')
- return resp[2:] # TODO: parse the response
-
- def read_data_by_periodic_identifier(self, transmission_mode_type: TRANSMISSION_MODE_TYPE, periodic_data_identifier: int):
- # TODO: support list of identifiers
- data = bytes([transmission_mode_type, periodic_data_identifier])
- self._uds_request(SERVICE_TYPE.READ_DATA_BY_PERIODIC_IDENTIFIER, subfunction=None, data=data)
-
- def dynamically_define_data_identifier(self, dynamic_definition_type: DYNAMIC_DEFINITION_TYPE, dynamic_data_identifier: int,
- source_definitions: list[DynamicSourceDefinition], memory_address_bytes: int = 4, memory_size_bytes: int = 1):
- if memory_address_bytes < 1 or memory_address_bytes > 4:
- raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}')
- if memory_size_bytes < 1 or memory_size_bytes > 4:
- raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}')
-
- data = struct.pack('!H', dynamic_data_identifier)
- if dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_IDENTIFIER:
- for s in source_definitions:
- data += struct.pack('!H', s.data_identifier) + bytes([s.position, s.memory_size])
- elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_MEMORY_ADDRESS:
- data += bytes([memory_size_bytes << 4 | memory_address_bytes])
- for s in source_definitions:
- if s.memory_address >= 1 << (memory_address_bytes * 8):
- raise ValueError(f'invalid memory_address: {s.memory_address}')
- data += struct.pack('!I', s.memory_address)[4 - memory_address_bytes:]
- if s.memory_size >= 1 << (memory_size_bytes * 8):
- raise ValueError(f'invalid memory_size: {s.memory_size}')
- data += struct.pack('!I', s.memory_size)[4 - memory_size_bytes:]
- elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER:
- pass
- else:
- raise ValueError(f'invalid dynamic identifier type: {hex(dynamic_definition_type)}')
- self._uds_request(SERVICE_TYPE.DYNAMICALLY_DEFINE_DATA_IDENTIFIER, subfunction=dynamic_definition_type, data=data)
-
- def write_data_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, data_record: bytes):
- data = struct.pack('!H', data_identifier_type) + data_record
- resp = self._uds_request(SERVICE_TYPE.WRITE_DATA_BY_IDENTIFIER, subfunction=None, data=data)
- resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
- if resp_id != data_identifier_type:
- raise ValueError(f'invalid response data identifier: {hex(resp_id)}')
-
- def write_memory_by_address(self, memory_address: int, memory_size: int, data_record: bytes, memory_address_bytes: int = 4, memory_size_bytes: int = 1):
- if memory_address_bytes < 1 or memory_address_bytes > 4:
- raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}')
- if memory_size_bytes < 1 or memory_size_bytes > 4:
- raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}')
- data = bytes([memory_size_bytes << 4 | memory_address_bytes])
-
- if memory_address >= 1 << (memory_address_bytes * 8):
- raise ValueError(f'invalid memory_address: {memory_address}')
- data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
- if memory_size >= 1 << (memory_size_bytes * 8):
- raise ValueError(f'invalid memory_size: {memory_size}')
- data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
-
- data += data_record
- self._uds_request(SERVICE_TYPE.WRITE_MEMORY_BY_ADDRESS, subfunction=None, data=data)
-
- def clear_diagnostic_information(self, dtc_group_type: DTC_GROUP_TYPE):
- data = struct.pack('!I', dtc_group_type)[1:] # 3 bytes
- self._uds_request(SERVICE_TYPE.CLEAR_DIAGNOSTIC_INFORMATION, subfunction=None, data=data)
-
- def read_dtc_information(self, dtc_report_type: DTC_REPORT_TYPE, dtc_status_mask_type: DTC_STATUS_MASK_TYPE = DTC_STATUS_MASK_TYPE.ALL,
- dtc_severity_mask_type: DTC_SEVERITY_MASK_TYPE = DTC_SEVERITY_MASK_TYPE.ALL, dtc_mask_record: int = 0xFFFFFF,
- dtc_snapshot_record_num: int = 0xFF, dtc_extended_record_num: int = 0xFF):
- data = b''
- # dtc_status_mask_type
- if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_STATUS_MASK or \
- dtc_report_type == DTC_REPORT_TYPE.DTC_BY_STATUS_MASK or \
- dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
- dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_MIRROR_MEMORY_DTC_BY_STATUS_MASK or \
- dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK or \
- dtc_report_type == DTC_REPORT_TYPE.EMISSIONS_RELATED_OBD_DTC_BY_STATUS_MASK:
- data += bytes([dtc_status_mask_type])
- # dtc_mask_record
- if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \
- dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
- dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
- dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
- dtc_report_type == DTC_REPORT_TYPE.SEVERITY_INFORMATION_OF_DTC:
- data += struct.pack('!I', dtc_mask_record)[1:] # 3 bytes
- # dtc_snapshot_record_num
- if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \
- dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
- dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER:
- data += bytes([dtc_snapshot_record_num])
- # dtc_extended_record_num
- if dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
- dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER:
- data += bytes([dtc_extended_record_num])
- # dtc_severity_mask_type
- if dtc_report_type == DTC_REPORT_TYPE.NUMBER_OF_DTC_BY_SEVERITY_MASK_RECORD or \
- dtc_report_type == DTC_REPORT_TYPE.DTC_BY_SEVERITY_MASK_RECORD:
- data += bytes([dtc_severity_mask_type, dtc_status_mask_type])
-
- resp = self._uds_request(SERVICE_TYPE.READ_DTC_INFORMATION, subfunction=dtc_report_type, data=data)
-
- # TODO: parse response
- return resp
-
- def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, control_parameter_type: CONTROL_PARAMETER_TYPE,
- control_option_record: bytes = b'', control_enable_mask_record: bytes = b''):
- data = struct.pack('!H', data_identifier_type) + bytes([control_parameter_type]) + control_option_record + control_enable_mask_record
- resp = self._uds_request(SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data)
- resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
- if resp_id != data_identifier_type:
- raise ValueError(f'invalid response data identifier: {hex(resp_id)}')
- return resp[2:]
-
- def routine_control(self, routine_control_type: ROUTINE_CONTROL_TYPE, routine_identifier_type: ROUTINE_IDENTIFIER_TYPE, routine_option_record: bytes = b''):
- data = struct.pack('!H', routine_identifier_type) + routine_option_record
- resp = self._uds_request(SERVICE_TYPE.ROUTINE_CONTROL, subfunction=routine_control_type, data=data)
- resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None
- if resp_id != routine_identifier_type:
- raise ValueError(f'invalid response routine identifier: {hex(resp_id)}')
- return resp[2:]
-
- def request_download(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00):
- data = bytes([data_format])
-
- if memory_address_bytes < 1 or memory_address_bytes > 4:
- raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}')
- if memory_size_bytes < 1 or memory_size_bytes > 4:
- raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}')
- data += bytes([memory_size_bytes << 4 | memory_address_bytes])
-
- if memory_address >= 1 << (memory_address_bytes * 8):
- raise ValueError(f'invalid memory_address: {memory_address}')
- data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
- if memory_size >= 1 << (memory_size_bytes * 8):
- raise ValueError(f'invalid memory_size: {memory_size}')
- data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
-
- resp = self._uds_request(SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data)
- max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0
- if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
- max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0]
- else:
- raise ValueError(f'invalid max_num_bytes_len: {max_num_bytes_len}')
-
- return max_num_bytes # max number of bytes per transfer data request
-
- def request_upload(self, memory_address: int, memory_size: int, memory_address_bytes: int = 4, memory_size_bytes: int = 4, data_format: int = 0x00):
- data = bytes([data_format])
-
- if memory_address_bytes < 1 or memory_address_bytes > 4:
- raise ValueError(f'invalid memory_address_bytes: {memory_address_bytes}')
- if memory_size_bytes < 1 or memory_size_bytes > 4:
- raise ValueError(f'invalid memory_size_bytes: {memory_size_bytes}')
- data += bytes([memory_size_bytes << 4 | memory_address_bytes])
-
- if memory_address >= 1 << (memory_address_bytes * 8):
- raise ValueError(f'invalid memory_address: {memory_address}')
- data += struct.pack('!I', memory_address)[4 - memory_address_bytes:]
- if memory_size >= 1 << (memory_size_bytes * 8):
- raise ValueError(f'invalid memory_size: {memory_size}')
- data += struct.pack('!I', memory_size)[4 - memory_size_bytes:]
-
- resp = self._uds_request(SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data)
- max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0
- if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
- max_num_bytes = struct.unpack('!I', (b"\x00" * (4 - max_num_bytes_len)) + resp[1:max_num_bytes_len + 1])[0]
- else:
- raise ValueError(f'invalid max_num_bytes_len: {max_num_bytes_len}')
-
- return max_num_bytes # max number of bytes per transfer data request
-
- def transfer_data(self, block_sequence_count: int, data: bytes = b''):
- data = bytes([block_sequence_count]) + data
- resp = self._uds_request(SERVICE_TYPE.TRANSFER_DATA, subfunction=None, data=data)
- resp_id = resp[0] if len(resp) > 0 else None
- if resp_id != block_sequence_count:
- raise ValueError(f'invalid block_sequence_count: {resp_id}')
- return resp[1:]
-
- def request_transfer_exit(self):
- self._uds_request(SERVICE_TYPE.REQUEST_TRANSFER_EXIT, subfunction=None)
From 43c61f6e156e8c4527e32788199528136339ef05 Mon Sep 17 00:00:00 2001
From: Eric Brown <eric@ebrown.net>
Date: Sat, 14 Dec 2024 15:52:25 -0700
Subject: [PATCH 5/6] Move UDS script to opendbc
---
__init__.py | 2 +-
examples/query_fw_versions.py | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/__init__.py b/__init__.py
index 665682521f..6c391bb38d 100644
--- a/__init__.py
+++ b/__init__.py
@@ -3,7 +3,7 @@
from .python.serial import PandaSerial # noqa: F401
from .python.canhandle import CanHandle # noqa: F401
from .python.utils import logger # noqa: F401
-from .python import (Panda, PandaDFU, uds, isotp, # noqa: F401
+from .python import (Panda, PandaDFU, isotp, # noqa: F401
pack_can_buffer, unpack_can_buffer, calculate_checksum,
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
diff --git a/examples/query_fw_versions.py b/examples/query_fw_versions.py
index 8064c86907..862429ae20 100755
--- a/examples/query_fw_versions.py
+++ b/examples/query_fw_versions.py
@@ -2,7 +2,7 @@
import argparse
from tqdm import tqdm
from panda import Panda
-from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
+from opendbc.can.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
SESSION_TYPE, DATA_IDENTIFIER_TYPE
if __name__ == "__main__":
From f7b13a58933a51602991138b419e86b69573f7a6 Mon Sep 17 00:00:00 2001
From: Eric Brown <eric@ebrown.net>
Date: Sat, 14 Dec 2024 15:53:19 -0700
Subject: [PATCH 6/6] Use relative imports for now, TODO do this the right way
---
board/safety.h | 34 +++++++++++++++++-----------------
1 file changed, 17 insertions(+), 17 deletions(-)
diff --git a/board/safety.h b/board/safety.h
index 913109957c..5ecbc5c95f 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -4,26 +4,26 @@
#include "can.h"
// include the safety policies.
-#include "safety/safety_defaults.h"
-#include "safety/safety_honda.h"
-#include "safety/safety_toyota.h"
-#include "safety/safety_tesla.h"
-#include "safety/safety_gm.h"
-#include "safety/safety_ford.h"
-#include "safety/safety_hyundai.h"
-#include "safety/safety_chrysler.h"
-#include "safety/safety_subaru.h"
-#include "safety/safety_subaru_preglobal.h"
-#include "safety/safety_mazda.h"
-#include "safety/safety_nissan.h"
-#include "safety/safety_volkswagen_mqb.h"
-#include "safety/safety_volkswagen_pq.h"
-#include "safety/safety_elm327.h"
-#include "safety/safety_body.h"
+#include "../../opendbc/safety/safety_defaults.h"
+#include "../../opendbc/safety/safety_honda.h"
+#include "../../opendbc/safety/safety_toyota.h"
+#include "../../opendbc/safety/safety_tesla.h"
+#include "../../opendbc/safety/safety_gm.h"
+#include "../../opendbc/safety/safety_ford.h"
+#include "../../opendbc/safety/safety_hyundai.h"
+#include "../../opendbc/safety/safety_chrysler.h"
+#include "../../opendbc/safety/safety_subaru.h"
+#include "../../opendbc/safety/safety_subaru_preglobal.h"
+#include "../../opendbc/safety/safety_mazda.h"
+#include "../../opendbc/safety/safety_nissan.h"
+#include "../../opendbc/safety/safety_volkswagen_mqb.h"
+#include "../../opendbc/safety/safety_volkswagen_pq.h"
+#include "../../opendbc/safety/safety_elm327.h"
+#include "../../opendbc/safety/safety_body.h"
// CAN-FD only safety modes
#ifdef CANFD
-#include "safety/safety_hyundai_canfd.h"
+#include "../../opendbc/safety/safety_hyundai_canfd.h"
#endif
// from cereal.car.CarParams.SafetyModel