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Merge branch 'upstream/opendbc/master' into sync-20251114

Browse Source 
# Conflicts:
#	SConstruct
#	opendbc/car/tests/routes.py
#	opendbc/car/toyota/carcontroller.py
#	opendbc/car/toyota/carstate.py
#	opendbc/safety/lateral.h
#	opendbc/safety/modes/subaru.h
#	opendbc/safety/modes/subaru_preglobal.h
#	opendbc/safety/modes/toyota.h
#	opendbc/safety/tests/common.py
#	opendbc/safety/tests/libsafety/safety_helpers.h
#	opendbc/safety/tests/libsafety/safety_helpers.py
#	opendbc/safety/tests/misra/main.c
#	opendbc/safety/tests/test_chrysler.py
#	opendbc/safety/tests/test_honda.py
#	opendbc/safety/tests/test_hyundai.py
#	opendbc/safety/tests/test_hyundai_canfd.py
#	opendbc/safety/tests/test_toyota.py
This commit is contained in:
Jason Wen
2025-11-14 01:44:03 -05:00
parent c32e79f3c6 b135812ef9
commit c7780b18e8
120 changed files with 4786 additions and 1510 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
README.md
View File

@@ -67,7 +67,7 @@ At its most basic, a car port will control the steering on a car. A "complete" c
### Connect to the Car
The first step is to get connected to the car with a comma 3X and a car harness.
The first step is to get connected to the car with a comma four and a car harness.
The car harness gets you connected to two different CAN buses and splits one of those buses to send our own actuation messages.
If you're lucky, a harness compatible with your car will already be designed and sold on comma.ai/shop.
@@ -151,7 +151,7 @@ In addition to the standard bounties, we also offer higher value bounties for mo
## FAQ
***How do I use this?*** A [comma 3X](https://comma.ai/shop/comma-3x) is custom-designed to be the best way to run and develop opendbc and openpilot.
***How do I use this?*** A [comma four](https://comma.ai/shop/comma-four) is custom-designed to be the best way to run and develop opendbc and openpilot.
***Which cars are supported?*** See the [supported cars list](docs/CARS.md).
@@ -179,7 +179,7 @@ In addition to the standard bounties, we also offer higher value bounties for mo
* **[DBC file](https://en.wikipedia.org/wiki/CAN_bus#DBC)**: contains definitions for messages on a CAN bus
* **[openpilot](https://github.com/commaai/openpilot)**: an ADAS system for cars supported by opendbc
* **[comma](https://github.com/commaai)**: the company behind opendbc
* **[comma 3X](https://comma.ai/shop/comma-3x)**: the hardware used to run openpilot
* **[comma four](https://comma.ai/shop/comma-four)**: the hardware used to run openpilot
### More resources

4
SConscript
View File

@@ -1,6 +1,4 @@
Import("env")
SConscript(['opendbc/dbc/SConscript'], exports={'env': env})
SConscript(['opendbc/dbc/SConscript'])
# test files
if GetOption('extras'):

53
SConstruct
View File

@@ -1,27 +1,9 @@
import os
import subprocess
import platform
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
cpppath = [
'#',
'/usr/lib/include',
]
AddOption('--minimal',
action='store_false',
dest='extras',
default=True,
help='the minimum build. no tests, tools, etc.')
AddOption('--asan',
action='store_true',
help='turn on ASAN')
# safety options
AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
@@ -30,39 +12,4 @@ AddOption('--coverage',
action='store_true',
help='build with test coverage options')
AddOption('--mutation',
action='store_true',
help='generate mutation-ready code')
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
env = Environment(
ENV=os.environ,
CC='gcc',
CXX='g++',
CCFLAGS=[
"-g",
"-fPIC",
"-O2",
"-Wunused",
"-Werror",
"-Wshadow",
"-Wno-vla-cxx-extension",
"-Wno-unknown-warning-option", # for compatibility across compiler versions
] + ccflags_asan,
LDFLAGS=ldflags_asan,
LINKFLAGS=ldflags_asan,
CFLAGS="-std=gnu11",
CXXFLAGS=["-std=c++1z"],
CPPPATH=cpppath,
tools=["default", "compilation_db"]
)
if arch != "Darwin":
env.Append(CCFLAGS=["-fmax-errors=1", ])
env.CompilationDatabase('compile_commands.json')
Export('env', 'arch')
SConscript(['SConscript'])

18
docs/CARS.md
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@@ -1,6 +1,6 @@
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
# Support Information for 379 Known Cars
# Support Information for 384 Known Cars
|Make|Model|Package|Support Level|
|---|---|---|:---:|
@@ -9,6 +9,7 @@
|Acura|Integra 2023-25|All|[Community](#community)|
|Acura|MDX 2015-16|Advance Package|[Community](#community)|
|Acura|MDX 2017-20|All|[Community](#community)|
|Acura|MDX 2022-24|All|[Community](#community)|
|Acura|MDX 2025|All except Type S|[Upstream](#upstream)|
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
|Acura|RDX 2019-21|All|[Upstream](#upstream)|
@@ -16,6 +17,8 @@
|Acura|RLX 2017|Advance Package or Technology Package|[Community](#community)|
|Acura|TLX 2015-17|Advance Package|[Community](#community)|
|Acura|TLX 2018-20|All|[Community](#community)|
|Acura|TLX 2021|All|[Upstream](#upstream)|
|Acura|TLX 2022-23|All|[Community](#community)|
|Acura|ZDX 2024|All|[Not compatible](#can-bus-security)|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -94,11 +97,11 @@
|Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
|Honda|Civic Hatchback Hybrid 2025-26|All|[Upstream](#upstream)|
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
|Honda|Civic Hybrid 2025|All|[Upstream](#upstream)|
|Honda|Civic Hybrid 2025-26|All|[Upstream](#upstream)|
|Honda|Clarity 2018-21|All|[Community](#community)|
|Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
|Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
|Honda|CR-V 2023-25|All|[Upstream](#upstream)|
|Honda|CR-V 2023-26|All|[Upstream](#upstream)|
|Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
|Honda|CR-V Hybrid 2023-25|All|[Upstream](#upstream)|
|Honda|e 2020|All|[Upstream](#upstream)|
@@ -108,10 +111,11 @@
|Honda|HR-V 2023-25|All|[Upstream](#upstream)|
|Honda|Insight 2019-22|All|[Upstream](#upstream)|
|Honda|Inspire 2018|All|[Upstream](#upstream)|
|Honda|N-Box 2018|All|[Upstream](#upstream)|
|Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
|Honda|Odyssey 2021-25|All|[Community](#community)|
|Honda|Odyssey 2021-26|All|[Upstream](#upstream)|
|Honda|Passport 2019-25|All|[Upstream](#upstream)|
|Honda|Passport 2026|All|[Community](#community)|
|Honda|Passport 2026|All|[Upstream](#upstream)|
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|Honda|Pilot 2023-25|All|[Upstream](#upstream)|
|Honda|Prologue 2024-25|All|[Not compatible](#can-bus-security)|
@@ -238,11 +242,12 @@
|Mazda|CX-5 2022-25|All|[Upstream](#upstream)|
|Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
|Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
|Nissan|Altima 2019-20|ProPILOT Assist|[Upstream](#upstream)|
|Nissan|Altima 2019-20, 2024|ProPILOT Assist|[Upstream](#upstream)|
|Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
|Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
|Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
|Peugeot|208 2019-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|Porsche|Macan 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
@@ -423,7 +428,6 @@ Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
Some notable works-in-progress:
* Honda
* 2022-24 Acura RDX, commaai/opendbc#1967
* 2021-25 Honda Odyssey, commaai/opendbc#2488
* Camera ACC stability improvements, commaai/opendbc#2192
* Alpha longitudinal stability improvements, commaai/opendbc#2347 and commaai/opendbc#2165

4
opendbc/can/dbc.py
View File

@@ -11,6 +11,7 @@ from opendbc.car.toyota.toyotacan import toyota_checksum
from opendbc.car.subaru.subarucan import subaru_checksum
from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
from opendbc.car.tesla.teslacan import tesla_checksum
from opendbc.car.body.bodycan import body_checksum
@@ -31,6 +32,7 @@ class SignalType:
FCA_GIORGIO_CHECKSUM = 10
TESLA_CHECKSUM = 11
PSA_CHECKSUM = 12
VOLKSWAGEN_MLB_CHECKSUM = 13
@dataclass
@@ -186,6 +188,8 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
elif dbc_name.startswith("vw_mlb"):
return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MLB_CHECKSUM, volkswagen_mlb_checksum)
elif dbc_name.startswith("vw_pq"):
return ChecksumState(8, 4, 0, -1, True, SignalType.XOR_CHECKSUM, xor_checksum)
elif dbc_name.startswith("subaru_global_"):

9
opendbc/car/car.capnp
View File

@@ -549,14 +549,15 @@ struct CarParams {
}
struct LateralTorqueTuning {
kp @1 :Float32;
ki @2 :Float32;
friction @3 :Float32;
kf @4 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
useSteeringAngleDEPRECATED @0 :Bool;
kpDEPRECATED @1 :Float32;
kiDEPRECATED @2 :Float32;
kfDEPRECATED @4 :Float32;
kdDEPRECATED @8 : Float32;
}
struct LongitudinalPIDTuning {
@@ -564,7 +565,7 @@ struct CarParams {
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
kfDEPRECATED @6 :Float32;
deadzoneBPDEPRECATED @4 :List(Float32);
deadzoneVDEPRECATED @5 :List(Float32);
}

4
opendbc/car/chrysler/fingerprints.py
View File

@@ -354,6 +354,7 @@ FW_VERSIONS = {
b'68402707AB',
b'68402708AB',
b'68402714AB',
b'68402736AB',
b'68402971AD',
b'68454144AD',
b'68454145AB',
@@ -382,6 +383,7 @@ FW_VERSIONS = {
b'68417279AA',
b'68417280AA',
b'68417281AA',
b'68417283AA',
b'68453431AA',
b'68453433AA',
b'68453435AA',
@@ -394,6 +396,7 @@ FW_VERSIONS = {
b'05035674AB ',
b'68412635AE ',
b'68412635AG ',
b'68412635AH ',
b'68412660AD ',
b'68412660AF ',
b'68422860AB',
@@ -407,6 +410,7 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [
b'05035707AA',
b'68419672AC',
b'68419675AC',
b'68419678AB',
b'68423905AB',
b'68449258AC',

32
opendbc/car/common/filter_simple.py
View File

@@ -2,17 +2,43 @@ class FirstOrderFilter:
# first order filter
def __init__(self, x0, rc, dt, initialized=True):
self.x = x0
self.dt = dt
self._dt = dt
self.update_alpha(rc)
self.initialized = initialized
def update_dt(self, dt):
self._dt = dt
self.update_alpha(self._rc)
def update_alpha(self, rc):
self.alpha = self.dt / (rc + self.dt)
self._rc = rc
self._alpha = self._dt / (self._rc + self._dt)
def update(self, x):
if self.initialized:
self.x = (1. - self.alpha) * self.x + self.alpha * x
self.x = (1. - self._alpha) * self.x + self._alpha * x
else:
self.initialized = True
self.x = x
return self.x
class HighPassFilter:
# technically a band-pass filter
def __init__(self, x0, rc1, rc2, dt, initialized=True):
self.x = x0
self._f1 = FirstOrderFilter(x0, rc1, dt, initialized)
self._f2 = FirstOrderFilter(x0, rc2, dt, initialized)
assert rc2 > rc1, "rc2 must be greater than rc1"
def update_dt(self, dt):
self._f1.update_dt(dt)
self._f2.update_dt(dt)
def update_alpha(self, rc1, rc2):
self._f1.update_alpha(rc1)
self._f2.update_alpha(rc2)
def update(self, x):
self.x = self._f1.update(x) - self._f2.update(x)
return self.x

22
opendbc/car/docs_definitions.py
View File

@@ -72,7 +72,6 @@ class EnumBase(Enum):
class Mount(EnumBase):
mount = BasePart("mount")
angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
class Cable(EnumBase):
@@ -80,8 +79,7 @@ class Cable(EnumBase):
usb_a_2_a_cable = BasePart("USB A-A cable")
usbc_otg_cable = BasePart("USB C OTG cable")
usbc_coupler = BasePart("USB-C coupler")
obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
obd_c_cable_2ft = BasePart("OBD-C cable (2 ft)")
class Accessory(EnumBase):
@@ -143,8 +141,8 @@ class CarHarness(EnumBase):
ford_q3 = BaseCarHarness("Ford Q3 connector")
ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
# custom harness
@@ -152,15 +150,7 @@ class CarHarness(EnumBase):
class Device(EnumBase):
threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
# variant of comma 3X with angled mounts
threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
red_panda = BasePart("red panda")
class Kit(EnumBase):
red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box,
Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
four = BasePart("comma four", parts=[Mount.mount, Cable.obd_c_cable_2ft])
class PartType(Enum):
@@ -168,12 +158,11 @@ class PartType(Enum):
cable = Cable
connector = CarHarness
device = Device
kit = Kit
mount = Mount
tool = Tool
DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex]
DEFAULT_CAR_PARTS: list[EnumBase] = [Device.four]
@dataclass
@@ -273,6 +262,7 @@ class CarDocs:
def init(self, CP: CarParams, all_footnotes=None):
self.brand = CP.brand
self.car_fingerprint = CP.carFingerprint
self.longitudinal_control = CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable
if self.merged and CP.dashcamOnly:
if self.support_type != SupportType.REVIEW:

3
opendbc/car/extra_cars.py
View File

@@ -40,14 +40,15 @@ class CAR(Platforms):
CommunityCarDocs("Acura Integra 2023-25", "All"),
CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
CommunityCarDocs("Acura MDX 2017-20", "All"),
CommunityCarDocs("Acura MDX 2022-24", "All"),
CommunityCarDocs("Acura RDX 2022-25", "All"),
CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
CommunityCarDocs("Acura TLX 2018-20", "All"),
CommunityCarDocs("Acura TLX 2022-23", "All"),
GMSecurityCarDocs("Acura ZDX 2024", "All"),
CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
CommunityCarDocs("Honda Clarity 2018-21", "All"),
CommunityCarDocs("Honda Passport 2026", "All"),
GMSecurityCarDocs("Honda Prologue 2024-25", "All"),
],
)

8
opendbc/car/ford/values.py
View File

@@ -6,8 +6,7 @@ from enum import Enum, IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
from opendbc.car.lateral import AngleSteeringLimits
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
Device
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from opendbc.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
Ecu = CarParams.Ecu
@@ -75,10 +74,7 @@ class FordCarDocs(CarDocs):
def init_make(self, CP: CarParams):
harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
self.car_parts = CarParts([Device.threex_angled_mount, harness])
else:
self.car_parts = CarParts([Device.threex, harness])
self.car_parts = CarParts.common([harness])
if harness == CarHarness.ford_q4:
self.setup_video = "https://www.youtube.com/watch?v=uUGkH6C_EQU"

5
opendbc/car/honda/carcontroller.py
View File

@@ -4,7 +4,7 @@ from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
from opendbc.car.honda import hondacan
from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from opendbc.car.interfaces import CarControllerBase
from opendbc.sunnypilot.car.honda.mads import MadsCarController
@@ -101,6 +101,7 @@ class CarController(CarControllerBase, MadsCarController, GasInterceptorCarContr
self.packer = CANPacker(dbc_names[Bus.pt])
self.params = CarControllerParams(CP)
self.CAN = hondacan.CanBus(CP)
self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
self.braking = False
self.brake_steady = 0.
@@ -159,7 +160,7 @@ class CarController(CarControllerBase, MadsCarController, GasInterceptorCarContr
can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
# Send steering command.
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive))
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
# wind brake from air resistance decel at high speed
wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])

34
opendbc/car/honda/fingerprints.py
View File

@@ -29,7 +29,7 @@ FW_VERSIONS = {
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'38897-TTA-J010\x00\x00',
]
],
},
CAR.HONDA_ACCORD: {
(Ecu.shiftByWire, 0x18da0bf1, None): [
@@ -334,6 +334,7 @@ FW_VERSIONS = {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-T1W-A230\x00\x00',
b'57114-T1W-A240\x00\x00',
b'57114-TFF-A930\x00\x00',
b'57114-TFF-A940\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
@@ -723,20 +724,16 @@ FW_VERSIONS = {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TJB-A030\x00\x00',
b'57114-TJB-A040\x00\x00',
b'57114-TJB-A120\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TJB-A040\x00\x00',
b'36802-TJB-A050\x00\x00',
b'36802-TJB-A540\x00\x00',
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TJB-A040\x00\x00',
b'36161-TJB-A530\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TJB-A520\x00\x00',
b'54008-TJB-A530\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28102-5YK-A610\x00\x00',
@@ -744,32 +741,27 @@ FW_VERSIONS = {
b'28102-5YK-A630\x00\x00',
b'28102-5YK-A700\x00\x00',
b'28102-5YK-A711\x00\x00',
b'28102-5YK-A800\x00\x00',
b'28102-5YL-A620\x00\x00',
b'28102-5YL-A700\x00\x00',
b'28102-5YL-A711\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TJB-A040\x00\x00',
b'77959-TJB-A120\x00\x00',
b'77959-TJB-A210\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'46114-TJB-A040\x00\x00',
b'46114-TJB-A050\x00\x00',
b'46114-TJB-A060\x00\x00',
b'46114-TJB-A120\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TJB-A040\x00\x00',
b'38897-TJB-A110\x00\x00',
b'38897-TJB-A120\x00\x00',
b'38897-TJB-A220\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TJB-A030\x00\x00',
b'39990-TJB-A040\x00\x00',
b'39990-TJB-A070\x00\x00',
b'39990-TJB-A130\x00\x00',
],
},
@@ -893,11 +885,13 @@ FW_VERSIONS = {
b'38897-TX6-A010\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TV9-A040\x00\x00',
b'36161-TV9-A140\x00\x00',
b'36161-TV9-C140\x00\x00',
b'36161-TX6-A030\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TX6-A210\x00\x00',
b'77959-TX6-A230\x00\x00',
b'77959-TX6-C210\x00\x00',
],
@@ -979,6 +973,7 @@ FW_VERSIONS = {
b'8S102-T47-AA20\x00\x00',
b'8S102-T50-EA10\x00\x00',
b'8S102-T56-A060\x00\x00',
b'8S102-T56-A070\x00\x00',
b'8S102-T60-AA10\x00\x00',
b'8S102-T64-A040\x00\x00',
],
@@ -1022,11 +1017,14 @@ FW_VERSIONS = {
CAR.HONDA_CRV_6G: {
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'8S302-3A0-A060\x00\x00',
b'8S302-3A0-A220\x00\x00',
b'8S302-3C0-Q050\x00\x00',
b'8S302-3D4-A050\x00\x00',
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'8S102-3A0-A090\x00\x00',
b'8S102-3A0-A110\x00\x00',
b'8S102-3A0-A230\x00\x00',
b'8S102-3C0-Q060\x00\x00',
b'8S102-3D4-A060\x00\x00',
b'8S102-3D4-A070\x00\x00',
@@ -1054,6 +1052,22 @@ FW_VERSIONS = {
b'28101-63B-M420\x00\x00',
],
},
CAR.HONDA_PASSPORT_4G: {
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'8S302-3BM-A020\x00\x00',
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'8S102-3BM-A020\x00\x00',
],
},
CAR.ACURA_TLX_2G: {
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TGV-A060\x00\x00',
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TGV-A030\x00\x00',
],
},
}
FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

6
opendbc/car/honda/hondacan.py
View File

@@ -121,11 +121,15 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
return commands
def create_steering_control(packer, CAN, apply_torque, lkas_active):
def create_steering_control(packer, CAN, apply_torque, lkas_active, tja_control):
values = {
"STEER_TORQUE": apply_torque if lkas_active else 0,
"STEER_TORQUE_REQUEST": lkas_active,
}
if tja_control:
values["STEER_DOWN_TO_ZERO"] = lkas_active
return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)

2
opendbc/car/honda/interface.py
View File

@@ -52,7 +52,7 @@ class CarInterface(CarInterfaceBase):
# If Bosch radarless, this blocks ACC messages from the camera
# TODO: get radar disable working on Bosch CANFD
ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
ret.openpilotLongitudinalControl = alpha_long
ret.openpilotLongitudinalControl = alpha_long and (candidate not in HONDA_BOSCH_CANFD)
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]

4
opendbc/car/honda/tests/test_honda.py
View File

@@ -1,6 +1,7 @@
import re
from opendbc.car.honda.fingerprints import FW_VERSIONS
from opendbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL
HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}(-|,)[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
@@ -12,3 +13,6 @@ class TestHondaFingerprint:
for fws in fw_by_ecu.values():
for fw in fws:
assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw
def test_tja_bosch_only(self):
assert set(HONDA_BOSCH_TJA_CONTROL).issubset(set(HONDA_BOSCH)), "Nidec car found in TJA control list"

27
opendbc/car/honda/values.py
View File

@@ -3,7 +3,7 @@ from enum import Enum, IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, Device
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = structs.CarParams.Ecu
@@ -78,6 +78,7 @@ class HondaFlags(IntFlag):
BOSCH_ALT_RADAR = 512
ALLOW_MANUAL_TRANS = 1024
HYBRID = 2048
BOSCH_TJA_CONTROL = 4096
# Car button codes
@@ -108,10 +109,7 @@ class HondaCarDocs(CarDocs):
else:
harness = CarHarness.nidec
if CP.carFingerprint in (CAR.HONDA_PILOT_4G,):
self.car_parts = CarParts([Device.threex_angled_mount, harness])
else:
self.car_parts = CarParts.common([harness])
self.car_parts = CarParts.common([harness])
if CP.carFingerprint in (CAR.HONDA_CLARITY,):
self.car_parts = CarParts.common([CarHarness.honda_clarity])
@@ -173,6 +171,7 @@ class CAR(Platforms):
# steerRatio: 11.82 is spec end-to-end
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
flags=HondaFlags.ALLOW_MANUAL_TRANS,
)
HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
[
@@ -199,7 +198,7 @@ class CAR(Platforms):
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
[
HondaCarDocs("Honda Civic 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hybrid 2025", "All"),
HondaCarDocs("Honda Civic Hybrid 2025-26", "All"),
HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hatchback Hybrid (Europe only) 2023", "All"),
# TODO: Confirm 2024
@@ -218,7 +217,7 @@ class CAR(Platforms):
)
HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
[
HondaCarDocs("Honda CR-V 2023-25", "All"),
HondaCarDocs("Honda CR-V 2023-26", "All"),
HondaCarDocs("Honda CR-V Hybrid 2023-25", "All"),
],
CarSpecs(mass=1703, wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
@@ -261,17 +260,27 @@ class CAR(Platforms):
[HondaCarDocs("Honda Pilot 2023-25", "All")],
CarSpecs(mass=4660 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=17.5),
)
HONDA_PASSPORT_4G = HondaBoschCANFDPlatformConfig(
[HondaCarDocs("Honda Passport 2026", "All")],
CarSpecs(mass=4620 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=18.5),
)
# mid-model refresh
ACURA_MDX_4G_MMR = HondaBoschCANFDPlatformConfig(
[HondaCarDocs("Acura MDX 2025", "All except Type S")],
CarSpecs(mass=4544 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.428, steerRatio=16.2),
)
HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
[HondaCarDocs("Honda Odyssey 2021-25", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
[HondaCarDocs("Honda Odyssey 2021-26", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.41),
{Bus.pt: 'acura_rdx_2020_can_generated'},
flags=HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.BOSCH_ALT_RADAR,
)
ACURA_TLX_2G = HondaBoschPlatformConfig(
[HondaCarDocs("Acura TLX 2021", "All")],
CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.87, steerRatio=14.0, centerToFrontRatio=0.43),
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
flags=HondaFlags.BOSCH_ALT_RADAR,
)
# Nidec Cars
ACURA_ILX = HondaNidecPlatformConfig(
@@ -362,6 +371,7 @@ HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
DBC = CAR.create_dbc_map()
@@ -373,6 +383,7 @@ STEER_THRESHOLD = {
CAR.HONDA_CRV_EU: 400,
CAR.HONDA_ACCORD_11G: 600,
CAR.HONDA_PILOT_4G: 600,
CAR.HONDA_PASSPORT_4G: 600,
CAR.ACURA_MDX_4G_MMR: 600,
CAR.HONDA_CRV_6G: 600,
CAR.HONDA_CITY_7G: 600,

4
opendbc/car/hyundai/fingerprints.py
View File

@@ -56,6 +56,7 @@ FW_VERSIONS = {
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00AE MDPS C 1.00 1.03 56310/G2300 4AEHC103',
b'\xf1\x00AE MDPS C 1.00 1.03 56310G2300\x00 4AEHC103',
b'\xf1\x00AE MDPS C 1.00 1.04 56310G2550\x00 4AEHC104',
b'\xf1\x00AE MDPS C 1.00 1.05 56310/G2500 4AEHC105',
b'\xf1\x00AE MDPS C 1.00 1.05 56310/G2501 4AEHC105',
b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107',
@@ -65,6 +66,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222',
b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G7200 160418',
b'\xf1\x00AEH MFC AT EUR RHD 1.00 1.00 95740-G2200 161014',
b'\xf1\x00AEH MFC AT EUR RHD 1.00 1.00 95740-G2400 180222',
b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2300 170703',
b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2400 180222',
@@ -922,6 +924,7 @@ FW_VERSIONS = {
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.07 99210-AA000 220426',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.08 99210-AA000 220728',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.09 99210-AA000 221108',
],
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
@@ -1125,6 +1128,7 @@ FW_VERSIONS = {
b'\xf1\x00JK1 MFC AT CAN LHD 1.00 1.04 99211-AR100 210204',
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125',
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125',
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.02 99211-IY000 230627',
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204',
],
(Ecu.fwdRadar, 0x7d0, None): [

17
opendbc/car/hyundai/values.py
View File

@@ -1,11 +1,11 @@
import re
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from enum import IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, Device
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
@@ -129,21 +129,10 @@ class HyundaiFlags(IntFlag):
ALT_LIMITS_2 = 2 ** 26
class Footnote(Enum):
CANFD = CarFootnote(
"Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
"comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
Column.MODEL)
@dataclass
class HyundaiCarDocs(CarDocs):
package: str = "Smart Cruise Control (SCC)"
def init_make(self, CP: CarParams):
if CP.flags & HyundaiFlags.CANFD:
self.footnotes.insert(0, Footnote.CANFD)
@dataclass
class HyundaiPlatformConfig(PlatformConfig):
@@ -331,7 +320,7 @@ class CAR(Platforms):
HYUNDAI_PALISADE = HyundaiPlatformConfig(
[
HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts([Device.threex_angled_mount, CarHarness.hyundai_h])),
HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,

4
opendbc/car/interfaces.py
View File

@@ -246,7 +246,6 @@ class CarInterfaceBase(ABC, CarInterfaceBaseSP):
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5
ret.longitudinalTuning.kf = 1.
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
@@ -261,9 +260,6 @@ class CarInterfaceBase(ABC, CarInterfaceBaseSP):
params = get_torque_params()[candidate]
tune.init('torque')
tune.torque.kf = 1.0
tune.torque.kp = 1.0
tune.torque.ki = 0.3
tune.torque.friction = params['FRICTION']
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
tune.torque.latAccelOffset = 0.0

8
opendbc/car/nissan/fingerprints.py
View File

@@ -11,12 +11,15 @@ FW_VERSIONS = {
],
(Ecu.eps, 0x742, None): [
b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
b'6CA2C\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
],
(Ecu.engine, 0x7e0, None): [
b'237106GU3B',
b'237109HE2B',
],
(Ecu.gateway, 0x18dad0f1, None): [
b'284U29HE0A',
b'284U29HF0A',
],
},
CAR.NISSAN_LEAF: {
@@ -56,6 +59,7 @@ FW_VERSIONS = {
b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
],
(Ecu.abs, 0x740, None): [
b'476605SD2D',
b'476605SD2E',
b'476605SH1D',
b'476605SH7D',
@@ -66,13 +70,17 @@ FW_VERSIONS = {
b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
b'5SH2A\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
b'5SH3A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
b'5SH3C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
],
(Ecu.gateway, 0x18dad0f1, None): [
b'284U25SF0C',
b'284U25SH3A',
b'284U25SH3B',
b'284U25SK2D',
b'284U25SR0B',
b'284U25SR0C',
],
},
CAR.NISSAN_XTRAIL: {

2
opendbc/car/nissan/values.py
View File

@@ -72,7 +72,7 @@ class CAR(Platforms):
NissanCarSpecs(mass=1610, wheelbase=2.705)
)
NISSAN_ALTIMA = NissanPlatformConfig(
[NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
[NissanCarDocs("Nissan Altima 2019-20, 2024", car_parts=CarParts.common([CarHarness.nissan_b]))],
NissanCarSpecs(mass=1492, wheelbase=2.824)
)

4
opendbc/car/rivian/values.py
View File

@@ -2,7 +2,7 @@ from dataclasses import dataclass, field
from enum import StrEnum, IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, Device
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
from opendbc.car.vin import Vin
@@ -27,7 +27,7 @@ class ModelYear(StrEnum):
@dataclass
class RivianCarDocs(CarDocs):
package: str = "All"
car_parts: CarParts = field(default_factory=CarParts([Device.threex_angled_mount, CarHarness.rivian]))
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.rivian]))
setup_video: str = "https://youtu.be/uaISd1j7Z4U"

2
opendbc/car/subaru/fingerprints.py
View File

@@ -473,6 +473,7 @@ FW_VERSIONS = {
b'\xa1 \x06\x02',
b'\xa1 \x06\x03',
b'\xa1 \x07\x00',
b'\xa1 \x07\x01',
b'\xa1 \x07\x02',
b'\xa1 \x07\x03',
b'\xa1 \x08\x00',
@@ -504,6 +505,7 @@ FW_VERSIONS = {
b'\xe2"`0\x07',
b'\xe2"`p\x07',
b'\xe2"`q\x07',
b'\xe2"`t\x07',
b'\xe2,\xa0p\x07',
b'\xe3,\xa0@\x07',
],

1
opendbc/car/tesla/fingerprints.py
View File

@@ -41,6 +41,7 @@ FW_VERSIONS = {
CAR.TESLA_MODEL_X: {
(Ecu.eps, 0x730, None): [
b'TeM3_SP_XP002p2_0.0.0 (23),XPR003.6.0',
b'TeM3_SP_XP002p2_0.0.0 (36),XPR003.10.0',
],
},
}

14
opendbc/car/tests/routes.py
View File

@@ -26,7 +26,11 @@ non_tested_cars = [
HYUNDAI.GENESIS_G90,
VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter
SUBARU.SUBARU_FORESTER_HYBRID,
HONDA.HONDA_CRV_6G,
# Honda/Acura test routes below expired, replace when CI bucket sync is fixed
HONDA.ACURA_TLX_2G,
HONDA.HONDA_NBOX_2G,
HONDA.ACURA_MDX_4G_MMR,
HONDA.HONDA_CITY_7G,
# port extensions
HYUNDAI.KIA_CEED_PHEV_2022_NON_SCC,
@@ -112,7 +116,6 @@ routes = [
CarTestRoute("320098ff6c5e4730/2023-04-13--17-47-46", HONDA.HONDA_HRV_3G),
CarTestRoute("147613502316e718/00000001--dd141a3140", HONDA.HONDA_HRV_3G), # Brazilian model
CarTestRoute("1e4baee1aa2687a0/00000001--74c4cc0b23", HONDA.HONDA_HRV_3G), # Thailand model use ALT_GEAR
CarTestRoute("414af83891dbf72c/00000006--51fa6d99cd", HONDA.HONDA_NBOX_2G),
CarTestRoute("917b074700869333/2021-05-24--20-40-20", HONDA.ACURA_ILX),
CarTestRoute("08a3deb07573f157/2020-03-06--16-11-19", HONDA.HONDA_ACCORD), # 1.5T
CarTestRoute("1da5847ac2488106/2021-05-24--19-31-50", HONDA.HONDA_ACCORD), # 2.0T
@@ -135,8 +138,9 @@ routes = [
CarTestRoute("b1c832ad56b6bc9d/00000010--debfcf5867", HONDA.HONDA_CIVIC_2022), # 2025 Civic Hatch Hybrid with new eCVT transmission
CarTestRoute("f9c43864cf057d05/2024-01-15--23-01-20", HONDA.HONDA_PILOT_4G), # TODO: Replace with a newer route
CarTestRoute("f39cf149898833ff/0000002b--54f3fae045", HONDA.HONDA_ACCORD_11G),
CarTestRoute("ad9840558640c31d/0000001a--d6cd4871c2", HONDA.ACURA_MDX_4G_MMR), # 2025 MDX
CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G), # Brazilian model
# CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G), # Brazilian model
CarTestRoute("2dc4489d7e1410ca/00000001--bbec3f5117", HONDA.HONDA_CRV_6G),
CarTestRoute("a703d058f4e05aeb/00000008--f169423024", HONDA.HONDA_PASSPORT_4G),
CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
@@ -243,6 +247,7 @@ routes = [
CarTestRoute("7e34a988419b5307/2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2), # hybrid
CarTestRoute("2475fb3eb2ffcc2e/2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022), # hybrid
CarTestRoute("20ba9ade056a8c7b/2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME), # SecOC
CarTestRoute("41ba5b181f29435d/00000001--e3ae76382f", TOYOTA.TOYOTA_RAV4_PRIME), # SecOC longitudinal
CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN), # SecOC
CarTestRoute("0b54d0594d924cd9/00000057--b6206a3205", TOYOTA.TOYOTA_YARIS), # SecOC
CarTestRoute("7a31f030957b9c85/2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
@@ -308,6 +313,7 @@ routes = [
CarTestRoute("66e5edc3a16459c5/2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3),
CarTestRoute("026b6d18fba6417f/2021-03-26--09-17-04", VOLKSWAGEN.SKODA_KAMIQ_MK1), # Scala
CarTestRoute("b2e9858e29db492b/2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
CarTestRoute("e8dac44d3a3458a5/0000008d--c3e9496f1c", VOLKSWAGEN.PORSCHE_MACAN_MK1), # placeholder, replace after merge
CarTestRoute("3c8f0c502e119c1c/2020-06-30--12-58-02", SUBARU.SUBARU_ASCENT),
CarTestRoute("c321c6b697c5a5ff/2020-06-23--11-04-33", SUBARU.SUBARU_FORESTER),

2
opendbc/car/tests/test_car_interfaces.py
View File

@@ -94,7 +94,7 @@ class TestCarInterfaces:
assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
elif tune.which() == 'torque':
assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
assert not math.isnan(tune.torque.latAccelFactor) and tune.torque.latAccelFactor > 0
assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
# Run car interface

2
opendbc/car/tests/test_docs.py
View File

@@ -76,4 +76,4 @@ class TestCarDocs:
assert len(car_parts) > 0, f"Need to specify car parts: {car.name}"
assert car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}"
assert car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}"
assert Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}"
assert Cable.obd_c_cable_2ft in car_parts, f"Need to specify an OBD-C cable (2ft): {car.name}"

3
opendbc/car/torque_data/override.toml
View File

@@ -84,11 +84,14 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
"HONDA_ACCORD_11G" = [1.35, 1.35, 0.17]
"HONDA_PILOT_4G" = [1.25, 1.25, 0.21]
"HONDA_PASSPORT_4G" = [1.2, 1.2, 0.16]
"ACURA_MDX_4G_MMR" = [1.25, 1.25, 0.15]
"HONDA_CRV_6G" = [1.3, 1.3, 0.2]
"HONDA_CITY_7G" = [1.2, 1.2, 0.23]
"HONDA_ODYSSEY_5G_MMR" = [0.9, 0.9, 0.2]
"HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
"ACURA_TLX_2G" = [1.2, 1.2, 0.15]
"PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
# Dashcam or fallback configured as ideal car
"MOCK" = [10.0, 10, 0.0]

28
opendbc/car/toyota/carcontroller.py
View File

@@ -4,7 +4,7 @@ from opendbc.car import Bus, make_tester_present_msg, rate_limit, structs, ACCEL
from opendbc.car.lateral import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance
from opendbc.car.can_definitions import CanData
from opendbc.car.carlog import carlog
from opendbc.car.common.filter_simple import FirstOrderFilter
from opendbc.car.common.filter_simple import FirstOrderFilter, HighPassFilter
from opendbc.car.common.pid import PIDController
from opendbc.car.secoc import add_mac, build_sync_mac
from opendbc.car.interfaces import CarControllerBase
@@ -70,8 +70,8 @@ class CarController(CarControllerBase, SecOCLongCarController, GasInterceptorCar
# *** start long control state ***
self.long_pid = get_long_tune(self.CP, self.params)
self.aego = FirstOrderFilter(0.0, 0.25, DT_CTRL * 3)
self.pitch = FirstOrderFilter(0, 0.25, DT_CTRL)
self.pitch_slow = FirstOrderFilter(0, 1.5, DT_CTRL)
self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL)
self.pitch_hp = HighPassFilter(0.0, 0.25, 1.5, DT_CTRL)
self.accel = 0
self.prev_accel = 0
@@ -81,6 +81,7 @@ class CarController(CarControllerBase, SecOCLongCarController, GasInterceptorCar
self.secoc_lka_message_counter = 0
self.secoc_lta_message_counter = 0
self.secoc_acc_message_counter = 0
self.secoc_prev_reset_counter = 0
def update(self, CC, CC_SP, CS, now_nanos):
@@ -92,7 +93,7 @@ class CarController(CarControllerBase, SecOCLongCarController, GasInterceptorCar
if len(CC.orientationNED) == 3:
self.pitch.update(CC.orientationNED[1])
self.pitch_slow.update(CC.orientationNED[1])
self.pitch_hp.update(CC.orientationNED[1])
# *** control msgs ***
can_sends = []
@@ -104,6 +105,7 @@ class CarController(CarControllerBase, SecOCLongCarController, GasInterceptorCar
if CS.secoc_synchronization['RESET_CNT'] != self.secoc_prev_reset_counter:
self.secoc_lka_message_counter = 0
self.secoc_lta_message_counter = 0
self.secoc_acc_message_counter = 0
self.secoc_prev_reset_counter = CS.secoc_synchronization['RESET_CNT']
expected_mac = build_sync_mac(self.secoc_key, int(CS.secoc_synchronization['TRIP_CNT']), int(CS.secoc_synchronization['RESET_CNT']))
@@ -235,8 +237,7 @@ class CarController(CarControllerBase, SecOCLongCarController, GasInterceptorCar
if not stopping:
# Toyota's PCM slowly responds to changes in pitch. On change, we amplify our
# acceleration request to compensate for the undershoot and following overshoot
high_pass_pitch = self.pitch.x - self.pitch_slow.x
pitch_compensation = float(np.clip(math.sin(high_pass_pitch) * ACCELERATION_DUE_TO_GRAVITY,
pitch_compensation = float(np.clip(math.sin(self.pitch_hp.x) * ACCELERATION_DUE_TO_GRAVITY,
-MAX_PITCH_COMPENSATION, MAX_PITCH_COMPENSATION))
pcm_accel_cmd += pitch_compensation
@@ -258,8 +259,19 @@ class CarController(CarControllerBase, SecOCLongCarController, GasInterceptorCar
pcm_accel_cmd = pcm_accel_cmd if self.CP.carFingerprint in TSS2_CAR else actuators.accel
pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
CS.acc_type, fcw_alert, self.distance_button, self.SECOC_LONG))
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
CS.acc_type, fcw_alert, self.distance_button))
if self.CP.flags & ToyotaFlags.SECOC.value:
acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
acc_cmd_2 = add_mac(self.secoc_key,
int(CS.secoc_synchronization['TRIP_CNT']),
int(CS.secoc_synchronization['RESET_CNT']),
self.secoc_acc_message_counter,
acc_cmd_2)
self.secoc_acc_message_counter += 1
can_sends.append(acc_cmd_2)
self.accel = pcm_accel_cmd
else:

5
opendbc/car/toyota/carstate.py
View File

@@ -6,7 +6,8 @@ from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.common.filter_simple import FirstOrderFilter
from opendbc.car.interfaces import CarStateBase
from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
SECOC_CAR
from opendbc.sunnypilot.car.toyota.carstate_ext import CarStateExt
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
@@ -195,7 +196,7 @@ class CarState(CarStateBase, CarStateExt):
buttonEvents.extend(create_button_events(1, 0, {1: ButtonType.lkas}) +
create_button_events(0, 1, {1: ButtonType.lkas}))
if self.CP.carFingerprint not in RADAR_ACC_CAR:
if self.CP.carFingerprint not in (RADAR_ACC_CAR | SECOC_CAR):
# distance button is wired to the ACC module (camera or radar)
self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]

7
opendbc/car/toyota/toyotacan.py
View File

@@ -60,6 +60,13 @@ def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_r
return packer.make_can_msg("ACC_CONTROL", 0, values)
def create_accel_command_2(packer, accel):
values = {
"ACCEL_CMD": accel,
}
return packer.make_can_msg("ACC_CONTROL_2", 0, values)
def create_pcs_commands(packer, accel, active, mass):
values1 = {
"COUNTER": 0,

10
opendbc/car/volkswagen/carcontroller.py
View File

@@ -4,7 +4,7 @@ from opendbc.car import Bus, DT_CTRL, structs
from opendbc.car.lateral import apply_driver_steer_torque_limits
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.interfaces import CarControllerBase
from opendbc.car.volkswagen import mqbcan, pqcan
from opendbc.car.volkswagen import mlbcan, mqbcan, pqcan
from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags
VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -16,10 +16,16 @@ class CarController(CarControllerBase):
super().__init__(dbc_names, CP, CP_SP)
self.CCP = CarControllerParams(CP)
self.CAN = CanBus(CP)
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_names[Bus.pt])
self.aeb_available = not CP.flags & VolkswagenFlags.PQ
if CP.flags & VolkswagenFlags.PQ:
self.CCS = pqcan
elif CP.flags & VolkswagenFlags.MLB:
self.CCS = mlbcan
else:
self.CCS = mqbcan
self.apply_torque_last = 0
self.gra_acc_counter_last = None
self.eps_timer_soft_disable_alert = False

97
opendbc/car/volkswagen/carstate.py
View File

@@ -18,6 +18,7 @@ class CarState(CarStateBase):
self.esp_hold_confirmation = False
self.upscale_lead_car_signal = False
self.eps_stock_values = False
self.acc_type = 0
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
if not self.CP.pcmCruise:
@@ -48,6 +49,8 @@ class CarState(CarStateBase):
if self.CP.flags & VolkswagenFlags.PQ:
return self.update_pq(pt_cp, cam_cp, ext_cp)
elif self.CP.flags & VolkswagenFlags.MLB:
return self.update_mlb(pt_cp, cam_cp, ext_cp)
ret = structs.CarState()
ret_sp = structs.CarStateSP()
@@ -74,11 +77,9 @@ class CarState(CarStateBase):
pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"],
)
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 # EA
drive_mode = True
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
@@ -115,11 +116,7 @@ class CarState(CarStateBase):
# Shared logic
ret.vEgoCluster = pt_cp.vl["Kombi_01"]["KBI_angez_Geschw"] * CV.KPH_TO_MS
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, drive_mode)
self.parse_mlb_mqb_steering_state(ret, pt_cp)
ret.gasPressed = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] > 0
ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
@@ -161,14 +158,14 @@ class CarState(CarStateBase):
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
# Update gas, brakes, and gearshift.
ret.gasPressed = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] > 0
ret.gasPressed = pt_cp.vl["Motor_3"]["MO3_Pedalwert"] > 0
ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"])
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
# Update gear and/or clutch position data.
if self.CP.transmissionType == TransmissionType.automatic:
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["GE1_Wahl_Pos"], None))
elif self.CP.transmissionType == TransmissionType.manual:
reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
if reverse_light:
@@ -208,7 +205,7 @@ class CarState(CarStateBase):
# Update ACC radar status.
self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["MO5_GRA_Hauptsch"])
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["MO2_Sta_GRA"] in (1, 2)
if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
@@ -235,6 +232,62 @@ class CarState(CarStateBase):
self.frame += 1
return ret, ret_sp
def update_mlb(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
ret = structs.CarState()
ret_sp = structs.CarStateSP()
self.parse_wheel_speeds(ret,
pt_cp.vl["ESP_03"]["ESP_VL_Radgeschw"],
pt_cp.vl["ESP_03"]["ESP_VR_Radgeschw"],
pt_cp.vl["ESP_03"]["ESP_HL_Radgeschw"],
pt_cp.vl["ESP_03"]["ESP_HR_Radgeschw"],
)
ret.gasPressed = pt_cp.vl["Motor_03"]["MO_Fahrpedalrohwert_01"] > 0
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_03"]["GE_Waehlhebel"], None))
# ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
# currently regulating speed (3), driver accel override (4), brake only (5)
# TODO: get this from the drivetrain side instead, for openpilot long support later
ret.cruiseState.available = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (2, 3, 4, 5)
ret.cruiseState.enabled = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (3, 4, 5)
ret.accFaulted = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (6, 7)
self.parse_mlb_mqb_steering_state(ret, pt_cp)
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0
brake_pedal_pressed = bool(pt_cp.vl["Motor_03"]["MO_Fahrer_bremst"])
brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])
ret.espDisabled = pt_cp.vl["ESP_01"]["ESP_Tastung_passiv"] != 0
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gateway_11"]["BH_Blinker_li"],
pt_cp.vl["Gateway_11"]["BH_Blinker_re"])
ret.seatbeltUnlatched = pt_cp.vl["Gateway_06"]["AB_Gurtschloss_FA"] != 3
ret.doorOpen = any([pt_cp.vl["Gateway_05"]["FT_Tuer_geoeffnet"],
pt_cp.vl["Gateway_05"]["BT_Tuer_geoeffnet"],
pt_cp.vl["Gateway_05"]["HL_Tuer_geoeffnet"],
pt_cp.vl["Gateway_05"]["HR_Tuer_geoeffnet"]])
# Consume blind-spot monitoring info/warning LED states, if available.
# Infostufe: BSM LED on, Warnung: BSM LED flashing
if self.CP.enableBsm:
ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
self.gra_stock_values = pt_cp.vl["LS_01"]
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
ret.standstill = ret.vEgoRaw == 0
self.frame += 1
return ret, ret_sp
def update_low_speed_alert(self, v_ego: float) -> bool:
# Low speed steer alert hysteresis logic
if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and v_ego < (self.CP.minSteerSpeed + 1.):
@@ -243,6 +296,16 @@ class CarState(CarStateBase):
self.low_speed_alert = False
return self.low_speed_alert
def parse_mlb_mqb_steering_state(self, ret, pt_cp, drive_mode=True):
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, drive_mode)
return
def update_hca_state(self, hca_status, drive_mode=True):
# Treat FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
# DISABLED means the EPS hasn't been configured to support Lane Assist
@@ -256,18 +319,20 @@ class CarState(CarStateBase):
if CP.flags & VolkswagenFlags.PQ:
return CarState.get_can_parsers_pq(CP)
# another case of the 1-50Hz
cam_messages = []
# manually configure some optional and variable-rate/edge-triggered messages
pt_messages, cam_messages = [], []
if not CP.flags & VolkswagenFlags.MLB:
pt_messages += [
("Blinkmodi_02", 1) # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
]
if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
cam_messages += [
("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
]
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
# the 50->1Hz is currently too much for the CANParser to figure out
("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
], CanBus(CP).pt),
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).cam),
}

31
opendbc/car/volkswagen/fingerprints.py
View File

@@ -837,6 +837,7 @@ FW_VERSIONS = {
b'\xf1\x878V0906259H \xf1\x890002',
b'\xf1\x878V0906259J \xf1\x890002',
b'\xf1\x878V0906259K \xf1\x890001',
b'\xf1\x878V0906259K \xf1\x890002',
b'\xf1\x878V0906264B \xf1\x890003',
b'\xf1\x878V0907115B \xf1\x890007',
b'\xf1\x878V0907404A \xf1\x890005',
@@ -852,6 +853,7 @@ FW_VERSIONS = {
b'\xf1\x870D9300012L \xf1\x894521',
b'\xf1\x870D9300013B \xf1\x894902',
b'\xf1\x870D9300013B \xf1\x894931',
b'\xf1\x870D9300014Q \xf1\x895006',
b'\xf1\x870D9300041N \xf1\x894512',
b'\xf1\x870D9300043T \xf1\x899699',
b'\xf1\x870DD300046 \xf1\x891604',
@@ -966,6 +968,35 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572T \xf1\x890383',
],
},
CAR.PORSCHE_MACAN_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8795B906259BJ\xf1\x890001',
b'\xf1\x8795B90652013\xf1\x893485',
b'\xf1\x8795B90654002\xf1\x893495',
b'\xf1\x8795B907551D \xf1\x890006',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8795B927156CE\xf1\x890022',
b'\xf1\x8795B927156JH\xf1\x890001',
b'\xf1\x8795B927156KK\xf1\x890001',
b'\xf1\x8795B927156R \xf1\x890021',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x8795B959655F \xf1\x890130\xf1\x82\x05065Q033513',
b'\xf1\x8795B959655F \xf1\x890130\xf1\x82\x050682033514',
b'\xf1\x8795B959655G \xf1\x890150\xf1\x82\x0506B1033514',
b'\xf1\x8795B959655G \xf1\x890150\xf1\x82\x0506CJ02D417',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x8795B909144K \xf1\x891902\xf1\x82\x02\x04#\x04#',
b'\xf1\x8795B909144K \xf1\x891902\xf1\x82\x02\x04/\x04/',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x8795B907567B\x00\xf1\x890800\xf1\x82108',
b'\xf1\x8795B907567G\x00\xf1\x890410\xf1\x82104',
b'\xf1\x8795B907567J \xf1\x890440\xf1\x82104',
],
},
CAR.SEAT_ATECA_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027KA\xf1\x893749',

14
opendbc/car/volkswagen/interface.py
View File

@@ -37,6 +37,13 @@ class CarInterface(CarInterfaceBase):
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
elif ret.flags & VolkswagenFlags.MLB:
# Set global MLB parameters
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMlb)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
ret.networkLocation = NetworkLocation.gateway
ret.dashcamOnly = True # Pending HCA timeout fix, safety validation, harness termination, install procedure
else:
# Set global MQB parameters
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
@@ -62,7 +69,7 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerLimitTimer = 0.4
if ret.flags & VolkswagenFlags.PQ:
if ret.flags & VolkswagenFlags.PQ or ret.flags & VolkswagenFlags.MLB:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
else:
@@ -83,6 +90,11 @@ class CarInterface(CarInterfaceBase):
if ret.transmissionType == TransmissionType.manual:
ret.minEnableSpeed = 4.5
# Per-vehicle overrides
if candidate == CAR.PORSCHE_MACAN_MK1:
ret.steerActuatorDelay = 0.07
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.stopAccel = -0.55
ret.vEgoStarting = 0.1

71
opendbc/car/volkswagen/mlbcan.py Normal file
View File

@@ -0,0 +1,71 @@
from opendbc.car.volkswagen.mqbcan import (volkswagen_mqb_meb_checksum, xor_checksum,
create_lka_hud_control as mqb_create_lka_hud_control)
# TODO: Parameterize the hca control type (5 vs 7) and consolidate with MQB (and PQ?)
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
values = {
"HCA_01_Status_HCA": 7 if lkas_enabled else 3,
"HCA_01_LM_Offset": abs(apply_steer),
"HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
"HCA_01_Vib_Freq": 18,
"HCA_01_Sendestatus": 1 if lkas_enabled else 0,
"EA_ACC_Wunschgeschwindigkeit": 327.36,
}
return packer.make_can_msg("HCA_01", bus, values)
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
return mqb_create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control)
def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
values = {s: gra_stock_values[s] for s in [
"LS_Hauptschalter",
"LS_Typ_Hauptschalter",
"LS_Codierung",
"LS_Tip_Stufe_2",
]}
values.update({
"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
"LS_Abbrechen": cancel,
"LS_Tip_Wiederaufnahme": resume,
})
return packer.make_can_msg("LS_01", bus, values)
def acc_control_value(main_switch_on, acc_faulted, long_active):
return 0
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
return 0
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
values = {}
return packer.make_can_msg("ACC_05", bus, values)
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
values = {}
return packer.make_can_msg("ACC_02", bus, values)
def volkswagen_mlb_checksum(address: int, sig, d: bytearray) -> int:
xor_starting_value = {
0x109: 0x08, # ACC_01
0x111: 0x10, # TSK_05
0x30C: 0x0F, # ACC_02
0x324: 0x27, # ACC_04
0x10B: 0xA, # LS_01
0x10D: 0x0C, # ACC_05
0x10F: 0x0E, # ACC_0x10F
0x311: 0x12, # ACC_0x311
0x397: 0x94, # LDW_02
0x10C: 0x0D, # TSK_02
}
if address in xor_starting_value:
return xor_checksum(address, sig, d, xor_starting_value[address])
else:
return volkswagen_mqb_meb_checksum(address, sig, d)

4
opendbc/car/volkswagen/mqbcan.py
View File

@@ -185,8 +185,8 @@ def volkswagen_mqb_meb_checksum(address: int, sig, d: bytearray) -> int:
return crc ^ 0xFF
def xor_checksum(address: int, sig, d: bytearray) -> int:
checksum = 0
def xor_checksum(address: int, sig, d: bytearray, initial_value: int = 0) -> int:
checksum = initial_value
checksum_byte = sig.start_bit // 8
for i in range(len(d)):
if i != checksum_byte:

79
opendbc/car/volkswagen/values.py
View File

@@ -5,8 +5,7 @@ from enum import Enum, IntFlag, StrEnum
from opendbc.car import Bus, CanBusBase, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
from opendbc.can import CANDefine
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
Device
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from opendbc.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
from opendbc.car.vin import Vin
@@ -81,7 +80,7 @@ class CarControllerParams:
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
self.shifter_values = can_define.dv["Getriebe_1"]["GE1_Wahl_Pos"]
self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
self.BUTTONS = [
@@ -90,7 +89,7 @@ class CarControllerParams:
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [3]),
]
self.LDW_MESSAGES = {
@@ -105,24 +104,43 @@ class CarControllerParams:
else:
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["Gateway_73"]["GE_Fahrstufe"]
elif CP.transmissionType == TransmissionType.direct:
self.shifter_values = can_define.dv["Motor_EV_01"]["MO_Waehlpos"]
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
self.BUTTONS = [
Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
]
if CP.flags & VolkswagenFlags.MLB:
self.STEER_DRIVER_ALLOWANCE = 60 # Driver intervention threshold 0.6 Nm
self.STEER_DELTA_UP = 9 # Max HCA reached in 0.66s (STEER_MAX / (50Hz * 0.66))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
self.shifter_values = can_define.dv["Getriebe_03"]["GE_Waehlhebel"]
self.BUTTONS = [
Button(structs.CarState.ButtonEvent.Type.setCruise, "LS_01", "LS_Tip_Setzen", [1]),
Button(structs.CarState.ButtonEvent.Type.resumeCruise, "LS_01", "LS_Tip_Wiederaufnahme", [1]),
Button(structs.CarState.ButtonEvent.Type.accelCruise, "LS_01", "LS_Tip_Hoch", [1]),
Button(structs.CarState.ButtonEvent.Type.decelCruise, "LS_01", "LS_Tip_Runter", [1]),
Button(structs.CarState.ButtonEvent.Type.cancel, "LS_01", "LS_Abbrechen", [1]),
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "LS_01", "LS_Verstellung_Zeitluecke", [1]),
]
else:
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["Gateway_73"]["GE_Fahrstufe"]
elif CP.transmissionType == TransmissionType.direct:
self.shifter_values = can_define.dv["Motor_EV_01"]["MO_Waehlpos"]
self.BUTTONS = [
Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
]
self.LDW_MESSAGES = {
"none": 0, # Nothing to display
@@ -150,6 +168,7 @@ class WMI(StrEnum):
AUDI_EUROPE_MPV = "WA1"
AUDI_GERMANY_CAR = "WAU"
MAN = "WMA"
PORSCHE_SUV = "WP1"
AUDI_SPORT = "WUA"
VOLKSWAGEN_COMMERCIAL = "WV1"
VOLKSWAGEN_COMMERCIAL_BUS_VAN = "WV2"
@@ -169,6 +188,17 @@ class VolkswagenFlags(IntFlag):
# Static flags
PQ = 2
MLB = 8
@dataclass
class VolkswagenMLBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_mlb'})
chassis_codes: set[str] = field(default_factory=set)
wmis: set[WMI] = field(default_factory=set)
def init(self):
self.flags |= VolkswagenFlags.MLB
@dataclass
@@ -204,7 +234,7 @@ class Footnote(Enum):
Column.MODEL)
SKODA_HEATED_WINDSHIELD = CarFootnote(
"Some Škoda vehicles are equipped with heated windshields, which are known " +
"to block GPS signal needed for some comma 3X functionality.",
"to block GPS signal needed for some comma four functionality.",
Column.MODEL)
VW_EXP_LONG = CarFootnote(
"Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
@@ -226,9 +256,6 @@ class VWCarDocs(CarDocs):
if "SKODA" in CP.carFingerprint:
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])
if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
self.min_steer_speed = 0
@@ -414,6 +441,12 @@ class CAR(Platforms):
chassis_codes={"8U", "F3", "FS"},
wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
)
PORSCHE_MACAN_MK1 = VolkswagenMLBPlatformConfig(
[VWCarDocs("Porsche Macan 2017-24")],
VolkswagenCarSpecs(mass=1895, wheelbase=2.81, steerRatio=16.2),
chassis_codes={"95", "A5"},
wmis={WMI.PORSCHE_SUV},
)
SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
[
VWCarDocs("CUPRA Ateca 2018-23"),

5
opendbc/dbc/SConscript
View File

@@ -1,7 +1,8 @@
Import("env")
import os
from pathlib import Path
env = Environment(ENV=os.environ)
generator = File("generator/generator.py")
source_files = [

6
opendbc/dbc/generator/honda/_bosch_2018.dbc
View File

@@ -1,9 +1,3 @@
BO_ 148 KINEMATICS: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 228 STEERING_CONTROL: 5 EON
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ DRIVER_OVERRIDE : 17|1@0+ (1,0) [0|1] "" XXX

11
opendbc/dbc/generator/honda/_honda_common.dbc
View File

@@ -1,3 +1,14 @@
BO_ 145 KINEMATICS_ALT: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 148 KINEMATICS: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 304 GAS_PEDAL_2: 8 PCM
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON

15
opendbc/dbc/generator/honda/_nidec_common.dbc
View File

@@ -1,14 +1,3 @@
BO_ 145 KINEMATICS: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 148 KINEMATICS_ALT: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 432 STANDSTILL: 7 VSA
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -71,8 +60,8 @@ BO_ 927 RADAR_HUD: 8 ADAS
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec";
CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec";
CM_ SG_ 506 COMPUTER_BRAKE_HYBRID "Used by Hybrid Nidec";
CM_ SG_ 506 BRAKE_PUMP_REQUEST_HYBRID "Used by Hybrid Nidec";
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";

2749
opendbc/dbc/vw_mlb.dbc Normal file
View File

File diff suppressed because it is too large Load Diff

4
opendbc/dbc/vw_mqb.dbc
View File

@@ -58,6 +58,7 @@ BO_ 290 ACC_06: 8 XXX
BO_ 279 ACC_10: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ AWV_AWA_Status_EPS : 12|4@1+ (1,0) [0|7] "" XXX
SG_ AWV1_Anf_Prefill : 16|1@1+ (1,0) [0|1] "" XXX
SG_ ANB_CM_Info : 17|1@1+ (1,0) [0|1] "" XXX
SG_ AWV2_Freigabe : 18|1@1+ (1,0) [0|1] "" XXX
@@ -1329,6 +1330,7 @@ BO_ 159 LH_EPS_03: 8 XXX
SG_ EPS_BLW_QBit : 30|1@1+ (1,0) [0|1] "" XXX
SG_ EPS_VZ_BLW : 31|1@1+ (1,0) [0|1] "" XXX
SG_ EPS_HCA_Status : 32|4@1+ (1,0) [0|15] "" XXX
SG_ EPS_AWA_Status : 36|4@1+ (1,0) [0|14] "" XXX
SG_ EPS_Lenkmoment : 40|10@1+ (1,0) [0|8] "Unit_centiNewtoMeter" XXX
SG_ EPS_Lenkmoment_QBit : 54|1@1+ (1,0) [0|1] "" XXX
SG_ EPS_VZ_Lenkmoment : 55|1@1+ (1,0) [0|1] "" XXX
@@ -1673,7 +1675,9 @@ CM_ SG_ 1720 KBI_Variante_USA "In diesem Signal wird die HW-Variante des Kombis
VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 8 "preempted" ;
VAL_ 159 EPS_AWA_Status 0 "AWA_deaktiviert" 1 "AWA_Anf_nicht_ausfuehrbar" 2 "Kom_AWA_gestoert" 3 "EPS_bzgl_AWA_funktionsbereit" 4 "AWA_Anf_abgewiesen" 5 "AWA_Momeingriff_1_aktiv" 7 "AWA_Momeingriff_2_aktiv" 8 "AWA_abgewiesen_Momentenpriorisierung" 9 "Anf_abgewiesen_Bedienueblich" 14 "Init" ;
VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 13 "T" 14 "T" ;
VAL_ 279 AWV_AWA_Status_EPS 0 "AWA_deactivated" 1 "AWA_request_not_executable" 2 "EPS_communication_disturbed" 3 "AWA_ready" 5 "AWA_torque_intervention_1" 7 "AWA_torque_intervention_2" ;
VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault" ;
VAL_ 288 TSK_v_Begrenzung_aktiv 0 "inaktiv" 1 "aktiv" ;
VAL_ 288 TSK_Standby_Anf_ESP 0 "keine_Standby_Anforderung" 1 "Standby_Anforderung" ;

334
opendbc/dbc/vw_pq.dbc
View File

@@ -22,6 +22,7 @@ NS_ :
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
SG_MUL_VAL_
BS_:
@@ -330,50 +331,64 @@ BO_ 1160 Motor_6: 8 XXX
SG_ Sollmoment_f_r_Getriebe : 8|8@1+ (0.39,0) [0|99] "MDI" XXX
SG_ Checksumme_Motor_6 : 0|8@1+ (1,0) [0|0] "" XXX
BO_ 1152 Motor_5: 8 XXX
SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX
SG_ Motortext_Bits__4_1_ : 52|4@1+ (1,0) [0|0] "" XXX
SG_ Doppelte_Momente : 51|1@1+ (1,0) [0|0] "" XXX
SG_ GRA_Hauptschalter : 50|1@1+ (1,0) [0|0] "" XXX
SG_ Anlasser_Ausspuren : 49|1@1+ (1,0) [0|0] "" XXX
SG_ Anlasser_Freigabe : 48|1@1+ (1,0) [0|0] "" XXX
SG_ Klimadrucksignal__Motor_5_ : 40|8@1+ (0.2,0) [0|50.8] "bar" XXX
SG_ K_hlerluefteransteuerung : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
SG_ Verbrauch_Ueberlauf : 31|1@1+ (1,0) [0|0] "" XXX
SG_ Kraftstoffverbrauchssignal : 16|15@1+ (1,0) [0|32767] "ul" XXX
SG_ Klimakompressor_Leistungsreduzi : 15|1@1+ (1,0) [0|0] "" XXX
SG_ Kennfeldkuehlung : 14|1@1+ (1,0) [0|0] "" XXX
SG_ Klimakompressor_aus__Motor_5_ : 13|1@1+ (1,0) [0|0] "" XXX
SG_ CAT_Warnung : 12|1@1+ (1,0) [0|0] "" XXX
SG_ OBD_2_Lampe : 11|1@1+ (1,0) [0|0] "" XXX
SG_ E_Gas_Lampe : 10|1@1+ (1,0) [0|0] "" XXX
SG_ Vorgluehlampe__Motor_5_ : 9|1@1+ (1,0) [0|0] "" XXX
SG_ Ladekontroll_Lampe : 8|1@1+ (1,0) [0|0] "" XXX
SG_ Multiplex_Code M : 6|2@1+ (1,0) [0|0] "" XXX
SG_ Multiplex_Info_norm__Verbrauch m3 : 0|6@1+ (20,0) [0|1260] "l/Zyl" XXX
SG_ Multiplex_Info_Motortyp m2 : 0|6@1+ (1,0) [0|0] "" XXX
SG_ Multiplex_Info_Drehzahl_MD_Max m1 : 0|6@1+ (100,0) [0|6300] "U/min" XXX
SG_ Multiplex_Info_Max_Drehmoment m0 : 0|6@1+ (10,0) [0|630] "Nm" XXX
BO_ 1152 Motor_5: 8 Motor
SG_ MO5_Mp_Code M : 6|2@1+ (1,0) [0|3] "" Gateway
SG_ MO5_max_Moment m0 : 0|6@1+ (10,0) [0|630] "Nm" Gateway
SG_ MO5_Drehzahl m1 : 0|6@1+ (100,0) [0|6300] "U/min" Gateway
SG_ MO5_Motortyp m2 : 0|6@1+ (1,0) [0|63] "" Gateway
SG_ MO5_Abgastyp m3 : 0|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Abgastyp2 m3 : 1|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Abgastyp3 m3 : 2|1@1+ (1,0) [0|1] "" Gateway
SG_ OBD_Kaltstart_Denominator m3 : 3|1@1+ (1,0) [0|1] "" Gateway
SG_ OBD_Minimum_Trip m3 : 4|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_DPF_reg m3 : 5|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Vorgluehen : 9|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_E_Gas : 10|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_OBD_2 : 11|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_Heissl : 12|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_KlimaKompr : 13|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Feld_kuehl : 14|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_KliKo_Red : 15|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Verbrauch : 16|15@1+ (1,0) [0|32767] "µl" KOMBI
SG_ MO5_UeberlVerb : 31|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_Luefter : 32|8@1+ (0.4,0) [0|101.6] "%" Gateway
SG_ MO5_HLeuchte : 40|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_PartikelLamp : 41|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_Sta_BKU : 42|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_TypStartSteu : 43|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_TDE_Lampe : 44|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_TDE_Text : 45|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_DZM_Daempf : 46|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_Interlock : 47|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Start : 48|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Anlasser : 49|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_GRA_Hauptsch : 50|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Momente : 51|1@1+ (1,0) [0|1] "" Gateway
SG_ MO5_Motortext1 : 52|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_Motortext2 : 53|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_Motortext3 : 54|1@1+ (1,0) [0|1] "" KOMBI
SG_ MO5_Motortext4 : 55|1@1+ (1,0) [0|1] "" KOMBI
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" Gateway
BO_ 896 Motor_3: 8 XXX
SG_ Drosselklappenpoti : 56|8@1+ (0.4,0) [0|101.6] "%" XXX
SG_ Motor_Wunschdrehzahl : 48|8@1+ (25,0) [0|6350] "U/min" XXX
SG_ Motordrehzahlbeeinflussung : 40|8@1+ (0.392,0) [0|100] "%" XXX
SG_ Kein_Start_Stop : 39|1@1+ (1,0) [0|0] "" XXX
SG_ Kein_E_Gas : 38|1@1+ (1,0) [0|0] "" XXX
SG_ Reserviert_Motor_3_1 : 37|1@1+ (1,0) [0|0] "" XXX
SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX
SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX
SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX
SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX
SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX
SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX
SG_ Fahrpedalwert_ungenau__Motor_3_ : 4|1@1+ (1,0) [0|0] "" XXX
SG_ Frei_Motor_3_1 : 3|1@1+ (1,0) [0|0] "" XXX
SG_ Motor_Wunschdrehzahl_Priorit_t : 2|1@1+ (1,0) [0|0] "" XXX
SG_ Uebertemperaturschutz__Motor_3_ : 1|1@1+ (1,0) [0|0] "" XXX
SG_ Vorgluehmeldung : 0|1@1+ (1,0) [0|0] "" XXX
BO_ 896 Motor_3: 8 Motor
SG_ MO3_Vorgluehen : 0|1@1+ (1,0) [0|1] "" Gateway
SG_ MO3_Prio_Dz : 1|1@1+ (1,0) [0|1] "" Transmission
SG_ MO_Schalter_StartStopp : 2|1@1+ (1,0) [0|1] "" Gateway
SG_ MO3_Winterprg : 3|1@1+ (1,0) [0|1] "" Transmission
SG_ MO3_Sta_Pedal : 4|1@1+ (1,0) [0|1] "" Gateway
SG_ MO3_Sta_FPG M : 5|1@1+ (1,0) [0|1] "" ESP
SG_ MO3_Sign_FPG m1 : 6|1@1+ (1,0) [0|1] "" ESP
SG_ MO3_Sta_Temp : 7|1@1+ (1,0) [0|1] "" Gateway
SG_ MO3_Offsentemp : 8|8@1+ (0.75,-48) [-48|142.5] "°C" Gateway
SG_ MO3_Pedalwert : 16|8@1+ (0.4,0) [0|101.6] "%" Gateway
SG_ MO3_Rad_Wu_Mo : 24|12@1+ (0.39,0) [0|1596.66] "%" Transmission
SG_ MO3_Vorz_RadWu : 36|1@1+ (1,0) [0|1] "" Transmission
SG_ MO3_Freigabe_Segeln : 37|1@1+ (1,0) [0|1] "" Transmission
SG_ MO_StartStopp_StoppVorbereitung : 38|1@1+ (1,0) [0|1] "" Gateway
SG_ MO3_Dz_Beeinfl : 40|8@1+ (0.39,0) [0|99.45] "%" Transmission
SG_ MO3_WunschDz : 48|8@1+ (25,0) [0|6350] "U/min" Transmission
SG_ MO3_DKW m0 : 56|8@1+ (0.4,0) [0|101.6] "%" Gateway
SG_ MO3_FPGradient m1 : 56|8@1+ (25,0) [0|6350] "%/s" ESP
BO_ 648 Motor_2: 8 Motor
SG_ MO2_Mp_Code m : 6|2@1+ (1,0) [0|3] "" Gateway
@@ -705,28 +720,27 @@ BO_ 1344 Getriebe_2: 8 XXX
SG_ Schubabschaltunterstuetzung : 1|1@1+ (1,0) [0|0] "" XXX
SG_ LFR_Adaption_Freigabeflag : 0|1@1+ (1,0) [0|0] "" XXX
BO_ 1088 Getriebe_1: 8 XXX
SG_ Wandlerverlustmoment : 56|8@1+ (0.39,0) [0|99.06] "MDI" XXX
SG_ Fehlerspeichereintrag__Getriebe : 55|1@1+ (1,0) [0|0] "" XXX
SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" XXX
SG_ Gang_eingelegt : 50|1@1+ (1,0) [0|0] "" XXX
SG_ Schaltabsicht : 49|1@1+ (1,0) [0|0] "" XXX
SG_ Motor_aus : 48|1@1+ (1,0) [0|0] "" XXX
SG_ OBD_Status__Getriebe_1___4_1_ : 46|2@1+ (1,0) [0|0] "" XXX
SG_ Kuehlleistung : 44|2@1+ (1,0) [0|0] "" XXX
SG_ Getriebe_Notlauf : 40|4@1+ (1,0) [0|0] "" XXX
SG_ Fahrwiderstandsindex : 32|8@1+ (0.249,-31.6) [-31.6|31.6] "" XXX
SG_ inneres_Soll_Motormoment : 24|8@1+ (0.39,0) [0|99.06] "MDI" XXX
SG_ Uebertragungsfunktion : 16|8@1+ (0.1,0) [0|25.4] "" XXX
SG_ Waehlhebelposition__Getriebe_1_ : 12|4@1+ (1,0) [0|0] "" XXX
SG_ Zielgang_oder_eingelegter_Gang : 8|4@1+ (1,0) [0|0] "" XXX
SG_ EGS_Anforderung : 7|1@1+ (1,0) [0|0] "" XXX
SG_ Kodierung_im_MSG : 6|1@1+ (1,0) [0|0] "" XXX
SG_ Leerlaufsolldrehzahlanhebung : 5|1@1+ (1,0) [0|0] "" XXX
SG_ Wandlerkupplung : 3|2@1+ (1,0) [0|0] "" XXX
SG_ Klimakompressor_aus__Getriebe_1 : 2|1@1+ (1,0) [0|0] "" XXX
SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX
SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX
BO_ 1088 Getriebe_1: 8 Transmission
SG_ GE1_Schaltung : 0|1@1+ (1,0) [0|1] "" Gateway
SG_ GE1_Sta_Schutz : 1|1@1+ (1,0) [0|1] "" Motor
SG_ GE1_Klimakompr : 2|1@1+ (1,0) [0|1] "" Motor
SG_ GE1_WK : 3|2@1+ (1,0) [0|3] "" Gateway
SG_ GE1_StSt_Info : 5|2@1+ (1,0) [0|3] "" Gateway
SG_ GE1_EGS_Anf : 7|1@1+ (1,0) [0|1] "" Motor
SG_ GE1_Zielgang : 8|4@1+ (1,0) [0|15] "" Gateway
SG_ GE1_Wahl_Pos : 12|4@1+ (1,0) [0|15] "" Gateway
SG_ GE1_Mrad_Mkurb : 16|8@1+ (0.1,0) [0|25.4] "" Gateway
SG_ GE1_Soll_Mo : 24|8@1+ (0.39,0) [0|99.06] "%" Motor
SG_ GE1_Fahrwistd : 32|8@1+ (0.249,-31.623) [-31.623|31.623] "" Gateway
SG_ GE1_Notlauf : 40|4@1+ (1,0) [0|15] "" Gateway
SG_ GE1_Kuehlung : 44|2@1+ (1,0) [0|3] "" Gateway
SG_ GE1_Sta_OBD : 47|1@1+ (1,0) [0|1] "" Motor
SG_ GE1_LaunchControl : 48|1@1+ (1,0) [0|1] "" ESP
SG_ GE1_Infobit : 49|1@1+ (1,0) [0|1] "" Gateway
SG_ GE1_SleepInd : 50|1@1+ (1,0) [0|1] "" Gateway
SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" Gateway
SG_ GE1_Fehlereintr : 55|1@1+ (1,0) [0|1] "" Gateway
SG_ GE1_WaVerl_Mo : 56|8@1+ (0.39,0) [0|99.06] "%" Motor
BO_ 912 Gate_Komf_1: 8 XXX
SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX
@@ -1406,6 +1420,8 @@ BO_ 1175 Parkhilfe_01: 8 XXX
SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX
BO_ 1463 Bremse_11: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX
SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX
SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX
@@ -1600,14 +1616,24 @@ CM_ SG_ 648 MO2_LL_Solldz "Idle target speed";
CM_ SG_ 648 MO2_Begr_Mo "Limiting torque - max possible at speed";
CM_ SG_ 648 MO2_Mo_ZWR "Minimum engine torque with ignition angle retardation";
CM_ SG_ 896 Drosselklappenpoti "Throttle Position";
CM_ SG_ 896 Motor_Wunschdrehzahl "Desired engine speed";
CM_ SG_ 896 Motordrehzahlbeeinflussung "Shift Target Influence";
CM_ SG_ 896 Fahrpedal_Rohsignal "Accelerator Pedal Position";
CM_ SG_ 896 Ansauglufttemperatur "Intake Air Temperature";
CM_ SG_ 896 Kein_E_Gas "ETB flag";
CM_ SG_ 896 Kein_Start_Stop "Start/stop flag";
CM_ SG_ 896 Rad_Wunschmoment "Desired wheel torque";
CM_ SG_ 896 MO3_Vorgluehen "Pre-glow active (diesel engines)";
CM_ SG_ 896 MO3_Prio_Dz "Engine speed priority: 0=request, 1=mandatory";
CM_ SG_ 896 MO_Schalter_StartStopp "Start/stop deactivated by driver (LED on when 0)";
CM_ SG_ 896 MO3_Winterprg "Winter driving program active";
CM_ SG_ 896 MO3_Sta_Pedal "Accelerator pedal status: 0=OK, 1=substitute value";
CM_ SG_ 896 MO3_Sta_FPG "Accelerator pedal gradient control bit (multiplexer for byte 8)";
CM_ SG_ 896 MO3_Sign_FPG "Accelerator pedal gradient sign (only when MO3_Sta_FPG=1)";
CM_ SG_ 896 MO3_Sta_Temp "Intake air temperature status: 0=OK, 1=substitute value";
CM_ SG_ 896 MO3_Offsentemp "Intake air temperature";
CM_ SG_ 896 MO3_Pedalwert "Accelerator pedal raw signal (0-101.6%)";
CM_ SG_ 896 MO3_Rad_Wu_Mo "Wheel torque request (12-bit value, 0-1596.66% MDI)";
CM_ SG_ 896 MO3_Vorz_RadWu "Wheel torque sign: 0=positive, 1=negative";
CM_ SG_ 896 MO3_Freigabe_Segeln "Sailing operation enable for transmission";
CM_ SG_ 896 MO_StartStopp_StoppVorbereitung "Engine stop in preparation";
CM_ SG_ 896 MO3_Dz_Beeinfl "Engine speed influence factor (0-100% interpolation)";
CM_ SG_ 896 MO3_WunschDz "Desired engine speed (when MO3_Prio_Dz=1)";
CM_ SG_ 896 MO3_DKW "Throttle valve position when MO3_Sta_FPG=0 (0-101.6%)";
CM_ SG_ 896 MO3_FPGradient "Accelerator pedal gradient when MO3_Sta_FPG=1 (0-6350%/s)";
CM_ SG_ 912 GK1_Fa_Tuerkont "Status of the driver's door rotary latch";
CM_ SG_ 912 BSK_HL_geoeffnet "Status of the rear left door rotary latch";
@@ -1615,18 +1641,28 @@ CM_ SG_ 912 BSK_HR_geoeffnet "Status of the rear right door rotary latch";
CM_ SG_ 912 BSK_BT_geoeffnet "Status of the passenger door rotary latch";
CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent";
CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1";
CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position";
CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque";
CM_ SG_ 1088 Gang_eingelegt "Gear Engaged";
CM_ SG_ 1088 Schaltabsicht "Shift Intent";
CM_ SG_ 1088 Kuehlleistung "Cooling Power";
CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss";
CM_ SG_ 1088 Getriebe_Notlauf "Transmission_Notlauf";
CM_ SG_ 1088 Zielgang_oder_eingelegter_Gang "target_gear_or_gear_in_engagement";
CM_ SG_ 1088 Uebertragungsfunktion "transfer function";
CM_ SG_ 1088 EGS_Anforderung "EGS Requirement";
CM_ SG_ 1088 Schaltung_aktiv__Getriebe_1_ "Shift Activity";
CM_ BO_ 1088 "Getriebe 1 - Contains gear status, torque requests, and control signals";
CM_ SG_ 1088 GE1_Schaltung "Gear shift active: 0=no shift, 1=shift in progress";
CM_ SG_ 1088 GE1_Sta_Schutz "Transmission/converter protection request (power reduction or ignition angle)";
CM_ SG_ 1088 GE1_Klimakompr "AC compressor off request";
CM_ SG_ 1088 GE1_WK "Torque converter clutch status";
CM_ SG_ 1088 GE1_StSt_Info "Start/stop coordinator info";
CM_ SG_ 1088 GE1_EGS_Anf "EGS request - byte 4 becomes valid when set";
CM_ SG_ 1088 GE1_Zielgang "Target gear when shifting or current gear";
CM_ SG_ 1088 GE1_Wahl_Pos "Selector lever position / driving program";
CM_ SG_ 1088 GE1_Mrad_Mkurb "Wheel torque to crankshaft torque ratio (Mrad/Mcrank)";
CM_ SG_ 1088 GE1_Soll_Mo "Internal target engine torque request (0-99.06%)";
CM_ SG_ 1088 GE1_Fahrwistd "Driving resistance index (normalized % slope)";
CM_ SG_ 1088 GE1_Notlauf "Emergency mode status";
CM_ SG_ 1088 GE1_Kuehlung "Cooling request level";
CM_ SG_ 1088 GE1_Sta_OBD "OBD status - MIL lamp control";
CM_ SG_ 1088 GE1_LaunchControl "Launch control active";
CM_ SG_ 1088 GE1_Infobit "Transmission type: 0=stepped automatic, 1=CVT";
CM_ SG_ 1088 GE1_SleepInd "Sleep readiness after terminal 15 off";
CM_ SG_ 1088 GE1_Zaehler "Message counter (synchronized with Getriebe_2)";
CM_ SG_ 1088 GE1_Fehlereintr "Fault memory entry present";
CM_ SG_ 1088 GE1_WaVerl_Mo "Transmission torque loss / clutch torque (0-99.06%)";
CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error";
CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error";
@@ -1637,19 +1673,45 @@ CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature";
CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1";
CM_ SG_ 1152 CHECKSUM "Checksum Motor_5";
CM_ SG_ 1152 Anlasser_Ausspuren "Starter Disable";
CM_ SG_ 1152 Anlasser_Freigabe "Starter Release";
CM_ SG_ 1152 Klimadrucksignal__Motor_5_ "Air conditioning pressure signal";
CM_ SG_ 1152 Kraftstoffverbrauchssignal "Fuel consumption signal";
CM_ SG_ 1152 K_hlerluefteransteuerung "Cooling fan control signal";
CM_ SG_ 1152 Klimakompressor_Leistungsreduzi "Air conditioning compressor power reduction flag";
CM_ SG_ 1152 Klimakompressor_aus__Motor_5_ "Air conditioning compressor";
CM_ SG_ 1152 Anlasser_Freigabe "Starter release";
CM_ SG_ 1152 OBD_2_Lampe "OBD light";
CM_ SG_ 1152 E_Gas_Lampe "ETB light";
CM_ SG_ 1152 Ladekontroll_Lampe "Charge light";
CM_ SG_ 1152 Vorgluehlampe__Motor_5_ "Glow light";
CM_ BO_ 1152 "Motor message 5 - Contains engine type, consumption, lamps, and diagnostic info";
CM_ SG_ 1152 MO5_Mp_Code "Multiplex selector - switches every 4 transmissions";
CM_ SG_ 1152 MO5_max_Moment "Maximum torque when Mp_Code=0 (0-630 Nm)";
CM_ SG_ 1152 MO5_Drehzahl "Engine speed at max torque when Mp_Code=1 (0-6300 RPM)";
CM_ SG_ 1152 MO5_Motortyp "Engine type info when Mp_Code=2 (cylinder count, turbo, fuel type)";
CM_ SG_ 1152 MO5_Abgastyp "Exhaust type EOBD when Mp_Code=3";
CM_ SG_ 1152 MO5_Abgastyp2 "Exhaust type OBD when Mp_Code=3";
CM_ SG_ 1152 MO5_Abgastyp3 "DPF installed when Mp_Code=3";
CM_ SG_ 1152 OBD_Kaltstart_Denominator "Cold start denominator increment when Mp_Code=3";
CM_ SG_ 1152 OBD_Minimum_Trip "Minimum normalized trip when Mp_Code=3";
CM_ SG_ 1152 MO5_DPF_reg "DPF regenerating when Mp_Code=3";
CM_ SG_ 1152 MO5_Vorgluehen "Diesel pre-glow lamp";
CM_ SG_ 1152 MO5_E_Gas "E-Gas system lamp (petrol only)";
CM_ SG_ 1152 MO5_OBD_2 "OBD/MIL lamp control";
CM_ SG_ 1152 MO5_Heissl "Coolant overheat warning lamp";
CM_ SG_ 1152 MO5_KlimaKompr "AC compressor off request";
CM_ SG_ 1152 MO5_Feld_kuehl "Map cooling installed and OK";
CM_ SG_ 1152 MO5_KliKo_Red "AC compressor power reduction";
CM_ SG_ 1152 MO5_Verbrauch "Fuel consumption counter (15-bit, µl)";
CM_ SG_ 1152 MO5_UeberlVerb "Consumption counter overflow";
CM_ SG_ 1152 MO5_Luefter "Cooling fan PWM control (0-101.6%)";
CM_ SG_ 1152 MO5_HLeuchte "Overheat pre-warning";
CM_ SG_ 1152 MO5_PartikelLamp "Particle filter lamp";
CM_ SG_ 1152 MO5_Sta_BKU "Brake vacuum pump status (Porsche only)";
CM_ SG_ 1152 MO5_TypStartSteu "Starter control type: 0=BSG/BCM, 1=MSG";
CM_ SG_ 1152 MO5_TDE_Lampe "Fuel cap warning lamp (petrol only)";
CM_ SG_ 1152 MO5_TDE_Text "Fuel cap text display (petrol only)";
CM_ SG_ 1152 MO5_DZM_Daempf "RPM gauge damping control";
CM_ SG_ 1152 MO5_Interlock "Interlock switch for manual transmission start";
CM_ SG_ 1152 MO5_Start "Automatic start permission";
CM_ SG_ 1152 MO5_Anlasser "Starter control permission";
CM_ SG_ 1152 MO5_GRA_Hauptsch "GRA main switch / readiness";
CM_ SG_ 1152 MO5_Momente "MDI torque values doubled";
CM_ SG_ 1152 MO5_Motortext1 "Text: Engine workshop";
CM_ SG_ 1152 MO5_Motortext2 "Text: Exhaust workshop (deprecated)";
CM_ SG_ 1152 MO5_Motortext3 "Text: Fuel system fault";
CM_ SG_ 1152 MO5_Motortext4 "Text: Particle filter needs regeneration";
CM_ SG_ 1152 CHECKSUM "Checksum with final value 0x0";
CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6";
CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction";
@@ -1688,6 +1750,10 @@ CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
SG_MUL_VAL_ 416 BR1_ASRMo_fa BR1_MSR_Anf 0-0;
SG_MUL_VAL_ 416 BR1_MSR_Mo_inv BR1_MSR_Anf 1-1;
SG_MUL_VAL_ 896 MO3_DKW MO3_Sta_FPG 0-0;
SG_MUL_VAL_ 896 MO3_FPGradient MO3_Sta_FPG 1-1;
SG_MUL_VAL_ 896 MO3_Sign_FPG MO3_Sta_FPG 1-1;
VAL_ 194 LW1_LRW_Sign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
VAL_ 194 LW1_Gesch_Sign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
VAL_ 194 LW1_ID 0 "noch_not_kalibriert" 128 "kalibriert_nur_bei_PQ35_46_VW32x_VW411";
@@ -1721,6 +1787,16 @@ SG_MUL_VAL_ 648 MO2_max_Mo MO2_Mp_Code 3-3;
SG_MUL_VAL_ 648 MO2_CAN_Vers MO2_Mp_Code 0-0;
SG_MUL_VAL_ 648 MO2_Motor_Code MO2_Mp_Code 1-1;
SG_MUL_VAL_ 1152 MO5_max_Moment MO5_Mp_Code 0-0;
SG_MUL_VAL_ 1152 MO5_Drehzahl MO5_Mp_Code 1-1;
SG_MUL_VAL_ 1152 MO5_Motortyp MO5_Mp_Code 2-2;
SG_MUL_VAL_ 1152 MO5_Abgastyp MO5_Mp_Code 3-3;
SG_MUL_VAL_ 1152 MO5_Abgastyp2 MO5_Mp_Code 3-3;
SG_MUL_VAL_ 1152 MO5_Abgastyp3 MO5_Mp_Code 3-3;
SG_MUL_VAL_ 1152 OBD_Kaltstart_Denominator MO5_Mp_Code 3-3;
SG_MUL_VAL_ 1152 OBD_Minimum_Trip MO5_Mp_Code 3-3;
SG_MUL_VAL_ 1152 MO5_DPF_reg MO5_Mp_Code 3-3;
VAL_ 648 MO2_Mp_Code 0 "CAN_Stand" 1 "Motor_Kod" 2 "Getriebe_Kod" 3 "MDI_Max";
VAL_ 648 MO2_Getr_Code 0 "_5HP19" 1 "_5HP24" 2 "AG4" 3 "VL300" 4 "VQ250" 5 "VQ35" 6 "AG4_yestco" 7 "AG5_yestco" 8 "autom_Kupplung" 9 "autom_Kupplung_mit_ASG" 10 "AG6_yestco_ZF_6HP_AISIN" 11 "DQ500_DQ250_DQ200" 12 "SQ100_SQ200" 14 "AL1000_AL551_AL951_ZF8HPx" 15 "Handschalter_konv" 16 "DL800" 17 "E_Fahrzeug__Single_Gear";
@@ -1779,8 +1855,68 @@ VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
VAL_ 896 MO3_Vorgluehen 0 "no_Vorgluehen" 1 "Vorgluehen_active";
VAL_ 896 MO3_Prio_Dz 0 "Wunsch" 1 "Zwang";
VAL_ 896 MO_Schalter_StartStopp 0 "StartStopp_ueber_Hauptschalter_deactivated_LED_an" 1 "StartStopp_ueber_Hauptschalter_activated_LED_aus";
VAL_ 896 MO3_Winterprg 0 "not_active" 1 "active";
VAL_ 896 MO3_Sta_Pedal 0 "Fahrpedal_iO" 1 "Ersatzwert";
VAL_ 896 MO3_Sta_FPG 0 "Gradient_not_bed" 1 "Gradient_bed";
VAL_ 896 MO3_Sign_FPG 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
VAL_ 896 MO3_Sta_Temp 0 "Geber_iO" 1 "Ersatzwert";
VAL_ 896 MO3_Vorz_RadWu 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
VAL_ 896 MO3_Freigabe_Segeln 0 "Segelbetrieb_not_freigegeben" 1 "Segelbetrieb_freigegeben";
VAL_ 896 MO_StartStopp_StoppVorbereitung 0 "Motorstopp_not_in_Vorbereitung" 1 "Motorstopp_in_Vorbereitung";
CM_ BO_ 896 "Motor message 3 - Contains accelerator pedal, temperatures, and control signals";
VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 7 "active";
VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
VAL_ 1088 GE1_Schaltung 0 "no_circuit" 1 "circuit_is_running";
VAL_ 1088 GE1_Sta_Schutz 0 "no_protection" 1 "protection_requested";
VAL_ 1088 GE1_Klimakompr 0 "no_Anforderung" 1 "Kompressor_aus";
VAL_ 1088 GE1_WK 0 "WK_open" 1 "WK_regulated" 2 "WK_closed" 3 "Failure";
VAL_ 1088 GE1_StSt_Info 0 "Engine_running_not_necessary_stop_release" 1 "Motor_start_not_mandatory_necessary_stop_prohibition" 2 "Motor_start_absolute_necessary_start_request" 3 "System_error";
VAL_ 1088 GE1_EGS_Anf 0 "no_requirement" 1 "EGS_requirement";
VAL_ 1088 GE1_Zielgang 0 "P (Park) | Disengaged" 1 "Gear 1 | Engaged" 2 "Gear 2 | Engaged" 3 "Gear 3 | Engaged" 4 "Gear 4 | Engaged" 5 "Gear 5 | Engaged" 6 "1m Gear" 7 "Gang_R" 8 "Gear 6 | Engaged" 9 "Gear 7 | Engaged" 10 "Gear 8 | Engaged" 14 "Speed Not Defined" 15 "Failure";
VAL_ 1088 GE1_Wahl_Pos 0 "Intermediate Position" 1 "Pos_1" 2 "Pos_2" 3 "Pos_3" 4 "Pos_4" 5 "D (Drive)" 6 "Pos_N" 7 "R (Reverse)" 8 "P (Park)" 9 "Tiptronic Override" 10 "Pos_Z1" 11 "Pos_Z2" 12 "S (Sport)" 13 "Pos_L" 14 "Gas Pedal Force Downshift" 15 "Failure";
VAL_ 1088 GE1_Notlauf 0 "No Emergency" 1 "No Switching" 2 "Switch to Neutral" 3 "50% Shifting Capacity" 4 "Driving Without UK" 5 "No Emeregency" 6 "No Emergency" 7 "No Emergency, Target Shifting Reached" 15 "Failure";
VAL_ 1088 GE1_Kuehlung 0 "No Additional Cooling Requested" 1 "20% Additional Fan Cooling Requested" 2 "40% Additional Fan Cooling Requested" 3 "Maximum Additional Fan Cooling Requested";
VAL_ 1088 GE1_Sta_OBD 0 "MIL Off" 1 "MIL On";
VAL_ 1088 GE1_LaunchControl 0 "Launch Control Not Active" 1 "Launch Control Program Active";
VAL_ 1088 GE1_Infobit 0 "Standard Automatic" 1 "CVT";
VAL_ 1088 GE1_SleepInd 0 "CAN is Required" 1 "Sleep Ready";
VAL_ 1088 GE1_Fehlereintr 0 "No Failure Memory Entry" 1 "Failure Memory Entry";
VAL_ 1152 MO5_Mp_Code 0 "Max_Moment" 1 "Drehzahl" 2 "Motor_Typ" 3 "Abgastyp_od_norm_Verbrauch";
VAL_ 1152 MO5_Abgastyp 0 "no_EOBD" 1 "EOBD";
VAL_ 1152 MO5_Abgastyp2 0 "no_OBD" 1 "OBD";
VAL_ 1152 MO5_Abgastyp3 0 "no_DPF_verbaut" 1 "DPF_verbaut";
VAL_ 1152 OBD_Kaltstart_Denominator 0 "Denominator_not_hochzaehlen" 1 "Bedingungen_zum_Inkr_des_Kaltstart_Denom_erf";
VAL_ 1152 OBD_Minimum_Trip 0 "no_Min_Normed_Trip" 1 "Min_Normed_Trip";
VAL_ 1152 MO5_DPF_reg 0 "DPF_regeneriert_nicht" 1 "DPF_regeneriert";
VAL_ 1152 MO5_Vorgluehen 0 "Lamp_off" 1 "Lamp_on";
VAL_ 1152 MO5_E_Gas 0 "Lamp_off" 1 "Lamp_on";
VAL_ 1152 MO5_OBD_2 0 "Lamp_off" 1 "Lamp_on";
VAL_ 1152 MO5_Heissl 0 "Lamp_off" 1 "Lamp_on";
VAL_ 1152 MO5_KlimaKompr 0 "no_Anforderung" 1 "Klimakompr_aus";
VAL_ 1152 MO5_Feld_kuehl 0 "no" 1 "yes";
VAL_ 1152 MO5_KliKo_Red 0 "no" 1 "yes";
VAL_ 1152 MO5_UeberlVerb 0 "no_Ueberlauf" 1 "mindestens_einmal_uebergelaufen";
VAL_ 1152 MO5_HLeuchte 0 "no_Warnung" 1 "Vorwarnung";
VAL_ 1152 MO5_PartikelLamp 0 "Lamp_off" 1 "Lamp_on";
VAL_ 1152 MO5_Sta_BKU 0 "iO_oder_not_verbaut" 1 "n_iO";
VAL_ 1152 MO5_TypStartSteu 0 "Startersteuerung_BSG_BCM_KessyD1_ZAS" 1 "Startersteuerung_durch_MSG";
VAL_ 1152 MO5_TDE_Lampe 0 "Lamp_off" 1 "Lamp_on";
VAL_ 1152 MO5_TDE_Text 0 "no_Text" 1 "Textanzeige_nach_ISO";
VAL_ 1152 MO5_DZM_Daempf 0 "normale_Daempfung" 1 "dynamische_Daempfung";
VAL_ 1152 MO5_Interlock 0 "Interlock_not_betaetigt" 1 "Interlock_betaetigt";
VAL_ 1152 MO5_Start 0 "Start_not_zulaessig" 1 "Startfreigabe";
VAL_ 1152 MO5_Anlasser 0 "Anlasser_darf_angesteuert_werden" 1 "Anlasser_ausspuren_Ansteuerung_not_moeglich";
VAL_ 1152 MO5_GRA_Hauptsch 0 "Off" 1 "On";
VAL_ 1152 MO5_Momente 0 "Einfach" 1 "Doppelt";
VAL_ 1152 MO5_Motortext1 0 "no_Text" 1 "Text_1";
VAL_ 1152 MO5_Motortext2 0 "no_Text" 1 "Text_2";
VAL_ 1152 MO5_Motortext3 0 "no_Text" 1 "Text_3";
VAL_ 1152 MO5_Motortext4 0 "no_Text" 1 "Text_4";
VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;
VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ;

2
opendbc/safety/__init__.py
View File

@@ -1,4 +1,4 @@
# constants from panda/python/__init__.py
# constants from can.h
DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}

10
opendbc/safety/board/can.h
View File

@@ -1,10 +0,0 @@
#pragma once
// TODO: clean this up. it's for interop with the panda version
#ifndef CANPACKET_HEAD_SIZE
#include "opendbc/safety/board/can_declarations.h"
static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
#endif

19
opendbc/safety/board/drivers/can_common.h
View File

@@ -1,19 +0,0 @@
#pragma once
#include "opendbc/safety/board/drivers/can_common_declarations.h"
uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {
uint8_t checksum = 0U;
for (uint32_t i = 0U; i < len; i++) {
checksum ^= dat[i];
}
return checksum;
}
void can_set_checksum(CANPacket_t *packet) {
packet->checksum = 0U;
packet->checksum = calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet));
}
bool can_check_checksum(CANPacket_t *packet) {
return (calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet)) == 0U);
}

4
opendbc/safety/board/drivers/can_common_declarations.h
View File

@@ -1,4 +0,0 @@
#pragma once
uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
void can_set_checksum(CANPacket_t *packet);

28
opendbc/safety/board/fake_stm.h
View File

@@ -1,28 +0,0 @@
// minimal code to fake a panda for tests
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include "opendbc/safety/board/utils.h"
#define ALLOW_DEBUG
void print(const char *a) {
printf("%s", a);
}
void puth(unsigned int i) {
printf("%u", i);
}
typedef struct {
uint32_t CNT;
} TIM_TypeDef;
TIM_TypeDef timer;
TIM_TypeDef *MICROSECOND_TIMER = &timer;
uint32_t microsecond_timer_get(void);
uint32_t microsecond_timer_get(void) {
return MICROSECOND_TIMER->CNT;
}

25
opendbc/safety/board/faults.h
View File

@@ -1,25 +0,0 @@
#include "opendbc/safety/board/faults_declarations.h"
uint8_t fault_status = FAULT_STATUS_NONE;
uint32_t faults = 0U;
void fault_occurred(uint32_t fault) {
if ((faults & fault) == 0U) {
if ((PERMANENT_FAULTS & fault) != 0U) {
print("Permanent fault occurred: 0x"); puth(fault); print("\n");
fault_status = FAULT_STATUS_PERMANENT;
} else {
print("Temporary fault occurred: 0x"); puth(fault); print("\n");
fault_status = FAULT_STATUS_TEMPORARY;
}
}
faults |= fault;
}
void fault_recovered(uint32_t fault) {
if ((PERMANENT_FAULTS & fault) == 0U) {
faults &= ~fault;
} else {
print("Cannot recover from a permanent fault!\n");
}
}

18
opendbc/safety/board/faults_declarations.h
View File

@@ -1,18 +0,0 @@
#pragma once
#define FAULT_STATUS_NONE 0U
#define FAULT_STATUS_TEMPORARY 1U
#define FAULT_STATUS_PERMANENT 2U
// Fault types, excerpt from cereal.log.PandaState.FaultType for safety tests
#define FAULT_RELAY_MALFUNCTION (1UL << 0)
// ...
// Permanent faults
#define PERMANENT_FAULTS 0U
extern uint8_t fault_status;
extern uint32_t faults;
void fault_occurred(uint32_t fault);
void fault_recovered(uint32_t fault);

47
opendbc/safety/board/utils.h
View File

@@ -1,47 +0,0 @@
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define MIN(a, b) ({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
(_a < _b) ? _a : _b; \
})
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define MAX(a, b) ({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
(_a > _b) ? _a : _b; \
})
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define CLAMP(x, low, high) ({ \
__typeof__(x) __x = (x); \
__typeof__(low) __low = (low);\
__typeof__(high) __high = (high);\
(__x > __high) ? __high : ((__x < __low) ? __low : __x); \
})
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define ABS(a) ({ \
__typeof__(a) _a = (a); \
(_a > 0) ? _a : (-_a); \
})
#ifndef NULL
// this just provides a standard implementation of NULL
// in lieu of including libc in the panda build
// cppcheck-suppress [misra-c2012-21.1]
#define NULL ((void*)0)
#endif
// STM32 HAL defines this
#ifndef UNUSED
#define UNUSED(x) ((void)(x))
#endif
#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred) ? 1 : 0))]))
// compute the time elapsed (in microseconds) from 2 counter samples
// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
static inline uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
return ts - ts_last;
}

6
opendbc/safety/board/can_declarations.h → opendbc/safety/can.h
View File

@@ -1,8 +1,12 @@
#pragma once
#define CANPACKET_HEAD_SIZE 6U
static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
#define CANPACKET_HEAD_SIZE 6U // non-data portion of CANPacket_t
#define CANPACKET_DATA_SIZE_MAX 64U
// bump this when changing the CAN packet
#define CAN_PACKET_VERSION 4
typedef struct {
unsigned char fd : 1;
unsigned char bus : 3;

3
opendbc/safety/safety_declarations.h → opendbc/safety/declarations.h
View File

@@ -26,7 +26,7 @@
#define SAFETY_SUBARU_PREGLOBAL 22U
#define SAFETY_HYUNDAI_LEGACY 23U
#define SAFETY_HYUNDAI_COMMUNITY 24U
#define SAFETY_STELLANTIS 25U
#define SAFETY_VOLKSWAGEN_MLB 25U
#define SAFETY_FAW 26U
#define SAFETY_BODY 27U
#define SAFETY_HYUNDAI_CANFD 28U
@@ -340,6 +340,7 @@ extern const safety_hooks subaru_hooks;
extern const safety_hooks subaru_preglobal_hooks;
extern const safety_hooks tesla_hooks;
extern const safety_hooks toyota_hooks;
extern const safety_hooks volkswagen_mlb_hooks;
extern const safety_hooks volkswagen_mqb_hooks;
extern const safety_hooks volkswagen_pq_hooks;
extern const safety_hooks rivian_hooks;

45
opendbc/safety/helpers.h
View File

@@ -1,12 +1,47 @@
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
static bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define SAFETY_MIN(a, b) ({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
(_a < _b) ? _a : _b; \
})
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define SAFETY_MAX(a, b) ({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
(_a > _b) ? _a : _b; \
})
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define SAFETY_CLAMP(x, low, high) ({ \
__typeof__(x) __x = (x); \
__typeof__(low) __low = (low);\
__typeof__(high) __high = (high);\
(__x > __high) ? __high : ((__x < __low) ? __low : __x); \
})
// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
#define SAFETY_ABS(a) ({ \
__typeof__(a) _a = (a); \
(_a > 0) ? _a : (-_a); \
})
#define SAFETY_UNUSED(x) ((void)(x))
// compute the time elapsed (in microseconds) from 2 counter samples
// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
static inline uint32_t safety_get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
return ts - ts_last;
}
static bool safety_max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
return (val > MAX_VAL) || (val < MIN_VAL);
}
// interp function that holds extreme values
static float interpolate(struct lookup_t xy, float x) {
static float safety_interpolate(struct lookup_t xy, float x) {
int size = sizeof(xy.x) / sizeof(xy.x[0]);
float ret = xy.y[size - 1]; // default output is last point
@@ -23,7 +58,7 @@ static float interpolate(struct lookup_t xy, float x) {
float dx = xy.x[i+1] - x0;
float dy = xy.y[i+1] - y0;
// dx should not be zero as xy.x is supposed to be monotonic
dx = MAX(dx, 0.0001);
dx = SAFETY_MAX(dx, 0.0001);
ret = (dy * (x - x0) / dx) + y0;
break;
}

106
opendbc/safety/lateral.h
View File

@@ -1,5 +1,5 @@
#include "opendbc/safety/sunnypilot/safety_mads.h"
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/sunnypilot/mads.h"
#include "opendbc/safety/declarations.h"
// ISO 11270
static const float ISO_LATERAL_ACCEL = 3.0; // m/s^2
@@ -16,15 +16,15 @@ static bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
// *** val rate limit check ***
int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
int highest_allowed_rl = SAFETY_MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed_rl = SAFETY_MIN(val_last, 0) - MAX_RATE_UP;
// if we've exceeded the meas val, we must start moving toward 0
int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN, MAX(val_meas->max, 0) + MAX_ERROR));
int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN, MIN(val_meas->min, 0) - MAX_ERROR));
int highest_allowed = SAFETY_MIN(highest_allowed_rl, SAFETY_MAX(val_last - MAX_RATE_DOWN, SAFETY_MAX(val_meas->max, 0) + MAX_ERROR));
int lowest_allowed = SAFETY_MAX(lowest_allowed_rl, SAFETY_MIN(val_last + MAX_RATE_DOWN, SAFETY_MIN(val_meas->min, 0) - MAX_ERROR));
// check for violation
return max_limit_check(val, highest_allowed, lowest_allowed);
return safety_max_limit_check(val, highest_allowed, lowest_allowed);
}
// check that commanded value isn't fighting against driver
@@ -33,32 +33,32 @@ static bool driver_limit_check(int val, int val_last, const struct sample_t *val
const int MAX_ALLOWANCE, const int DRIVER_FACTOR) {
// torque delta/rate limits
int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP;
int highest_allowed_rl = SAFETY_MAX(val_last, 0) + MAX_RATE_UP;
int lowest_allowed_rl = SAFETY_MIN(val_last, 0) - MAX_RATE_UP;
// driver
int driver_max_limit = MAX_VAL + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR;
int driver_min_limit = -MAX_VAL + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR;
// if we've exceeded the applied torque, we must start moving toward 0
int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN,
MAX(driver_max_limit, 0)));
int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN,
MIN(driver_min_limit, 0)));
int highest_allowed = SAFETY_MIN(highest_allowed_rl, SAFETY_MAX(val_last - MAX_RATE_DOWN,
SAFETY_MAX(driver_max_limit, 0)));
int lowest_allowed = SAFETY_MAX(lowest_allowed_rl, SAFETY_MIN(val_last + MAX_RATE_DOWN,
SAFETY_MIN(driver_min_limit, 0)));
// check for violation
return max_limit_check(val, highest_allowed, lowest_allowed);
return safety_max_limit_check(val, highest_allowed, lowest_allowed);
}
// real time check, mainly used for steer torque rate limiter
static bool rt_torque_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
// *** torque real time rate limit check ***
int highest_val = MAX(val_last, 0) + MAX_RT_DELTA;
int lowest_val = MIN(val_last, 0) - MAX_RT_DELTA;
int highest_val = SAFETY_MAX(val_last, 0) + MAX_RT_DELTA;
int lowest_val = SAFETY_MIN(val_last, 0) - MAX_RT_DELTA;
// check for violation
return max_limit_check(val, highest_val, lowest_val);
return safety_max_limit_check(val, highest_val, lowest_val);
}
// Safety checks for torque-based steering commands
@@ -71,12 +71,12 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
int max_torque = limits.max_torque;
if (limits.dynamic_max_torque) {
const float fudged_speed = (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.;
max_torque = interpolate(limits.max_torque_lookup, fudged_speed) + 1;
max_torque = CLAMP(max_torque, -limits.max_torque, limits.max_torque);
max_torque = safety_interpolate(limits.max_torque_lookup, fudged_speed) + 1;
max_torque = SAFETY_CLAMP(max_torque, -limits.max_torque, limits.max_torque);
}
// *** global torque limit check ***
violation |= max_limit_check(desired_torque, max_torque, -max_torque);
violation |= safety_max_limit_check(desired_torque, max_torque, -max_torque);
// *** torque rate limit check ***
if (limits.type == TorqueDriverLimited) {
@@ -93,7 +93,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
violation |= rt_torque_rate_limit_check(desired_torque, rt_torque_last, limits.max_rt_delta);
// every RT_INTERVAL set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last);
uint32_t ts_elapsed = safety_get_ts_elapsed(ts, ts_torque_check_last);
if (ts_elapsed > MAX_RT_INTERVAL) {
rt_torque_last = desired_torque;
ts_torque_check_last = ts;
@@ -122,7 +122,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
}
// or we've cut torque too recently in time
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_steer_req_mismatch_last);
uint32_t ts_elapsed = safety_get_ts_elapsed(ts, ts_steer_req_mismatch_last);
if (ts_elapsed < limits.min_valid_request_rt_interval) {
violation = true;
}
@@ -135,9 +135,9 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
valid_steer_req_count = 0;
ts_steer_req_mismatch_last = ts;
invalid_steer_req_count = MIN(invalid_steer_req_count + 1, limits.max_invalid_request_frames);
invalid_steer_req_count = SAFETY_MIN(invalid_steer_req_count + 1, limits.max_invalid_request_frames);
} else {
valid_steer_req_count = MIN(valid_steer_req_count + 1, limits.min_valid_request_frames);
valid_steer_req_count = SAFETY_MIN(valid_steer_req_count + 1, limits.min_valid_request_frames);
invalid_steer_req_count = 0;
}
}
@@ -168,7 +168,7 @@ static bool rt_angle_rate_limit_check(AngleSteeringLimits limits) {
rt_angle_msgs += 1U;
// every RT_INTERVAL reset message counter
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_angle_check_last);
uint32_t ts_elapsed = safety_get_ts_elapsed(ts, ts_angle_check_last);
if (ts_elapsed >= MAX_RT_INTERVAL) {
rt_angle_msgs = 0;
ts_angle_check_last = ts;
@@ -187,8 +187,8 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
// always slightly above openpilot's in case we read an updated speed in between angle commands
// TODO: this speed fudge can be much lower, look at data to determine the lowest reasonable offset
const float fudged_speed = (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.;
int delta_angle_up = (interpolate(limits.angle_rate_up_lookup, fudged_speed) * limits.angle_deg_to_can) + 1.;
int delta_angle_down = (interpolate(limits.angle_rate_down_lookup, fudged_speed) * limits.angle_deg_to_can) + 1.;
int delta_angle_up = (safety_interpolate(limits.angle_rate_up_lookup, fudged_speed) * limits.angle_deg_to_can) + 1.;
int delta_angle_down = (safety_interpolate(limits.angle_rate_down_lookup, fudged_speed) * limits.angle_deg_to_can) + 1.;
// allow down limits at zero since small floats from openpilot will be rounded to 0
// TODO: openpilot should be cognizant of this and not send small floats
@@ -200,8 +200,8 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
if (limits.enforce_angle_error && ((vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR) > limits.angle_error_min_speed)) {
// flipped fudge to avoid false positives
const float fudged_speed_error = (vehicle_speed.max / VEHICLE_SPEED_FACTOR) + 1.;
const int delta_angle_up_relaxed = (interpolate(limits.angle_rate_up_lookup, fudged_speed_error) * limits.angle_deg_to_can) - 1.;
const int delta_angle_down_relaxed = (interpolate(limits.angle_rate_down_lookup, fudged_speed_error) * limits.angle_deg_to_can) - 1.;
const int delta_angle_up_relaxed = (safety_interpolate(limits.angle_rate_up_lookup, fudged_speed_error) * limits.angle_deg_to_can) - 1.;
const int delta_angle_down_relaxed = (safety_interpolate(limits.angle_rate_down_lookup, fudged_speed_error) * limits.angle_deg_to_can) - 1.;
// the minimum and maximum angle allowed based on the measured angle
const int lowest_desired_angle_error = angle_meas.min - limits.max_angle_error - 1;
@@ -210,22 +210,22 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
// the MAX is to allow the desired angle to hit the edge of the bounds and not require going under it
if (desired_angle_last > highest_desired_angle_error) {
const int delta = (desired_angle_last >= 0) ? delta_angle_down_relaxed : delta_angle_up_relaxed;
highest_desired_angle = MAX(desired_angle_last - delta, highest_desired_angle_error);
highest_desired_angle = SAFETY_MAX(desired_angle_last - delta, highest_desired_angle_error);
} else if (desired_angle_last < lowest_desired_angle_error) {
const int delta = (desired_angle_last <= 0) ? delta_angle_down_relaxed : delta_angle_up_relaxed;
lowest_desired_angle = MIN(desired_angle_last + delta, lowest_desired_angle_error);
lowest_desired_angle = SAFETY_MIN(desired_angle_last + delta, lowest_desired_angle_error);
} else {
// already inside error boundary, don't allow commanding outside it
highest_desired_angle = MIN(highest_desired_angle, highest_desired_angle_error);
lowest_desired_angle = MAX(lowest_desired_angle, lowest_desired_angle_error);
highest_desired_angle = SAFETY_MIN(highest_desired_angle, highest_desired_angle_error);
lowest_desired_angle = SAFETY_MAX(lowest_desired_angle, lowest_desired_angle_error);
}
// don't enforce above the max steer
// TODO: this should always be done
lowest_desired_angle = CLAMP(lowest_desired_angle, -limits.max_angle, limits.max_angle);
highest_desired_angle = CLAMP(highest_desired_angle, -limits.max_angle, limits.max_angle);
lowest_desired_angle = SAFETY_CLAMP(lowest_desired_angle, -limits.max_angle, limits.max_angle);
highest_desired_angle = SAFETY_CLAMP(highest_desired_angle, -limits.max_angle, limits.max_angle);
}
// check not above ISO 11270 lateral accel assuming worst case road roll
@@ -235,23 +235,23 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
static const float MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (EARTH_G * AVERAGE_ROAD_ROLL); // ~2.4 m/s^2
// Allow small tolerance by using minimum speed and rounding curvature up
const float speed_lower = MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 1.0);
const float speed_upper = MAX(vehicle_speed.max / VEHICLE_SPEED_FACTOR, 1.0);
const float speed_lower = SAFETY_MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 1.0);
const float speed_upper = SAFETY_MAX(vehicle_speed.max / VEHICLE_SPEED_FACTOR, 1.0);
const int max_curvature_upper = (MAX_LATERAL_ACCEL / (speed_lower * speed_lower) * limits.angle_deg_to_can) + 1.;
const int max_curvature_lower = (MAX_LATERAL_ACCEL / (speed_upper * speed_upper) * limits.angle_deg_to_can) - 1.;
// ensure that the curvature error doesn't try to enforce above this limit
if (desired_angle_last > 0) {
lowest_desired_angle = CLAMP(lowest_desired_angle, -max_curvature_lower, max_curvature_lower);
highest_desired_angle = CLAMP(highest_desired_angle, -max_curvature_upper, max_curvature_upper);
lowest_desired_angle = SAFETY_CLAMP(lowest_desired_angle, -max_curvature_lower, max_curvature_lower);
highest_desired_angle = SAFETY_CLAMP(highest_desired_angle, -max_curvature_upper, max_curvature_upper);
} else {
lowest_desired_angle = CLAMP(lowest_desired_angle, -max_curvature_upper, max_curvature_upper);
highest_desired_angle = CLAMP(highest_desired_angle, -max_curvature_lower, max_curvature_lower);
lowest_desired_angle = SAFETY_CLAMP(lowest_desired_angle, -max_curvature_upper, max_curvature_upper);
highest_desired_angle = SAFETY_CLAMP(highest_desired_angle, -max_curvature_lower, max_curvature_lower);
}
}
// check for violation;
violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
violation |= safety_max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
}
desired_angle_last = desired_angle;
@@ -260,9 +260,9 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
if (limits.inactive_angle_is_zero) {
violation |= desired_angle != 0;
} else {
const int max_inactive_angle = CLAMP(angle_meas.max, -limits.max_angle, limits.max_angle) + 1;
const int min_inactive_angle = CLAMP(angle_meas.min, -limits.max_angle, limits.max_angle) - 1;
violation |= max_limit_check(desired_angle, max_inactive_angle, min_inactive_angle);
const int max_inactive_angle = SAFETY_CLAMP(angle_meas.max, -limits.max_angle, limits.max_angle) + 1;
const int min_inactive_angle = SAFETY_CLAMP(angle_meas.min, -limits.max_angle, limits.max_angle) - 1;
violation |= safety_max_limit_check(desired_angle, max_inactive_angle, min_inactive_angle);
}
}
@@ -276,7 +276,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
if (limits.inactive_angle_is_zero) {
desired_angle_last = 0;
} else {
desired_angle_last = CLAMP(angle_meas.values[0], -limits.max_angle, limits.max_angle);
desired_angle_last = SAFETY_CLAMP(angle_meas.values[0], -limits.max_angle, limits.max_angle);
}
}
@@ -304,7 +304,7 @@ bool steer_angle_cmd_checks_vm(int desired_angle, bool steer_control_enabled, co
// Lower than ISO 11270 lateral jerk limit, which is 5.0 m/s^3
static const float MAX_LATERAL_JERK = 3.0 + (EARTH_G * AVERAGE_ROAD_ROLL); // ~3.6 m/s^3
const float fudged_speed = MAX((vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.0, 1.0);
const float fudged_speed = SAFETY_MAX((vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.0, 1.0);
const float curvature_factor = get_curvature_factor(fudged_speed, params);
bool violation = false;
@@ -323,14 +323,14 @@ bool steer_angle_cmd_checks_vm(int desired_angle, bool steer_control_enabled, co
const int highest_desired_angle = desired_angle_last + max_angle_delta_can;
const int lowest_desired_angle = desired_angle_last - max_angle_delta_can;
violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
violation |= safety_max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
// *** ISO lateral accel limit ***
const float max_curvature = MAX_LATERAL_ACCEL / (fudged_speed * fudged_speed);
const float max_angle = get_angle_from_curvature(max_curvature, curvature_factor, params);
const int max_angle_can = (max_angle * limits.angle_deg_to_can) + 1.;
violation |= max_limit_check(desired_angle, max_angle_can, -max_angle_can);
violation |= safety_max_limit_check(desired_angle, max_angle_can, -max_angle_can);
// *** angle real time rate limit check ***
violation |= rt_angle_rate_limit_check(limits);
@@ -339,9 +339,9 @@ bool steer_angle_cmd_checks_vm(int desired_angle, bool steer_control_enabled, co
// Angle should either be 0 or same as current angle while not steering
if (!steer_control_enabled) {
const int max_inactive_angle = CLAMP(angle_meas.max, -limits.max_angle, limits.max_angle) + 1;
const int min_inactive_angle = CLAMP(angle_meas.min, -limits.max_angle, limits.max_angle) - 1;
violation |= max_limit_check(desired_angle, max_inactive_angle, min_inactive_angle);
const int max_inactive_angle = SAFETY_CLAMP(angle_meas.max, -limits.max_angle, limits.max_angle) + 1;
const int min_inactive_angle = SAFETY_CLAMP(angle_meas.min, -limits.max_angle, limits.max_angle) - 1;
violation |= safety_max_limit_check(desired_angle, max_inactive_angle, min_inactive_angle);
}
// No angle control allowed when controls are not allowed
@@ -351,7 +351,7 @@ bool steer_angle_cmd_checks_vm(int desired_angle, bool steer_control_enabled, co
// reset to current angle if either controls is not allowed or there's a violation
if (violation || !is_lat_active()) {
desired_angle_last = CLAMP(angle_meas.values[0], -limits.max_angle, limits.max_angle);
desired_angle_last = SAFETY_CLAMP(angle_meas.values[0], -limits.max_angle, limits.max_angle);
}
return violation;

8
opendbc/safety/longitudinal.h
View File

@@ -1,4 +1,4 @@
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
bool get_longitudinal_allowed(void) {
return controls_allowed && !gas_pressed_prev;
@@ -6,7 +6,7 @@ bool get_longitudinal_allowed(void) {
// Safety checks for longitudinal actuation
bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) {
bool accel_valid = get_longitudinal_allowed() && !max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
bool accel_valid = get_longitudinal_allowed() && !safety_max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
bool accel_inactive = desired_accel == limits.inactive_accel;
return !(accel_valid || accel_inactive);
}
@@ -16,13 +16,13 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
}
bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits) {
bool transmission_rpm_valid = get_longitudinal_allowed() && !max_limit_check(desired_transmission_rpm, limits.max_transmission_rpm, limits.min_transmission_rpm);
bool transmission_rpm_valid = get_longitudinal_allowed() && !safety_max_limit_check(desired_transmission_rpm, limits.max_transmission_rpm, limits.min_transmission_rpm);
bool transmission_rpm_inactive = desired_transmission_rpm == limits.inactive_transmission_rpm;
return !(transmission_rpm_valid || transmission_rpm_inactive);
}
bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits) {
bool gas_valid = get_longitudinal_allowed() && !max_limit_check(desired_gas, limits.max_gas, limits.min_gas);
bool gas_valid = get_longitudinal_allowed() && !safety_max_limit_check(desired_gas, limits.max_gas, limits.min_gas);
bool gas_inactive = desired_gas == limits.inactive_gas;
return !(gas_valid || gas_inactive);
}

4
opendbc/safety/modes/body.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
static void body_rx_hook(const CANPacket_t *msg) {
if (msg->addr == 0x201U) {
@@ -32,7 +32,7 @@ static safety_config body_init(uint16_t param) {
static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, .check_relay = false}, {0x250, 0, 6, .check_relay = false}, {0x251, 0, 5, .check_relay = false}, // body
{0x1, 0, 8, .check_relay = false}}; // CAN flasher
UNUSED(param);
SAFETY_UNUSED(param);
safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
ret.disable_forwarding = true;
return ret;

2
opendbc/safety/modes/chrysler.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
typedef struct {
const unsigned int EPS_2;

10
opendbc/safety/modes/defaults.h
View File

@@ -1,25 +1,25 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
// GCOV_EXCL_START
// Unreachable by design (doesn't define any rx msgs)
void default_rx_hook(const CANPacket_t *msg) {
UNUSED(msg);
SAFETY_UNUSED(msg);
}
// GCOV_EXCL_STOP
// *** no output safety mode ***
static safety_config nooutput_init(uint16_t param) {
UNUSED(param);
SAFETY_UNUSED(param);
return (safety_config){NULL, 0, NULL, 0, true}; // NOLINT(readability/braces)
}
// GCOV_EXCL_START
// Unreachable by design (doesn't define any tx msgs)
static bool nooutput_tx_hook(const CANPacket_t *msg) {
UNUSED(msg);
SAFETY_UNUSED(msg);
return false;
}
// GCOV_EXCL_STOP
@@ -40,7 +40,7 @@ static safety_config alloutput_init(uint16_t param) {
}
static bool alloutput_tx_hook(const CANPacket_t *msg) {
UNUSED(msg);
SAFETY_UNUSED(msg);
return true;
}

2
opendbc/safety/modes/elm327.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/defaults.h"
static bool elm327_tx_hook(const CANPacket_t *msg) {

4
opendbc/safety/modes/ford.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
// Safety-relevant CAN messages for Ford vehicles.
#define FORD_EngBrakeData 0x165U // RX from PCM, for driver brake pedal and cruise state
@@ -137,7 +137,7 @@ static void ford_rx_hook(const CANPacket_t *msg) {
// Signal: VehYaw_W_Actl
// TODO: we should use the speed which results in the closest angle measurement to the desired angle
float ford_yaw_rate = (((msg->data[2] << 8U) | msg->data[3]) * 0.0002) - 6.5;
float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
float current_curvature = ford_yaw_rate / SAFETY_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));
}

2
opendbc/safety/modes/gm.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
#define GM_COMMON_RX_CHECKS \

2
opendbc/safety/modes/honda.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/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) \

2
opendbc/safety/modes/hyundai.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/hyundai_common.h"
#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \

2
opendbc/safety/modes/hyundai_canfd.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/hyundai_common.h"
#define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \

4
opendbc/safety/modes/hyundai_common.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
extern uint16_t hyundai_canfd_crc_lut[256];
uint16_t hyundai_canfd_crc_lut[256];
@@ -127,7 +127,7 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
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);
hyundai_last_button_interaction = SAFETY_MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
}
if (hyundai_longitudinal) {

4
opendbc/safety/modes/mazda.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
// CAN msgs we care about
#define MAZDA_LKAS 0x243U
@@ -95,7 +95,7 @@ static safety_config mazda_init(uint16_t param) {
{.msg = {{MAZDA_PEDALS, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
UNUSED(param);
SAFETY_UNUSED(param);
return BUILD_SAFETY_CFG(mazda_rx_checks, MAZDA_TX_MSGS);
}

2
opendbc/safety/modes/nissan.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#define NISSAN_COMMON_RX_CHECKS \
{.msg = {{0x2, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \

4
opendbc/safety/modes/psa.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#define PSA_STEERING 757U // RX from XXX, driver torque
#define PSA_STEERING_ALT 773U // RX from EPS, steering angle
@@ -124,7 +124,7 @@ static bool psa_tx_hook(const CANPacket_t *msg) {
}
static safety_config psa_init(uint16_t param) {
UNUSED(param);
SAFETY_UNUSED(param);
static const CanMsg PSA_TX_MSGS[] = {
{PSA_LANE_KEEP_ASSIST, PSA_MAIN_BUS, 8, .check_relay = true}, // EPS steering
};

4
opendbc/safety/modes/rivian.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
static uint8_t rivian_get_counter(const CANPacket_t *msg) {
uint8_t cnt = 0;
@@ -167,7 +167,7 @@ static safety_config rivian_init(uint16_t param) {
bool rivian_longitudinal = false;
UNUSED(param);
SAFETY_UNUSED(param);
#ifdef ALLOW_DEBUG
const int FLAG_RIVIAN_LONG_CONTROL = 1;
rivian_longitudinal = GET_FLAG(param, FLAG_RIVIAN_LONG_CONTROL);

2
opendbc/safety/modes/subaru.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/subaru_common.h"
#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down) \

2
opendbc/safety/modes/subaru_preglobal.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/subaru_common.h"
// Preglobal platform

4
opendbc/safety/modes/tesla.h
View File

@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#define TESLA_COMMON_RX_CHECKS \
{.msg = {{0x2b9, 2, 8, 25U, .max_counter = 7U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* DAS_control */ \
@@ -354,7 +354,7 @@ static safety_config tesla_init(uint16_t param) {
{0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true}, // APS_eacMonitor
};
UNUSED(param);
SAFETY_UNUSED(param);
#ifdef ALLOW_DEBUG
const int TESLA_FLAG_LONGITUDINAL_CONTROL = 1;
tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);

28
opendbc/safety/modes/toyota.h
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@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
// Stock longitudinal
#define TOYOTA_BASE_TX_MSGS \
@@ -14,7 +14,7 @@
#define TOYOTA_COMMON_SECOC_TX_MSGS \
TOYOTA_BASE_TX_MSGS \
{0x2E4, 0, 8, .check_relay = true}, {0x131, 0, 8, .check_relay = true}, \
{0x343, 0, 8, .check_relay = false}, /* ACC cancel cmd */ \
{0x343, 0, 8, .check_relay = false}, /* ACC cancel cmd */ \
#define TOYOTA_COMMON_LONG_TX_MSGS \
TOYOTA_COMMON_TX_MSGS \
@@ -31,6 +31,11 @@
/* ACC */ \
{0x343, 0, 8, .check_relay = true}, \
#define TOYOTA_COMMON_SECOC_LONG_TX_MSGS \
TOYOTA_COMMON_SECOC_TX_MSGS \
{0x343, 0, 8, .check_relay = true}, \
{0x183, 0, 8, .check_relay = true}, /* ACC_CONTROL_2 */ \
#define TOYOTA_COMMON_SECOC_LONG_TX_MSGS \
TOYOTA_COMMON_SECOC_TX_MSGS \
{0x343, 0, 8, .check_relay = true}, /* ACC */ \
@@ -260,6 +265,10 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
int desired_accel = toyota_get_longitudinal_desired_accel_tx(msg);
bool violation = false;
if (toyota_secoc) {
// SecOC cars move accel to 0x183. Only allow inactive accel on 0x343 to match stock behavior
violation = desired_accel != TOYOTA_LONG_LIMITS.inactive_accel;
}
violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
// only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
@@ -294,6 +303,13 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
}
}
if (msg->addr == 0x183U) {
int desired_accel = (msg->data[0] << 8) | msg->data[1];
desired_accel = to_signed(desired_accel, 16);
tx = !longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
}
// AEB: block all actuation. only used when DSU is unplugged
if (msg->addr == 0x283U) {
// only allow the checksum, which is the last byte
@@ -339,12 +355,12 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
}
// check if we should wind down torque
int driver_torque = MIN(ABS(torque_driver.min), ABS(torque_driver.max));
int driver_torque = SAFETY_MIN(SAFETY_ABS(torque_driver.min), SAFETY_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));
int eps_torque = SAFETY_MIN(SAFETY_ABS(torque_meas.min), SAFETY_ABS(torque_meas.max));
if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
tx = false;
}
@@ -424,6 +440,10 @@ static safety_config toyota_init(uint16_t param) {
{0x200, 0, 6, .check_relay = false}, // gas interceptor
};
static const CanMsg TOYOTA_SECOC_LONG_TX_MSGS[] = {
TOYOTA_COMMON_SECOC_LONG_TX_MSGS
};
// safety param flags
// first byte is for EPS factor, second is for flags
const uint32_t TOYOTA_PARAM_OFFSET = 8U;

41
opendbc/safety/modes/volkswagen_common.h
View File

@@ -14,6 +14,10 @@ bool volkswagen_set_button_prev = false;
extern bool volkswagen_resume_button_prev;
bool volkswagen_resume_button_prev = false;
extern bool volkswagen_brake_pedal_switch;
extern bool volkswagen_brake_pressure_detected;
bool volkswagen_brake_pedal_switch = false;
bool volkswagen_brake_pressure_detected = false;
#define MSG_LH_EPS_03 0x09FU // RX from EPS, for driver steering torque
#define MSG_ESP_19 0x0B2U // RX from ABS, for wheel speeds
@@ -28,6 +32,21 @@ bool volkswagen_resume_button_prev = false;
#define MSG_LDW_02 0x397U // TX by OP, Lane line recognition and text alerts
#define MSG_MOTOR_14 0x3BEU // RX from ECU, for brake switch status
// MLB only messages
#define MSG_ESP_03 0x103U // RX from ABS, for wheel speeds
#define MSG_LS_01 0x10BU // TX by OP, ACC control buttons for cancel/resume
#define MSG_MOTOR_03 0x105U // RX from ECU, for driver throttle input and brake switch status
#define MSG_TSK_02 0x10CU // RX from ECU, for ACC status from drivetrain coordinator
#define MSG_ACC_05 0x10DU // RX from radar, for ACC status
static void volkswagen_common_init(void) {
volkswagen_set_button_prev = false;
volkswagen_resume_button_prev = false;
volkswagen_brake_pedal_switch = false;
volkswagen_brake_pressure_detected = false;
gen_crc_lookup_table_8(0x2F, volkswagen_crc8_lut_8h2f);
return;
}
static uint32_t volkswagen_mqb_meb_get_checksum(const CANPacket_t *msg) {
return (uint8_t)msg->data[0];
@@ -68,3 +87,25 @@ static uint32_t volkswagen_mqb_meb_compute_crc(const CANPacket_t *msg) {
return (uint8_t)(crc ^ 0xFFU);
}
static int volkswagen_mlb_mqb_driver_input_torque(const CANPacket_t *msg) {
// Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
int torque_driver_new = msg->data[5] | ((msg->data[6] & 0x1FU) << 8);
bool sign = GET_BIT(msg, 55U);
if (sign) {
torque_driver_new *= -1;
}
return torque_driver_new;
}
static int volkswagen_mlb_mqb_steering_control_torque(const CANPacket_t *msg) {
// Signal: HCA_01.HCA_01_LM_Offset (absolute torque)
// Signal: HCA_01.HCA_01_LM_OffSign (direction)
int desired_torque = msg->data[2] | ((msg->data[3] & 0x1U) << 8);
bool sign = GET_BIT(msg, 31U);
if (sign) {
desired_torque *= -1;
}
return desired_torque;
}

134
opendbc/safety/modes/volkswagen_mlb.h Normal file
View File

@@ -0,0 +1,134 @@
#pragma once
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/volkswagen_common.h"
static safety_config volkswagen_mlb_init(uint16_t param) {
// Transmit of LS_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
static const CanMsg VOLKSWAGEN_MLB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
{MSG_LS_01, 0, 4, .check_relay = false}, {MSG_LS_01, 2, 4, .check_relay = false}};
static RxCheck volkswagen_mlb_rx_checks[] = {
// TODO: implement checksum validation
{.msg = {{MSG_ESP_03, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_ESP_05, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_ACC_05, 2, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_03, 0, 8, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_LS_01, 0, 4, 10U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
SAFETY_UNUSED(param);
volkswagen_common_init();
return BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
}
static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
// Check all wheel speeds for any movement
// Signals: ESP_03.ESP_[VL|VR|HL|HR]_Radgeschw
if (msg->addr == MSG_ESP_03) {
uint32_t speed = 0;
speed += ((msg->data[3] & 0xFU) << 8) | msg->data[2]; // FL
speed += (msg->data[4] << 4) | (msg->data[3] >> 4); // FR
speed += ((msg->data[6] & 0xFU) << 8) | msg->data[5]; // RL
speed += (msg->data[7] << 4) | (msg->data[6] >> 4); // RR
vehicle_moving = speed > 0U;
}
// Update driver input torque
if (msg->addr == MSG_LH_EPS_03) {
update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
}
if (msg->addr == MSG_LS_01) {
// Always exit controls on rising edge of Cancel
// Signal: LS_01.LS_Abbrechen
if (GET_BIT(msg, 13U)) {
controls_allowed = false;
}
}
// Signal: Motor_03.MO_Fahrpedalrohwert_01
// Signal: Motor_03.MO_Fahrer_bremst
if (msg->addr == MSG_MOTOR_03) {
gas_pressed = msg->data[6] != 0U;
volkswagen_brake_pedal_switch = GET_BIT(msg, 35U);
}
if (msg->addr == MSG_ESP_05) {
volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
}
brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
}
if (msg->bus == 2U) {
// TODO: See if there's a bus-agnostic TSK message we can use instead
if (msg->addr == MSG_ACC_05) {
// When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
// Always exit controls on main switch off
// Signal: ACC_05.ACC_Status_ACC
int acc_status = (msg->data[7] & 0xEU) >> 1;
bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
acc_main_on = cruise_engaged || (acc_status == 2);
pcm_cruise_check(cruise_engaged);
if (!acc_main_on) {
controls_allowed = false;
}
}
}
}
static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
// lateral limits
const TorqueSteeringLimits VOLKSWAGEN_MLB_STEERING_LIMITS = {
.max_torque = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
.max_rt_delta = 169, // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 112.5 ; 112.5 * 1.5 for safety pad = 168.75
.max_rate_up = 9, // 5.0 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 = 60,
.driver_torque_multiplier = 3,
.type = TorqueDriverLimited,
};
bool tx = true;
// Safety check for HCA_01 Heading Control Assist torque
if (msg->addr == MSG_HCA_01) {
int desired_torque = volkswagen_mlb_mqb_steering_control_torque(msg);
int steer_status = msg->data[4] & 0xFU;
bool steer_req = (steer_status == 5) || (steer_status == 7);
if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MLB_STEERING_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 ((msg->addr == MSG_LS_01) && !controls_allowed) {
// disallow resume and set: bits 16 and 19
if (GET_BIT(msg, 16U) || GET_BIT(msg, 19U)) {
tx = false;
}
}
return tx;
}
// TODO: rename these functions to MXB or something
const safety_hooks volkswagen_mlb_hooks = {
.init = volkswagen_mlb_init,
.rx = volkswagen_mlb_rx_hook,
.tx = volkswagen_mlb_tx_hook,
.get_counter = volkswagen_mqb_meb_get_counter,
.get_checksum = volkswagen_mqb_meb_get_checksum,
.compute_checksum = volkswagen_mqb_meb_compute_crc,
};

39
opendbc/safety/modes/volkswagen_mqb.h
View File

@@ -1,12 +1,8 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/volkswagen_common.h"
static bool volkswagen_mqb_brake_pedal_switch = false;
static bool volkswagen_mqb_brake_pressure_detected = false;
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
// MSG_LH_EPS_03: openpilot needs to replace apparent driver steering input torque to pacify VW Emergency Assist
@@ -26,17 +22,14 @@ static safety_config volkswagen_mqb_init(uint16_t param) {
{.msg = {{MSG_GRA_ACC_01, 0, 8, 33U, .max_counter = 15U, .ignore_quality_flag = true}, { 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;
volkswagen_common_init();
#ifdef ALLOW_DEBUG
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
#else
SAFETY_UNUSED(param);
#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);
}
@@ -59,12 +52,7 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *msg) {
// Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
if (msg->addr == MSG_LH_EPS_03) {
int torque_driver_new = msg->data[5] | ((msg->data[6] & 0x1FU) << 8);
int sign = (msg->data[6] & 0x80U) >> 7;
if (sign == 1) {
torque_driver_new *= -1;
}
update_sample(&torque_driver, torque_driver_new);
update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
}
if (msg->addr == MSG_TSK_06) {
@@ -111,15 +99,15 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *msg) {
// Signal: Motor_14.MO_Fahrer_bremst (ECU detected brake pedal switch F63)
if (msg->addr == MSG_MOTOR_14) {
volkswagen_mqb_brake_pedal_switch = (msg->data[3] & 0x10U) >> 4;
volkswagen_brake_pedal_switch = GET_BIT(msg, 28U);
}
// Signal: ESP_05.ESP_Fahrer_bremst (ESP detected driver brake pressure above platform specified threshold)
if (msg->addr == MSG_ESP_05) {
volkswagen_mqb_brake_pressure_detected = (msg->data[3] & 0x4U) >> 2;
volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
}
brake_pressed = volkswagen_mqb_brake_pedal_switch || volkswagen_mqb_brake_pressure_detected;
brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
}
}
@@ -146,15 +134,8 @@ static bool volkswagen_mqb_tx_hook(const CANPacket_t *msg) {
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 (msg->addr == MSG_HCA_01) {
int desired_torque = msg->data[2] | ((msg->data[3] & 0x1U) << 8);
bool sign = GET_BIT(msg, 31U);
if (sign) {
desired_torque *= -1;
}
int desired_torque = volkswagen_mlb_mqb_steering_control_torque(msg);
bool steer_req = GET_BIT(msg, 30U);
if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MQB_STEERING_LIMITS)) {

19
opendbc/safety/modes/volkswagen_pq.h
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@@ -1,6 +1,6 @@
#pragma once
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/volkswagen_common.h"
#define MSG_LENKHILFE_3 0x0D0U // RX from EPS, for steering angle and driver steering torque
@@ -63,13 +63,12 @@ static safety_config volkswagen_pq_init(uint16_t param) {
{.msg = {{MSG_GRA_NEU, 0, 4, 30U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
UNUSED(param);
volkswagen_set_button_prev = false;
volkswagen_resume_button_prev = false;
volkswagen_common_init();
#ifdef ALLOW_DEBUG
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
#else
SAFETY_UNUSED(param);
#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);
@@ -78,7 +77,7 @@ static safety_config volkswagen_pq_init(uint16_t param) {
static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
// Update in-motion state from speed value.
// Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
// Signal: Bremse_1.BR1_Rad_kmh
if (msg->addr == MSG_BREMSE_1) {
int speed = ((msg->data[2] & 0xFEU) >> 1) | (msg->data[3] << 7);
vehicle_moving = speed > 0;
@@ -99,7 +98,7 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
if (volkswagen_longitudinal) {
if (msg->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
// Signal: Motor_5.MO5_GRA_Hauptsch
acc_main_on = GET_BIT(msg, 50U);
if (!acc_main_on) {
controls_allowed = false;
@@ -126,19 +125,19 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
} else {
if (msg->addr == MSG_MOTOR_2) {
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
// Signal: Motor_2.GRA_Status
// Signal: Motor_2.MO2_Sta_GRA
int acc_status = (msg->data[2] & 0xC0U) >> 6;
bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
pcm_cruise_check(cruise_engaged);
}
}
// Signal: Motor_3.Fahrpedal_Rohsignal
// Signal: Motor_3.MO3_Pedalwert
if (msg->addr == MSG_MOTOR_3) {
gas_pressed = (msg->data[2]);
}
// Signal: Motor_2.Bremslichtschalter
// Signal: Motor_2.MO2_BLS
if (msg->addr == MSG_MOTOR_2) {
brake_pressed = (msg->data[2] & 0x1U);
}

20
opendbc/safety/safety.h
View File

@@ -3,8 +3,8 @@
#include "opendbc/safety/helpers.h"
#include "opendbc/safety/lateral.h"
#include "opendbc/safety/longitudinal.h"
#include "opendbc/safety/safety_declarations.h"
#include "opendbc/safety/board/can.h"
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/can.h"
// all the safety modes
#include "opendbc/safety/modes/defaults.h"
@@ -20,6 +20,7 @@
#include "opendbc/safety/modes/subaru_preglobal.h"
#include "opendbc/safety/modes/mazda.h"
#include "opendbc/safety/modes/nissan.h"
#include "opendbc/safety/modes/volkswagen_mlb.h"
#include "opendbc/safety/modes/volkswagen_mqb.h"
#include "opendbc/safety/modes/volkswagen_pq.h"
#include "opendbc/safety/modes/elm327.h"
@@ -145,7 +146,7 @@ static void update_counter(RxCheck addr_list[], int index, uint8_t counter) {
if (index != -1) {
uint8_t expected_counter = (addr_list[index].status.last_counter + 1U) % (addr_list[index].msg[addr_list[index].status.index].max_counter + 1U);
addr_list[index].status.wrong_counters += (expected_counter == counter) ? -1 : 1;
addr_list[index].status.wrong_counters = CLAMP(addr_list[index].status.wrong_counters, 0, MAX_WRONG_COUNTERS);
addr_list[index].status.wrong_counters = SAFETY_CLAMP(addr_list[index].status.wrong_counters, 0, MAX_WRONG_COUNTERS);
addr_list[index].status.last_counter = counter;
}
}
@@ -316,12 +317,12 @@ void safety_tick(const safety_config *cfg) {
uint32_t ts = microsecond_timer_get();
if (cfg != NULL) {
for (int i=0; i < cfg->rx_checks_len; i++) {
uint32_t elapsed_time = get_ts_elapsed(ts, cfg->rx_checks[i].status.last_timestamp);
uint32_t elapsed_time = safety_get_ts_elapsed(ts, cfg->rx_checks[i].status.last_timestamp);
// lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
// Quite conservative to not risk false triggers.
// 2s of lag is worse case, since the function is called at 1Hz
uint32_t timestep = 1e6 / cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].frequency;
bool lagging = elapsed_time > MAX(timestep * MAX_MISSED_MSGS, 1e6);
bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1e6);
cfg->rx_checks[i].status.lagging = lagging;
if (lagging) {
controls_allowed = false;
@@ -339,7 +340,6 @@ void safety_tick(const safety_config *cfg) {
static void relay_malfunction_set(void) {
relay_malfunction = true;
fault_occurred(FAULT_RELAY_MALFUNCTION);
}
static void generic_rx_checks(void) {
@@ -377,7 +377,6 @@ static void stock_ecu_check(bool stock_ecu_detected) {
static void relay_malfunction_reset(void) {
relay_malfunction = false;
fault_recovered(FAULT_RELAY_MALFUNCTION);
}
// resets values and min/max for sample_t struct
@@ -412,6 +411,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
#ifdef ALLOW_DEBUG
{SAFETY_PSA, &psa_hooks},
{SAFETY_SUBARU_PREGLOBAL, &subaru_preglobal_hooks},
{SAFETY_VOLKSWAGEN_MLB, &volkswagen_mlb_hooks},
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
{SAFETY_ALLOUTPUT, &alloutput_hooks},
#endif
@@ -490,9 +490,9 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
// convert a trimmed integer to signed 32 bit int
int to_signed(int d, int bits) {
int d_signed = d;
int max_value = (1 << MAX((bits - 1), 0));
int max_value = (1 << SAFETY_MAX((bits - 1), 0));
if (d >= max_value) {
d_signed = d - (1 << MAX(bits, 0));
d_signed = d - (1 << SAFETY_MAX(bits, 0));
}
return d_signed;
}
@@ -536,7 +536,7 @@ void speed_mismatch_check(const float speed_2) {
// Disable controls if speeds from two sources are too far apart.
// For safety modes that use speed to adjust torque or angle limits
const float MAX_SPEED_DELTA = 2.0; // m/s
bool is_invalid_speed = ABS(speed_2 - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > MAX_SPEED_DELTA;
bool is_invalid_speed = SAFETY_ABS(speed_2 - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > MAX_SPEED_DELTA;
if (is_invalid_speed) {
controls_allowed = false;
}

2
opendbc/safety/sunnypilot/safety_mads.h → opendbc/safety/sunnypilot/mads.h
View File

@@ -7,7 +7,7 @@
#pragma once
#include "opendbc/safety/sunnypilot/safety_mads_declarations.h"
#include "opendbc/safety/sunnypilot/mads_declarations.h"
// ===============================
// Global Variables

0
opendbc/safety/sunnypilot/safety_mads_declarations.h → opendbc/safety/sunnypilot/mads_declarations.h
View File

31
opendbc/safety/tests/common.py
View File

@@ -42,8 +42,8 @@ def make_msg(bus, addr, length=8, dat=None):
return libsafety_py.make_CANPacket(addr, bus, dat)
class CANPackerPanda(CANPacker):
def make_can_msg_panda(self, name_or_addr, bus, values, fix_checksum=None):
class CANPackerSafety(CANPacker):
def make_can_msg_safety(self, name_or_addr, bus, values, fix_checksum=None):
msg = self.make_can_msg(name_or_addr, bus, values)
if fix_checksum is not None:
msg = fix_checksum(msg)
@@ -73,12 +73,12 @@ def add_regen_tests(cls):
return cls
class PandaSafetyTestBase(unittest.TestCase):
safety: libsafety_py.Panda
class SafetyTestBase(unittest.TestCase):
safety: libsafety_py.LibSafety
@classmethod
def setUpClass(cls):
if cls.__name__ == "PandaSafetyTestBase":
if cls.__name__ == "SafetyTestBase":
cls.safety = None
raise unittest.SkipTest
@@ -135,7 +135,7 @@ class PandaSafetyTestBase(unittest.TestCase):
self.assertEqual(meas_max_func(), 0)
class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
class LongitudinalAccelSafetyTest(SafetyTestBase, abc.ABC):
LONGITUDINAL = True
MAX_ACCEL: float = 2.0
@@ -175,7 +175,7 @@ class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
class LongitudinalGasBrakeSafetyTest(SafetyTestBase, abc.ABC):
MIN_BRAKE: int = 0
MAX_BRAKE: int | None = None
@@ -209,7 +209,7 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
self._generic_limit_safety_check(self._send_gas_msg, self.MIN_GAS, self.MAX_GAS, self.MIN_POSSIBLE_GAS, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
class TorqueSteeringSafetyTestBase(SafetyTestBase, abc.ABC):
MAX_RATE_UP = 0
MAX_RATE_DOWN = 0
@@ -642,7 +642,7 @@ class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
self.assertEqual(self.safety.get_torque_meas_max(), 0)
class VehicleSpeedSafetyTest(PandaSafetyTestBase):
class VehicleSpeedSafetyTest(SafetyTestBase):
@classmethod
def setUpClass(cls):
if cls.__name__ == "VehicleSpeedSafetyTest":
@@ -809,7 +809,7 @@ class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
self.assertTrue(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
class PandaSafetyTest(PandaSafetyTestBase):
class SafetyTest(SafetyTestBase):
TX_MSGS: list[list[int]] | None = None
SCANNED_ADDRS = [*range(0x800), # Entire 11-bit CAN address space
*range(0x18DA00F1, 0x18DB00F1, 0x100), # 29-bit UDS physical addressing
@@ -820,7 +820,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
@classmethod
def setUpClass(cls):
if cls.__name__ == "PandaSafetyTest" or cls.__name__.endswith('Base'):
if cls.__name__ == "SafetyTest" or cls.__name__.endswith('Base'):
cls.safety = None
raise unittest.SkipTest
@@ -897,13 +897,12 @@ class PandaSafetyTest(PandaSafetyTestBase):
continue
if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong'}):
continue
base_tests = {'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong',
'TestHyundaiLongitudinalESCCSafety'}
if any(attr.startswith(test) for test in base_tests) and any(current_test.startswith(test) for test in base_tests):
continue
if {attr, current_test}.issubset({'TestVolkswagenMqbSafety', 'TestVolkswagenMqbStockSafety', 'TestVolkswagenMqbLongSafety'}):
volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb')
if attr.startswith(volkswagen_shared) and current_test.startswith(volkswagen_shared):
continue
# overlapping TX addrs, but they're not actuating messages for either car
@@ -946,14 +945,14 @@ class PandaSafetyTest(PandaSafetyTestBase):
@add_regen_tests
class PandaCarSafetyTest(PandaSafetyTest, MadsSafetyTestBase):
class CarSafetyTest(SafetyTest, MadsSafetyTestBase):
STANDSTILL_THRESHOLD: float = 0.0
GAS_PRESSED_THRESHOLD = 0
RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = None
@classmethod
def setUpClass(cls):
if cls.__name__ == "PandaCarSafetyTest" or cls.__name__.endswith('Base'):
if cls.__name__ == "CarSafetyTest" or cls.__name__.endswith('Base'):
cls.safety = None
raise unittest.SkipTest

10
opendbc/safety/tests/gas_interceptor_common.py
View File

@@ -8,17 +8,17 @@ See the LICENSE.md file in the root directory for more details.
import numpy as np
import unittest
from opendbc.safety.tests.common import CANPackerPanda, PandaSafetyTestBase
from opendbc.safety.tests.common import CANPackerSafety, CarSafetyTest
class GasInterceptorSafetyTest(PandaSafetyTestBase):
class GasInterceptorSafetyTest(CarSafetyTest):
INTERCEPTOR_THRESHOLD = 0
cnt_gas_cmd = 0
cnt_user_gas = 0
packer: CANPackerPanda
packer: CANPackerSafety
@classmethod
def setUpClass(cls):
@@ -32,13 +32,13 @@ class GasInterceptorSafetyTest(PandaSafetyTestBase):
values["GAS_COMMAND"] = gas * 255.
values["GAS_COMMAND2"] = gas * 255.
self.__class__.cnt_gas_cmd += 1
return self.packer.make_can_msg_panda("GAS_COMMAND", 0, values)
return self.packer.make_can_msg_safety("GAS_COMMAND", 0, values)
def _interceptor_user_gas(self, gas: int):
values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas,
"PEDAL_COUNTER": self.__class__.cnt_user_gas}
self.__class__.cnt_user_gas += 1
return self.packer.make_can_msg_panda("GAS_SENSOR", 0, values)
return self.packer.make_can_msg_safety("GAS_SENSOR", 0, values)
# Skip non-interceptor user gas tests
def test_prev_gas(self):

2
opendbc/safety/tests/hyundai_common.py
View File

@@ -84,7 +84,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
cls.safety = None
raise unittest.SkipTest
# override these tests from PandaCarSafetyTest, hyundai longitudinal uses button enable
# override these tests from CarSafetyTest, hyundai longitudinal uses button enable
def test_disable_control_allowed_from_cruise(self):
pass

11
opendbc/safety/tests/install_mull.sh
View File

@@ -1,11 +0,0 @@
#!/usr/bin/env bash
set -e
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
if ! command -v "mull-runner-17" > /dev/null 2>&1; then
sudo apt-get update && sudo apt-get install -y curl clang-17
curl -1sLf 'https://dl.cloudsmith.io/public/mull-project/mull-stable/setup.deb.sh' | sudo -E bash
sudo apt-get update && sudo apt-get install -y mull-17
fi

62
opendbc/safety/tests/libsafety/SConscript
View File

@@ -11,6 +11,7 @@ mac_ver = platform.mac_ver()
if system == 'Darwin' and mac_ver[0] and mac_ver[0] < '15':
CC += '-13'
# standard env
env = Environment(
CC=CC,
CFLAGS=[
@@ -24,46 +25,45 @@ env = Environment(
'-Wno-pointer-to-int-cast',
'-g',
'-O0',
"-fno-omit-frame-pointer"
'-fno-omit-frame-pointer',
'-fprofile-arcs',
'-ftest-coverage',
'-DALLOW_DEBUG',
],
LINKFLAGS=[
'-fprofile-arcs',
'-ftest-coverage',
],
CPPPATH=["#", "../../board/"],
tools=["default", "compilation_db"],
)
if system == "Darwin":
env.PrependENVPath('PATH', '/opt/homebrew/bin')
if GetOption('mutation'):
env['CC'] = 'clang-17'
flags = [
'-fprofile-instr-generate',
'-fcoverage-mapping',
'-fpass-plugin=/usr/lib/mull-ir-frontend-17',
'-g',
'-grecord-command-line',
]
env['CFLAGS'] += flags
env['LINKFLAGS'] += flags
if GetOption('ubsan'):
flags = [
env.Prepend(LINKFLAGS=[
"-fsanitize=undefined",
"-fno-sanitize-recover=undefined",
]
env['CFLAGS'] += flags
env['LINKFLAGS'] += flags
])
safety = env.SharedObject("safety.os", "safety.c")
libsafety = env.SharedLibrary("libsafety.so", [safety])
coverage_flags = [
# GCC coverage flags
'-fprofile-arcs',
'-ftest-coverage',
# mutation env
menv = env.Clone()
menv['CC'] = 'clang-17'
flags = [
'-fprofile-instr-generate',
'-fcoverage-mapping',
'-fpass-plugin=/usr/lib/mull-ir-frontend-17',
'-g',
'-grecord-command-line',
]
env.Append(
CFLAGS=coverage_flags,
LINKFLAGS=coverage_flags,
)
menv['CFLAGS'] += flags
menv['LINKFLAGS'] += flags
# GCC note file is generated by compiler, allow scons to clean it up
env.SideEffect("safety.gcno", safety)
for build_env, suffix in ((env, ""), (menv, "_mutation")):
# TODO: add macOS support
if (build_env == menv) and (system == "Darwin"):
continue
safety = env.SharedObject(f"safety{suffix}.os", "safety.c")
libsafety = env.SharedLibrary(f"libsafety{suffix}.so", [safety])
# GCC note file is generated by compiler, allow scons to clean it up
env.SideEffect("safety.gcno", safety)

12
opendbc/safety/tests/libsafety/fake_stm.h Normal file
View File

@@ -0,0 +1,12 @@
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#define ALLOW_DEBUG
// TODO: time should just be passed into the hooks we expose
uint32_t timer_cnt = 0;
uint32_t microsecond_timer_get(void);
uint32_t microsecond_timer_get(void) {
return timer_cnt;
}

116
opendbc/safety/tests/libsafety/libsafety_py.py
View File

@@ -1,12 +1,10 @@
import os
from cffi import FFI
from typing import Protocol
from opendbc.safety import LEN_TO_DLC
from opendbc.safety.tests.libsafety.safety_helpers import PandaSafety, setup_safety_helpers
libsafety_dir = os.path.dirname(os.path.abspath(__file__))
libsafety_fn = os.path.join(libsafety_dir, "libsafety.so")
libsafety_fn = os.path.join(libsafety_dir, "libsafety_mutation.so" if "MUTATION" in os.environ else "libsafety.so")
ffi = FFI()
@@ -23,47 +21,91 @@ typedef struct {
unsigned char data[64];
} CANPacket_t;
""", packed=True)
class CANPacket:
pass
ffi.cdef("""
bool safety_rx_hook(CANPacket_t *msg);
bool safety_tx_hook(CANPacket_t *msg);
int safety_fwd_hook(int bus_num, int addr);
int set_safety_hooks(uint16_t mode, uint16_t param);
void set_controls_allowed(bool c);
bool get_controls_allowed(void);
bool get_longitudinal_allowed(void);
void set_alternative_experience(int mode);
int get_alternative_experience(void);
void set_relay_malfunction(bool c);
bool get_relay_malfunction(void);
bool get_gas_pressed_prev(void);
void set_gas_pressed_prev(bool);
bool get_brake_pressed_prev(void);
bool get_regen_braking_prev(void);
bool get_steering_disengage_prev(void);
bool get_acc_main_on(void);
float get_vehicle_speed_min(void);
float get_vehicle_speed_max(void);
int get_current_safety_mode(void);
int get_current_safety_param(void);
void set_torque_meas(int min, int max);
int get_torque_meas_min(void);
int get_torque_meas_max(void);
void set_torque_driver(int min, int max);
int get_torque_driver_min(void);
int get_torque_driver_max(void);
void set_desired_torque_last(int t);
void set_rt_torque_last(int t);
void set_desired_angle_last(int t);
int get_desired_angle_last();
void set_angle_meas(int min, int max);
int get_angle_meas_min(void);
int get_angle_meas_max(void);
bool get_cruise_engaged_prev(void);
void set_cruise_engaged_prev(bool engaged);
bool get_vehicle_moving(void);
void set_timer(uint32_t t);
void safety_tick_current_safety_config();
bool safety_config_valid();
void init_tests(void);
void set_honda_fwd_brake(bool c);
bool get_honda_fwd_brake(void);
void set_honda_alt_brake_msg(bool c);
void set_honda_bosch_long(bool c);
int get_honda_hw(void);
bool get_lat_active(void);
bool get_controls_allowed_lat(void);
bool get_controls_requested_lat(void);
void set_current_safety_param_sp(int param);
int get_current_safety_param_sp(void);
bool get_enable_mads(void);
bool get_disengage_lateral_on_brake(void);
bool get_pause_lateral_on_brake(void);
void set_mads_button_press(int mads_button_press);
void set_controls_allowed_lat(bool c);
void set_controls_requested_lat(bool c);
bool get_mads_acc_main(void);
void set_acc_main_on(bool c);
int get_mads_button_press(void);
void mads_set_current_disengage_reason(int reason);
int mads_get_current_disengage_reason(void);
int get_temp_debug(void);
uint32_t get_acc_main_on_mismatches(void);
void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
void set_heartbeat_engaged_mads(bool c);
void mads_heartbeat_engaged_check(void);
void set_steering_disengage(bool c);
int get_gas_interceptor_prev(void);
""")
ffi.cdef("""
void can_set_checksum(CANPacket_t *packet);
""")
setup_safety_helpers(ffi)
class CANPacket:
reserved: int
bus: int
data_len_code: int
rejected: int
returned: int
extended: int
addr: int
data: list[int]
class Panda(PandaSafety, Protocol):
# CAN
def can_set_checksum(self, p: CANPacket) -> None: ...
# safety
def safety_rx_hook(self, msg: CANPacket) -> int: ...
def safety_tx_hook(self, msg: CANPacket) -> int: ...
def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ...
def set_safety_hooks(self, mode: int, param: int) -> int: ...
libsafety: Panda = ffi.dlopen(libsafety_fn)
# helpers
class LibSafety:
pass
libsafety: LibSafety = ffi.dlopen(libsafety_fn)
def make_CANPacket(addr: int, bus: int, dat):
ret = ffi.new('CANPacket_t *')
@@ -72,6 +114,4 @@ def make_CANPacket(addr: int, bus: int, dat):
ret[0].data_len_code = LEN_TO_DLC[len(dat)]
ret[0].bus = bus
ret[0].data = bytes(dat)
libsafety.can_set_checksum(ret)
return ret

306
opendbc/safety/tests/libsafety/safety.c
View File

@@ -1,13 +1,301 @@
#include <stdbool.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include "opendbc/safety/board/fake_stm.h"
#include "opendbc/safety/board/can.h"
// TODO: time should just be passed into the hooks we expose
uint32_t timer_cnt = 0;
uint32_t microsecond_timer_get(void);
uint32_t microsecond_timer_get(void) {
return timer_cnt;
}
//int safety_tx_hook(CANPacket_t *msg) { return 1; }
#include "opendbc/safety/board/faults.h"
#include "opendbc/safety/can.h"
#include "opendbc/safety/safety.h"
#include "opendbc/safety/board/drivers/can_common.h"
// libsafety stuff
#include "opendbc/safety/tests/libsafety/safety_helpers.h"
void safety_tick_current_safety_config() {
safety_tick(&current_safety_config);
}
bool safety_config_valid() {
if (current_safety_config.rx_checks_len <= 0) {
printf("missing RX checks\n");
return false;
}
for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
const RxCheck addr = current_safety_config.rx_checks[i];
bool valid = addr.status.msg_seen && !addr.status.lagging && addr.status.valid_checksum && (addr.status.wrong_counters < MAX_WRONG_COUNTERS) && addr.status.valid_quality_flag;
if (!valid) {
// printf("i %d seen %d lagging %d valid checksum %d wrong counters %d valid quality flag %d\n", i, addr.status.msg_seen, addr.status.lagging, addr.status.valid_checksum, addr.status.wrong_counters, addr.status.valid_quality_flag);
return false;
}
}
return true;
}
void set_controls_allowed(bool c){
controls_allowed = c;
}
void set_alternative_experience(int mode){
alternative_experience = mode;
}
void set_relay_malfunction(bool c){
relay_malfunction = c;
}
bool get_controls_allowed(void){
return controls_allowed;
}
int get_alternative_experience(void){
return alternative_experience;
}
bool get_relay_malfunction(void){
return relay_malfunction;
}
bool get_gas_pressed_prev(void){
return gas_pressed_prev;
}
void set_gas_pressed_prev(bool c){
gas_pressed_prev = c;
}
bool get_brake_pressed_prev(void){
return brake_pressed_prev;
}
bool get_regen_braking_prev(void){
return regen_braking_prev;
}
bool get_steering_disengage_prev(void){
return steering_disengage_prev;
}
bool get_cruise_engaged_prev(void){
return cruise_engaged_prev;
}
void set_cruise_engaged_prev(bool engaged){
cruise_engaged_prev = engaged;
}
bool get_vehicle_moving(void){
return vehicle_moving;
}
bool get_acc_main_on(void){
return acc_main_on;
}
float get_vehicle_speed_min(void){
return vehicle_speed.min / VEHICLE_SPEED_FACTOR;
}
float get_vehicle_speed_max(void){
return vehicle_speed.max / VEHICLE_SPEED_FACTOR;
}
int get_current_safety_mode(void){
return current_safety_mode;
}
int get_current_safety_param(void){
return current_safety_param;
}
void set_timer(uint32_t t){
timer_cnt = t;
}
void set_torque_meas(int min, int max){
torque_meas.min = min;
torque_meas.max = max;
}
int get_torque_meas_min(void){
return torque_meas.min;
}
int get_torque_meas_max(void){
return torque_meas.max;
}
void set_torque_driver(int min, int max){
torque_driver.min = min;
torque_driver.max = max;
}
int get_torque_driver_min(void){
return torque_driver.min;
}
int get_torque_driver_max(void){
return torque_driver.max;
}
void set_rt_torque_last(int t){
rt_torque_last = t;
}
void set_desired_torque_last(int t){
desired_torque_last = t;
}
void set_desired_angle_last(int t){
desired_angle_last = t;
}
int get_desired_angle_last(void){
return desired_angle_last;
}
void set_angle_meas(int min, int max){
angle_meas.min = min;
angle_meas.max = max;
}
int get_angle_meas_min(void){
return angle_meas.min;
}
int get_angle_meas_max(void){
return angle_meas.max;
}
// ***** car specific helpers *****
void set_honda_alt_brake_msg(bool c){
honda_alt_brake_msg = c;
}
void set_honda_bosch_long(bool c){
honda_bosch_long = c;
}
int get_honda_hw(void) {
return honda_hw;
}
void set_honda_fwd_brake(bool c){
honda_fwd_brake = c;
}
bool get_honda_fwd_brake(void){
return honda_fwd_brake;
}
static MADSState *get_mads_state(void) {
return &m_mads_state;
}
bool get_lat_active(void){
return is_lat_active();
}
bool get_controls_allowed_lat(void){
return mads_is_lateral_control_allowed_by_mads();
}
bool get_controls_requested_lat(void){
return get_mads_state()->controls_requested_lat;
}
bool get_enable_mads(void){
return get_mads_state()->system_enabled;
}
bool get_disengage_lateral_on_brake(void){
return get_mads_state()->disengage_lateral_on_brake;
}
bool get_pause_lateral_on_brake(void){
return get_mads_state()->pause_lateral_on_brake;
}
void set_acc_main_on(bool c){
acc_main_on = c;
}
void set_current_safety_param_sp(int param){
current_safety_param_sp = param;
}
int get_current_safety_param_sp(void){
return current_safety_param_sp;
}
void set_mads_button_press(int c){
mads_button_press = c;
}
int get_mads_button_press(void){
return mads_button_press;
}
void set_controls_allowed_lat(bool c){
m_mads_state.controls_allowed_lat = c;
}
bool get_mads_acc_main(void){
return m_mads_state.acc_main.current;
}
int mads_get_current_disengage_reason(void) {
return get_mads_state()->current_disengage.active_reason;
}
void mads_set_current_disengage_reason(int reason) {
m_mads_state.current_disengage.active_reason = reason;
}
void set_controls_requested_lat(bool c){
m_mads_state.controls_requested_lat = c;
}
void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake){
alternative_experience = 0;
if (enable_mads) {
alternative_experience |= ALT_EXP_ENABLE_MADS;
if (disengage_lateral_on_brake) {
alternative_experience |= ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE;
} else if (pause_lateral_on_brake) {
alternative_experience |= ALT_EXP_MADS_PAUSE_LATERAL_ON_BRAKE;
} else {
}
}
mads_set_alternative_experience(&alternative_experience);
}
void set_heartbeat_engaged_mads(bool c){
heartbeat_engaged_mads = c;
}
void set_steering_disengage(bool c){
steering_disengage = c;
}
int get_gas_interceptor_prev(void){
return gas_interceptor_prev;
}
void init_tests(void){
safety_mode_cnt = 2U; // avoid ignoring relay_malfunction logic
alternative_experience = 0;
current_safety_param_sp = 0;
set_timer(0);
ts_steer_req_mismatch_last = 0;
valid_steer_req_count = 0;
invalid_steer_req_count = 0;
// assumes autopark on safety mode init to avoid a fault. get rid of that for testing
tesla_autopark = false;
}

294
opendbc/safety/tests/libsafety/safety_helpers.h
View File

@@ -1,294 +0,0 @@
#include <stdio.h>
void safety_tick_current_safety_config() {
safety_tick(&current_safety_config);
}
bool safety_config_valid() {
if (current_safety_config.rx_checks_len <= 0) {
printf("missing RX checks\n");
return false;
}
for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
const RxCheck addr = current_safety_config.rx_checks[i];
bool valid = addr.status.msg_seen && !addr.status.lagging && addr.status.valid_checksum && (addr.status.wrong_counters < MAX_WRONG_COUNTERS) && addr.status.valid_quality_flag;
if (!valid) {
// printf("i %d seen %d lagging %d valid checksum %d wrong counters %d valid quality flag %d\n", i, addr.status.msg_seen, addr.status.lagging, addr.status.valid_checksum, addr.status.wrong_counters, addr.status.valid_quality_flag);
return false;
}
}
return true;
}
static MADSState *get_mads_state(void) {
return &m_mads_state;
}
void set_controls_allowed(bool c){
controls_allowed = c;
}
void set_alternative_experience(int mode){
alternative_experience = mode;
}
void set_relay_malfunction(bool c){
relay_malfunction = c;
}
bool get_controls_allowed(void){
return controls_allowed;
}
bool get_lat_active(void){
return is_lat_active();
}
bool get_controls_allowed_lat(void){
return mads_is_lateral_control_allowed_by_mads();
}
bool get_controls_requested_lat(void){
return get_mads_state()->controls_requested_lat;
}
bool get_enable_mads(void){
return get_mads_state()->system_enabled;
}
bool get_disengage_lateral_on_brake(void){
return get_mads_state()->disengage_lateral_on_brake;
}
bool get_pause_lateral_on_brake(void){
return get_mads_state()->pause_lateral_on_brake;
}
int get_alternative_experience(void){
return alternative_experience;
}
bool get_relay_malfunction(void){
return relay_malfunction;
}
bool get_gas_pressed_prev(void){
return gas_pressed_prev;
}
void set_gas_pressed_prev(bool c){
gas_pressed_prev = c;
}
bool get_brake_pressed_prev(void){
return brake_pressed_prev;
}
bool get_regen_braking_prev(void){
return regen_braking_prev;
}
bool get_steering_disengage_prev(void){
return steering_disengage_prev;
}
bool get_cruise_engaged_prev(void){
return cruise_engaged_prev;
}
void set_cruise_engaged_prev(bool engaged){
cruise_engaged_prev = engaged;
}
bool get_vehicle_moving(void){
return vehicle_moving;
}
bool get_acc_main_on(void){
return acc_main_on;
}
float get_vehicle_speed_min(void){
return vehicle_speed.min / VEHICLE_SPEED_FACTOR;
}
float get_vehicle_speed_max(void){
return vehicle_speed.max / VEHICLE_SPEED_FACTOR;
}
void set_acc_main_on(bool c){
acc_main_on = c;
}
int get_current_safety_mode(void){
return current_safety_mode;
}
int get_current_safety_param(void){
return current_safety_param;
}
void set_current_safety_param_sp(int param){
current_safety_param_sp = param;
}
int get_current_safety_param_sp(void){
return current_safety_param_sp;
}
void set_timer(uint32_t t){
timer.CNT = t;
}
void set_torque_meas(int min, int max){
torque_meas.min = min;
torque_meas.max = max;
}
int get_torque_meas_min(void){
return torque_meas.min;
}
int get_torque_meas_max(void){
return torque_meas.max;
}
void set_torque_driver(int min, int max){
torque_driver.min = min;
torque_driver.max = max;
}
int get_torque_driver_min(void){
return torque_driver.min;
}
int get_torque_driver_max(void){
return torque_driver.max;
}
void set_rt_torque_last(int t){
rt_torque_last = t;
}
void set_desired_torque_last(int t){
desired_torque_last = t;
}
void set_desired_angle_last(int t){
desired_angle_last = t;
}
int get_desired_angle_last(void){
return desired_angle_last;
}
void set_angle_meas(int min, int max){
angle_meas.min = min;
angle_meas.max = max;
}
int get_angle_meas_min(void){
return angle_meas.min;
}
int get_angle_meas_max(void){
return angle_meas.max;
}
// ***** car specific helpers *****
void set_honda_alt_brake_msg(bool c){
honda_alt_brake_msg = c;
}
void set_honda_bosch_long(bool c){
honda_bosch_long = c;
}
int get_honda_hw(void) {
return honda_hw;
}
void set_honda_fwd_brake(bool c){
honda_fwd_brake = c;
}
bool get_honda_fwd_brake(void){
return honda_fwd_brake;
}
void set_mads_button_press(int c){
mads_button_press = c;
}
int get_mads_button_press(void){
return mads_button_press;
}
void set_controls_allowed_lat(bool c){
m_mads_state.controls_allowed_lat = c;
}
bool get_mads_acc_main(void){
return m_mads_state.acc_main.current;
}
int mads_get_current_disengage_reason(void) {
return get_mads_state()->current_disengage.active_reason;
}
void mads_set_current_disengage_reason(int reason) {
m_mads_state.current_disengage.active_reason = reason;
}
void set_controls_requested_lat(bool c){
m_mads_state.controls_requested_lat = c;
}
void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake){
alternative_experience = 0;
if (enable_mads) {
alternative_experience |= ALT_EXP_ENABLE_MADS;
if (disengage_lateral_on_brake) {
alternative_experience |= ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE;
} else if (pause_lateral_on_brake) {
alternative_experience |= ALT_EXP_MADS_PAUSE_LATERAL_ON_BRAKE;
} else {
}
}
mads_set_alternative_experience(&alternative_experience);
}
void set_heartbeat_engaged_mads(bool c){
heartbeat_engaged_mads = c;
}
void set_steering_disengage(bool c){
steering_disengage = c;
}
int get_gas_interceptor_prev(void){
return gas_interceptor_prev;
}
//int get_temp_debug(void){
// return temp_debug;
//}
void init_tests(void){
safety_mode_cnt = 2U; // avoid ignoring relay_malfunction logic
alternative_experience = 0;
current_safety_param_sp = 0;
set_timer(0);
ts_steer_req_mismatch_last = 0;
valid_steer_req_count = 0;
invalid_steer_req_count = 0;
// assumes autopark on safety mode init to avoid a fault. get rid of that for testing
tesla_autopark = false;
}

155
opendbc/safety/tests/libsafety/safety_helpers.py
View File

@@ -1,155 +0,0 @@
# panda safety helpers, from safety_helpers.c
from typing import Protocol
def setup_safety_helpers(ffi):
ffi.cdef("""
void set_controls_allowed(bool c);
bool get_controls_allowed(void);
bool get_lat_active(void);
bool get_controls_allowed_lat(void);
bool get_controls_requested_lat(void);
bool get_longitudinal_allowed(void);
void set_alternative_experience(int mode);
int get_alternative_experience(void);
void set_relay_malfunction(bool c);
bool get_relay_malfunction(void);
bool get_gas_pressed_prev(void);
void set_gas_pressed_prev(bool);
bool get_brake_pressed_prev(void);
bool get_regen_braking_prev(void);
bool get_steering_disengage_prev(void);
bool get_acc_main_on(void);
float get_vehicle_speed_min(void);
float get_vehicle_speed_max(void);
int get_current_safety_mode(void);
int get_current_safety_param(void);
void set_current_safety_param_sp(int param);
int get_current_safety_param_sp(void);
void set_torque_meas(int min, int max);
int get_torque_meas_min(void);
int get_torque_meas_max(void);
void set_torque_driver(int min, int max);
int get_torque_driver_min(void);
int get_torque_driver_max(void);
void set_desired_torque_last(int t);
void set_rt_torque_last(int t);
void set_desired_angle_last(int t);
int get_desired_angle_last();
void set_angle_meas(int min, int max);
int get_angle_meas_min(void);
int get_angle_meas_max(void);
bool get_cruise_engaged_prev(void);
void set_cruise_engaged_prev(bool engaged);
bool get_vehicle_moving(void);
void set_timer(uint32_t t);
void safety_tick_current_safety_config();
bool safety_config_valid();
void init_tests(void);
void set_honda_fwd_brake(bool c);
bool get_honda_fwd_brake(void);
void set_honda_alt_brake_msg(bool c);
void set_honda_bosch_long(bool c);
int get_honda_hw(void);
bool get_enable_mads(void);
bool get_disengage_lateral_on_brake(void);
bool get_pause_lateral_on_brake(void);
void set_mads_button_press(int mads_button_press);
void set_controls_allowed_lat(bool c);
void set_controls_requested_lat(bool c);
bool get_mads_acc_main(void);
void set_acc_main_on(bool c);
int get_mads_button_press(void);
void mads_set_current_disengage_reason(int reason);
int mads_get_current_disengage_reason(void);
int get_temp_debug(void);
uint32_t get_acc_main_on_mismatches(void);
void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
void set_heartbeat_engaged_mads(bool c);
void mads_heartbeat_engaged_check(void);
void set_steering_disengage(bool c);
int get_gas_interceptor_prev(void);
""")
class PandaSafety(Protocol):
def set_controls_allowed(self, c: bool) -> None: ...
def get_controls_allowed(self) -> bool: ...
def set_controls_allowed_lat(self, c: bool) -> None: ...
def set_controls_requested_lat(self, c: bool) -> None: ...
def get_lat_active(self) -> bool: ...
def get_controls_allowed_lat(self) -> bool: ...
def get_controls_requested_lat(self) -> bool: ...
def get_mads_acc_main(self) -> bool: ...
def get_longitudinal_allowed(self) -> bool: ...
def set_alternative_experience(self, mode: int) -> None: ...
def get_alternative_experience(self) -> int: ...
def set_relay_malfunction(self, c: bool) -> None: ...
def get_relay_malfunction(self) -> bool: ...
def get_gas_pressed_prev(self) -> bool: ...
def set_gas_pressed_prev(self, c: bool) -> None: ...
def get_brake_pressed_prev(self) -> bool: ...
def get_regen_braking_prev(self) -> bool: ...
def get_steering_disengage_prev(self) -> bool: ...
def get_acc_main_on(self) -> bool: ...
def set_acc_main_on(self, c: bool) -> None: ...
def get_vehicle_speed_min(self) -> int: ...
def get_vehicle_speed_max(self) -> int: ...
def get_current_safety_mode(self) -> int: ...
def get_current_safety_param(self) -> int: ...
def set_current_safety_param_sp(self, param: int) -> int: ...
def get_current_safety_param_sp(self) -> int: ...
def set_torque_meas(self, min: int, max: int) -> None: ... # noqa: A002
def get_torque_meas_min(self) -> int: ...
def get_torque_meas_max(self) -> int: ...
def set_torque_driver(self, min: int, max: int) -> None: ... # noqa: A002
def get_torque_driver_min(self) -> int: ...
def get_torque_driver_max(self) -> int: ...
def set_desired_torque_last(self, t: int) -> None: ...
def set_rt_torque_last(self, t: int) -> None: ...
def set_desired_angle_last(self, t: int) -> None: ...
def get_desired_angle_last(self) -> int: ...
def set_angle_meas(self, min: int, max: int) -> None: ... # noqa: A002
def get_angle_meas_min(self) -> int: ...
def get_angle_meas_max(self) -> int: ...
def get_cruise_engaged_prev(self) -> bool: ...
def set_cruise_engaged_prev(self, enabled: bool) -> None: ...
def get_vehicle_moving(self) -> bool: ...
def set_timer(self, t: int) -> None: ...
def safety_tick_current_safety_config(self) -> None: ...
def safety_config_valid(self) -> bool: ...
def init_tests(self) -> None: ...
def set_honda_fwd_brake(self, c: bool) -> None: ...
def get_honda_fwd_brake(self) -> bool: ...
def set_honda_alt_brake_msg(self, c: bool) -> None: ...
def set_honda_bosch_long(self, c: bool) -> None: ...
def get_honda_hw(self) -> int: ...
def set_mads_button_press(self, mads_button_press: int) -> None: ...
def get_enable_mads(self) -> bool: ...
def get_disengage_lateral_on_brake(self) -> bool: ...
def get_pause_lateral_on_brake(self) -> bool: ...
def get_mads_button_press(self) -> int: ...
def mads_set_current_disengage_reason(self, reason: int) -> None: ...
def mads_get_current_disengage_reason(self) -> int: ...
def get_acc_main_on_mismatches(self) -> int: ...
def set_mads_params(self, enable_mads: bool, disengage_lateral_on_brake: bool, pause_lateral_on_brake: bool) -> None: ...
def set_heartbeat_engaged_mads(self, c: bool) -> None: ...
def mads_heartbeat_engaged_check(self) -> None: ...
def set_steering_disengage(self, c: bool) -> None: ...
def get_gas_interceptor_prev(self) -> int: ...
# def get_temp_debug(self) -> int: ...

3
opendbc/safety/tests/mads_common.py
View File

@@ -6,7 +6,7 @@ from opendbc.safety.tests.libsafety import libsafety_py
class MadsSafetyTestBase(unittest.TestCase):
safety: libsafety_py.Panda
safety: libsafety_py.LibSafety
@abc.abstractmethod
def _lkas_button_msg(self, enabled):
@@ -17,6 +17,7 @@ class MadsSafetyTestBase(unittest.TestCase):
raise NotImplementedError
def teardown_method(self, method):
self.safety = libsafety_py.libsafety
self.safety.set_mads_button_press(-1)
self.safety.set_controls_allowed_lat(False)
self.safety.set_controls_requested_lat(False)

20
opendbc/safety/tests/misra/main.c
View File

@@ -2,14 +2,14 @@
// this file is checked by cppcheck
// Ignore misra-c2012-8.7 as these functions are only called from panda and libsafety
UNUSED(heartbeat_engaged);
// Ignore misra-c2012-8.7 as these functions are only called from libsafety
SAFETY_UNUSED(heartbeat_engaged);
UNUSED(safety_rx_hook);
UNUSED(safety_tx_hook);
UNUSED(safety_fwd_hook);
UNUSED(safety_tick);
UNUSED(set_safety_hooks);
UNUSED(mads_heartbeat_engaged_check);
UNUSED(mads_set_alternative_experience);
UNUSED(get_acc_main_on_mismatches);
SAFETY_UNUSED(safety_rx_hook);
SAFETY_UNUSED(safety_tx_hook);
SAFETY_UNUSED(safety_fwd_hook);
SAFETY_UNUSED(safety_tick);
SAFETY_UNUSED(set_safety_hooks);
SAFETY_UNUSED(mads_heartbeat_engaged_check);
SAFETY_UNUSED(mads_set_alternative_experience);
SAFETY_UNUSED(get_acc_main_on_mismatches);

4
opendbc/safety/tests/misra/test_misra.sh
View File

@@ -53,10 +53,10 @@ cppcheck() {
fi
}
PANDA_OPTS=" --enable=all --enable=unusedFunction --addon=misra"
OPTS=" --enable=all --enable=unusedFunction --addon=misra"
printf "\n${GREEN}** Safety **${NC}\n"
cppcheck $PANDA_OPTS $BASEDIR/opendbc/safety/tests/misra/main.c
cppcheck $OPTS $BASEDIR/opendbc/safety/tests/misra/main.c
printf "\n${GREEN}Success!${NC} took $SECONDS seconds\n"

6
opendbc/safety/tests/mutation.sh
View File

@@ -5,13 +5,13 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
source $DIR/../../../setup.sh
$DIR/install_mull.sh
GIT_REF="${GIT_REF:-origin/master}"
GIT_ROOT=$(git rev-parse --show-toplevel)
MULL_OPS="mutators: [cxx_increment, cxx_decrement, cxx_comparison, cxx_boundary, cxx_bitwise_assignment, cxx_bitwise, cxx_arithmetic_assignment, cxx_arithmetic, cxx_remove_negation]"
echo -e "$MULL_OPS" > $GIT_ROOT/mull.yml
scons --mutation -j$(nproc) -D
scons -j$(nproc) -D
echo -e "timeout: 1000000\ngitDiffRef: $GIT_REF\ngitProjectRoot: $GIT_ROOT" >> $GIT_ROOT/mull.yml
mull-runner-17 --ld-search-path /lib/x86_64-linux-gnu/ ./libsafety/libsafety.so -test-program=pytest -- -n8 --ignore-glob=misra/*
export MUTATION=1
mull-runner-17 --ld-search-path /lib/x86_64-linux-gnu/ ./libsafety/libsafety_mutation.so -test-program=pytest -- -n8 --ignore-glob=misra/*

2
opendbc/safety/tests/safety_replay/helpers.py
View File

@@ -108,4 +108,4 @@ def init_segment(safety, msgs, mode, param):
safety.set_controls_allowed_lat(1)
safety.set_desired_angle_last(angle)
safety.set_angle_meas(angle, angle)
assert safety.safety_tx_hook(msg), "failed to initialize panda safety for segment"
assert safety.safety_tx_hook(msg), "failed to initialize safety for segment"

12
opendbc/safety/tests/test_body.py
View File

@@ -4,31 +4,31 @@ import unittest
from opendbc.car.structs import CarParams
import opendbc.safety.tests.common as common
from opendbc.safety.tests.libsafety import libsafety_py
from opendbc.safety.tests.common import CANPackerPanda
from opendbc.safety.tests.common import CANPackerSafety
class TestBody(common.PandaSafetyTest):
class TestBody(common.SafetyTest):
TX_MSGS = [[0x250, 0], [0x251, 0],
[0x1, 0], [0x1, 1], [0x1, 2], [0x1, 3]]
FWD_BUS_LOOKUP = {}
def setUp(self):
self.packer = CANPackerPanda("comma_body")
self.packer = CANPackerSafety("comma_body")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.body, 0)
self.safety.init_tests()
def _motors_data_msg(self, speed_l, speed_r):
values = {"SPEED_L": speed_l, "SPEED_R": speed_r}
return self.packer.make_can_msg_panda("MOTORS_DATA", 0, values)
return self.packer.make_can_msg_safety("MOTORS_DATA", 0, values)
def _torque_cmd_msg(self, torque_l, torque_r):
values = {"TORQUE_L": torque_l, "TORQUE_R": torque_r}
return self.packer.make_can_msg_panda("TORQUE_CMD", 0, values)
return self.packer.make_can_msg_safety("TORQUE_CMD", 0, values)
def _max_motor_rpm_cmd_msg(self, max_rpm_l, max_rpm_r):
values = {"MAX_RPM_L": max_rpm_l, "MAX_RPM_R": max_rpm_r}
return self.packer.make_can_msg_panda("MAX_MOTOR_RPM_CMD", 0, values)
return self.packer.make_can_msg_safety("MAX_MOTOR_RPM_CMD", 0, values)
def test_rx_hook(self):
self.assertFalse(self.safety.get_controls_allowed())

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