From 8cc3a3570095ce1bfd5524a958a74f8674723963 Mon Sep 17 00:00:00 2001 From: Adeeb <8762862+quillford@users.noreply.github.com> Date: Mon, 13 Apr 2020 14:43:46 -0700 Subject: [PATCH] remove cadillac (#496) --- board/drivers/can.h | 5 - board/safety.h | 3 - board/safety/safety_cadillac.h | 125 -------------------- python/__init__.py | 1 - tests/safety/libpandasafety_py.py | 5 - tests/safety/test.c | 24 ---- tests/safety/test_cadillac.py | 184 ------------------------------ 7 files changed, 347 deletions(-) delete mode 100644 board/safety/safety_cadillac.h delete mode 100644 tests/safety/test_cadillac.py diff --git a/board/drivers/can.h b/board/drivers/can.h index ff60473f7..10aa1208f 100644 --- a/board/drivers/can.h +++ b/board/drivers/can.h @@ -361,11 +361,6 @@ void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) { // GTW_status ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0; } - // Cadillac exception - if ((addr == 0x160) && (len == 5)) { - // this message isn't all zeros when ignition is on - ignition_can = GET_BYTES_04(to_push) != 0; - } } } diff --git a/board/safety.h b/board/safety.h index eadbe4c60..d2d107d66 100644 --- a/board/safety.h +++ b/board/safety.h @@ -8,7 +8,6 @@ #include "safety/safety_gm_ascm.h" #include "safety/safety_gm.h" #include "safety/safety_ford.h" -#include "safety/safety_cadillac.h" #include "safety/safety_hyundai.h" #include "safety/safety_chrysler.h" #include "safety/safety_subaru.h" @@ -25,7 +24,6 @@ #define SAFETY_GM 4U #define SAFETY_HONDA_BOSCH_GIRAFFE 5U #define SAFETY_FORD 6U -#define SAFETY_CADILLAC 7U #define SAFETY_HYUNDAI 8U #define SAFETY_CHRYSLER 9U #define SAFETY_TESLA 10U @@ -216,7 +214,6 @@ const safety_hook_config safety_hook_registry[] = { {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks}, {SAFETY_NOOUTPUT, &nooutput_hooks}, #ifdef ALLOW_DEBUG - {SAFETY_CADILLAC, &cadillac_hooks}, {SAFETY_TESLA, &tesla_hooks}, {SAFETY_NISSAN, &nissan_hooks}, {SAFETY_ALLOUTPUT, &alloutput_hooks}, diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h deleted file mode 100644 index 0f500a8cd..000000000 --- a/board/safety/safety_cadillac.h +++ /dev/null @@ -1,125 +0,0 @@ -#define CADILLAC_TORQUE_MSG_N 4 // 4 torque messages: 0x151, 0x152, 0x153, 0x154 - -const AddrBus CADILLAC_TX_MSGS[] = {{0x151, 2}, {0x152, 0}, {0x153, 2}, {0x154, 0}}; -const int CADILLAC_MAX_STEER = 150; // 1s -// real time torque limit to prevent controls spamming -// the real time limit is 1500/sec -const int CADILLAC_MAX_RT_DELTA = 75; // max delta torque allowed for real time checks -const uint32_t CADILLAC_RT_INTERVAL = 250000; // 250ms between real time checks -const int CADILLAC_MAX_RATE_UP = 2; -const int CADILLAC_MAX_RATE_DOWN = 5; -const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50; -const int CADILLAC_DRIVER_TORQUE_FACTOR = 4; - -int cadillac_cruise_engaged_last = 0; -int cadillac_rt_torque_last = 0; -const int cadillac_torque_msgs_n = 4; -int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0}; -uint32_t cadillac_ts_last = 0; -bool cadillac_supercruise_on = 0; -struct sample_t cadillac_torque_driver; // last few driver torques measured - -int cadillac_get_torque_idx(int addr, int array_size) { - return MIN(MAX(addr - 0x151, 0), array_size); // 0x151 is id 0, 0x152 is id 1 and so on... -} - -static int cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { - int bus = GET_BUS(to_push); - int addr = GET_ADDR(to_push); - - if (addr == 356) { - int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1)); - - torque_driver_new = to_signed(torque_driver_new, 11); - // update array of samples - update_sample(&cadillac_torque_driver, torque_driver_new); - } - - // enter controls on rising edge of ACC, exit controls on ACC off - if ((addr == 0x370) && (bus == 0)) { - int cruise_engaged = GET_BYTE(to_push, 2) & 0x80; // bit 23 - if (cruise_engaged && !cadillac_cruise_engaged_last) { - controls_allowed = 1; - } - if (!cruise_engaged) { - controls_allowed = 0; - } - cadillac_cruise_engaged_last = cruise_engaged; - } - - // know supercruise mode and block openpilot msgs if on - if ((addr == 0x152) || (addr == 0x154)) { - cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0; - } - return 1; -} - -static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { - int tx = 1; - int addr = GET_ADDR(to_send); - int bus = GET_BUS(to_send); - - if (!msg_allowed(addr, bus, CADILLAC_TX_MSGS, sizeof(CADILLAC_TX_MSGS) / sizeof(CADILLAC_TX_MSGS[0]))) { - tx = 0; - } - - // steer cmd checks - if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) { - int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1); - int violation = 0; - uint32_t ts = TIM2->CNT; - int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N); - desired_torque = to_signed(desired_torque, 14); - - if (controls_allowed) { - - // *** global torque limit check *** - violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER); - - // *** torque rate limit check *** - int desired_torque_last = cadillac_desired_torque_last[idx]; - violation |= driver_limit_check(desired_torque, desired_torque_last, &cadillac_torque_driver, - CADILLAC_MAX_STEER, CADILLAC_MAX_RATE_UP, CADILLAC_MAX_RATE_DOWN, - CADILLAC_DRIVER_TORQUE_ALLOWANCE, CADILLAC_DRIVER_TORQUE_FACTOR); - - // used next time - cadillac_desired_torque_last[idx] = desired_torque; - - // *** torque real time rate limit check *** - violation |= rt_rate_limit_check(desired_torque, cadillac_rt_torque_last, CADILLAC_MAX_RT_DELTA); - - // every RT_INTERVAL set the new limits - uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_last); - if (ts_elapsed > CADILLAC_RT_INTERVAL) { - cadillac_rt_torque_last = desired_torque; - cadillac_ts_last = ts; - } - } - - // no torque if controls is not allowed - if (!controls_allowed && (desired_torque != 0)) { - violation = 1; - } - - // reset to 0 if either controls is not allowed or there's a violation - if (violation || !controls_allowed) { - cadillac_desired_torque_last[idx] = 0; - cadillac_rt_torque_last = 0; - cadillac_ts_last = ts; - } - - if (violation || cadillac_supercruise_on) { - tx = 0; - } - - } - return tx; -} - -const safety_hooks cadillac_hooks = { - .init = nooutput_init, - .rx = cadillac_rx_hook, - .tx = cadillac_tx_hook, - .tx_lin = nooutput_tx_lin_hook, - .fwd = default_fwd_hook, -}; diff --git a/python/__init__.py b/python/__init__.py index bda1fedd2..500e2b3b7 100644 --- a/python/__init__.py +++ b/python/__init__.py @@ -117,7 +117,6 @@ class Panda(object): SAFETY_GM = 4 SAFETY_HONDA_BOSCH_GIRAFFE = 5 SAFETY_FORD = 6 - SAFETY_CADILLAC = 7 SAFETY_HYUNDAI = 8 SAFETY_CHRYSLER = 9 SAFETY_TESLA = 10 diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py index 295a04848..c73de6af9 100644 --- a/tests/safety/libpandasafety_py.py +++ b/tests/safety/libpandasafety_py.py @@ -62,11 +62,6 @@ void set_honda_fwd_brake(bool); void set_honda_alt_brake_msg(bool); int get_honda_hw(void); -void init_tests_cadillac(void); -void set_cadillac_desired_torque_last(int t); -void set_cadillac_rt_torque_last(int t); -void set_cadillac_torque_driver(int min, int max); - void init_tests_gm(void); void set_gm_desired_torque_last(int t); void set_gm_rt_torque_last(int t); diff --git a/tests/safety/test.c b/tests/safety/test.c index 9d5bd1251..36cb993d8 100644 --- a/tests/safety/test.c +++ b/tests/safety/test.c @@ -24,7 +24,6 @@ typedef struct } TIM_TypeDef; struct sample_t toyota_torque_meas; -struct sample_t cadillac_torque_driver; struct sample_t gm_torque_driver; struct sample_t hyundai_torque_driver; struct sample_t chrysler_torque_meas; @@ -147,11 +146,6 @@ void set_toyota_torque_meas(int min, int max){ toyota_torque_meas.max = max; } -void set_cadillac_torque_driver(int min, int max){ - cadillac_torque_driver.min = min; - cadillac_torque_driver.max = max; -} - void set_gm_torque_driver(int min, int max){ gm_torque_driver.min = min; gm_torque_driver.max = max; @@ -200,10 +194,6 @@ void set_toyota_rt_torque_last(int t){ toyota_rt_torque_last = t; } -void set_cadillac_rt_torque_last(int t){ - cadillac_rt_torque_last = t; -} - void set_gm_rt_torque_last(int t){ gm_rt_torque_last = t; } @@ -228,10 +218,6 @@ void set_toyota_desired_torque_last(int t){ toyota_desired_torque_last = t; } -void set_cadillac_desired_torque_last(int t){ - for (int i = 0; i < 4; i++) cadillac_desired_torque_last[i] = t; -} - void set_gm_desired_torque_last(int t){ gm_desired_torque_last = t; } @@ -295,16 +281,6 @@ void init_tests_toyota(void){ set_timer(0); } -void init_tests_cadillac(void){ - init_tests(); - cadillac_torque_driver.min = 0; - cadillac_torque_driver.max = 0; - for (int i = 0; i < 4; i++) cadillac_desired_torque_last[i] = 0; - cadillac_rt_torque_last = 0; - cadillac_ts_last = 0; - set_timer(0); -} - void init_tests_gm(void){ init_tests(); gm_torque_driver.min = 0; diff --git a/tests/safety/test_cadillac.py b/tests/safety/test_cadillac.py deleted file mode 100644 index e4e75f15b..000000000 --- a/tests/safety/test_cadillac.py +++ /dev/null @@ -1,184 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import numpy as np -from panda import Panda -from panda.tests.safety import libpandasafety_py -from panda.tests.safety.common import make_msg, StdTest - - -MAX_RATE_UP = 2 -MAX_RATE_DOWN = 5 -MAX_TORQUE = 150 - -MAX_RT_DELTA = 75 -RT_INTERVAL = 250000 - -DRIVER_TORQUE_ALLOWANCE = 50; -DRIVER_TORQUE_FACTOR = 4; - -IPAS_OVERRIDE_THRESHOLD = 200 - -TX_MSGS = [[0x151, 2], [0x152, 0], [0x153, 2], [0x154, 0]] - -def twos_comp(val, bits): - if val >= 0: - return val - else: - return (2**bits) + val - -def sign(a): - if a > 0: - return 1 - else: - return -1 - -class TestCadillacSafety(unittest.TestCase): - @classmethod - def setUp(cls): - cls.safety = libpandasafety_py.libpandasafety - cls.safety.set_safety_hooks(Panda.SAFETY_CADILLAC, 0) - cls.safety.init_tests_cadillac() - - def _set_prev_torque(self, t): - self.safety.set_cadillac_desired_torque_last(t) - self.safety.set_cadillac_rt_torque_last(t) - - def _torque_driver_msg(self, torque): - t = twos_comp(torque, 11) - to_send = make_msg(0, 0x164) - to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8) - return to_send - - def _torque_msg(self, torque): - to_send = make_msg(2, 0x151) - t = twos_comp(torque, 14) - to_send[0].RDLR = ((t >> 8) & 0x3F) | ((t & 0xFF) << 8) - return to_send - - def test_spam_can_buses(self): - StdTest.test_spam_can_buses(self, TX_MSGS) - - def test_default_controls_not_allowed(self): - self.assertFalse(self.safety.get_controls_allowed()) - - def test_manually_enable_controls_allowed(self): - StdTest.test_manually_enable_controls_allowed(self) - - def test_enable_control_allowed_from_cruise(self): - to_push = make_msg(0, 0x370) - to_push[0].RDLR = 0x800000 - self.safety.safety_rx_hook(to_push) - self.assertTrue(self.safety.get_controls_allowed()) - - def test_disable_control_allowed_from_cruise(self): - to_push = make_msg(0, 0x370) - self.safety.set_controls_allowed(1) - self.safety.safety_rx_hook(to_push) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_torque_absolute_limits(self): - for controls_allowed in [True, False]: - for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP): - self.safety.set_controls_allowed(controls_allowed) - self.safety.set_cadillac_rt_torque_last(torque) - self.safety.set_cadillac_torque_driver(0, 0) - self.safety.set_cadillac_desired_torque_last(torque - MAX_RATE_UP) - - if controls_allowed: - send = (-MAX_TORQUE <= torque <= MAX_TORQUE) - else: - send = torque == 0 - - self.assertEqual(send, self.safety.safety_tx_hook(self._torque_msg(torque))) - - def test_non_realtime_limit_up(self): - self.safety.set_cadillac_torque_driver(0, 0) - self.safety.set_controls_allowed(True) - - self._set_prev_torque(0) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP))) - self._set_prev_torque(0) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP))) - - self._set_prev_torque(0) - self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1))) - self.safety.set_controls_allowed(True) - self._set_prev_torque(0) - self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1))) - - def test_non_realtime_limit_down(self): - self.safety.set_cadillac_torque_driver(0, 0) - self.safety.set_controls_allowed(True) - - def test_exceed_torque_sensor(self): - self.safety.set_controls_allowed(True) - - for sign in [-1, 1]: - for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1): - t *= -sign - self.safety.set_cadillac_torque_driver(t, t) - self._set_prev_torque(MAX_TORQUE * sign) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_TORQUE * sign))) - - self.safety.set_cadillac_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1) - self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_TORQUE))) - - # spot check some individual cases - for sign in [-1, 1]: - driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign - torque_desired = (MAX_TORQUE - 10 * DRIVER_TORQUE_FACTOR) * sign - delta = 1 * sign - self._set_prev_torque(torque_desired) - self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired))) - self._set_prev_torque(torque_desired + delta) - self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque) - self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta))) - - self._set_prev_torque(MAX_TORQUE * sign) - self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN) * sign))) - self._set_prev_torque(MAX_TORQUE * sign) - self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0))) - self._set_prev_torque(MAX_TORQUE * sign) - self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign) - self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN + 1) * sign))) - - - def test_realtime_limits(self): - self.safety.set_controls_allowed(True) - - for sign in [-1, 1]: - self.safety.init_tests_cadillac() - self._set_prev_torque(0) - self.safety.set_cadillac_torque_driver(0, 0) - for t in np.arange(0, MAX_RT_DELTA, 1): - t *= sign - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t))) - self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1)))) - - self._set_prev_torque(0) - for t in np.arange(0, MAX_RT_DELTA, 1): - t *= sign - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t))) - - # Increase timer to update rt_torque_last - self.safety.set_timer(RT_INTERVAL + 1) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1)))) - self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1)))) - - - def test_fwd_hook(self): - # nothing allowed - buss = list(range(0x0, 0x3)) - msgs = list(range(0x1, 0x800)) - - for b in buss: - for m in msgs: - # assume len 8 - self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8))) - - -if __name__ == "__main__": - unittest.main()