From 9108b82fb0d5578f4f405be095729f30cc785285 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 14 Mar 2021 19:24:53 -0400 Subject: [PATCH] VW MQB: Updated message and signal data, round 1 (#632) * EPS_01 -> LH_EPS_03 * Bump openpilot commit ref * made echo test more stable * update python to 3.8.5 * Revert "Bump openpilot commit ref" This reverts commit 75ec1a0c * Bump openpilot commit ref * Bump openpilot commit ref * Update Dockerfile.panda * fixed torque signal name * Signal naming fix, round 2 * fix CI Co-authored-by: Robbe Derks Co-authored-by: Adeeb Shihadeh --- .github/workflows/test.yaml | 2 +- Dockerfile.panda | 4 +-- board/safety/safety_volkswagen.h | 12 ++++---- tests/safety/test_volkswagen_mqb.py | 44 ++++++++++++++--------------- 4 files changed, 31 insertions(+), 31 deletions(-) diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml index 18adba5c1..b095f7618 100644 --- a/.github/workflows/test.yaml +++ b/.github/workflows/test.yaml @@ -57,7 +57,7 @@ jobs: run: | $RUN "cd /tmp/openpilot && \ scons -c && \ - scons -j$(nproc) opendbc/ cereal/ && \ + scons -j$(nproc) -i opendbc/ cereal/ && \ cd panda/tests/safety && \ ./test.sh" diff --git a/Dockerfile.panda b/Dockerfile.panda index c8960f19f..0897b1304 100644 --- a/Dockerfile.panda +++ b/Dockerfile.panda @@ -63,12 +63,12 @@ RUN cd /tmp && \ git checkout 5463469f71e7861ccfbbd4d09b8e4ae56b8d3e45 && \ git submodule update --init cereal opendbc && \ mkdir /tmp/openpilot && \ - cp -pR SConstruct tools/ selfdrive/ common/ cereal/ opendbc/ /tmp/openpilot && \ + cp -pR SConstruct site_scons/ tools/ selfdrive/ common/ cereal/ opendbc/ /tmp/openpilot && \ rm -rf /tmp/tmppilot RUN cd /tmp/openpilot && \ pip install --no-cache-dir -r opendbc/requirements.txt && \ - pip install --no-cache-dir aenum lru-dict pycurl tenacity atomicwrites + pip install --no-cache-dir --upgrade aenum lru-dict pycurl tenacity atomicwrites scons COPY . /tmp/openpilot/panda RUN rm -rf /tmp/openpilot/panda/.git diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h index 2a2c44745..3df1fcbd0 100644 --- a/board/safety/safety_volkswagen.h +++ b/board/safety/safety_volkswagen.h @@ -9,7 +9,7 @@ const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3; // Safety-relevant CAN messages for the Volkswagen MQB platform #define MSG_ESP_19 0x0B2 // RX from ABS, for wheel speeds -#define MSG_EPS_01 0x09F // RX from EPS, for driver steering torque +#define MSG_LH_EPS_03 0x09F // RX from EPS, for driver steering torque #define MSG_ESP_05 0x106 // RX from ABS, for brake switch state #define MSG_TSK_06 0x120 // RX from ECU, for ACC status from drivetrain coordinator #define MSG_MOTOR_20 0x121 // RX from ECU, for driver throttle input @@ -23,7 +23,7 @@ const int VOLKSWAGEN_MQB_TX_MSGS_LEN = sizeof(VOLKSWAGEN_MQB_TX_MSGS) / sizeof(V AddrCheckStruct volkswagen_mqb_rx_checks[] = { {.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}}}, - {.msg = {{MSG_EPS_01, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}}, + {.msg = {{MSG_LH_EPS_03, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}}}, {.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}}, {.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}}, {.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}}, @@ -86,7 +86,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) { uint8_t counter = volkswagen_mqb_get_counter(to_push); switch(addr) { - case MSG_EPS_01: + case MSG_LH_EPS_03: crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter]; break; case MSG_ESP_05: @@ -156,9 +156,9 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { } // Update driver input torque samples - // Signal: EPS_01.Driver_Strain (absolute torque) - // Signal: EPS_01.Driver_Strain_VZ (direction) - if (addr == MSG_EPS_01) { + // Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque) + // Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction) + if (addr == MSG_LH_EPS_03) { int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8); int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7; if (sign == 1) { diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py index f8e729124..ccc126bce 100644 --- a/tests/safety/test_volkswagen_mqb.py +++ b/tests/safety/test_volkswagen_mqb.py @@ -16,7 +16,7 @@ DRIVER_TORQUE_ALLOWANCE = 80 DRIVER_TORQUE_FACTOR = 3 MSG_ESP_19 = 0xB2 # RX from ABS, for wheel speeds -MSG_EPS_01 = 0x9F # RX from EPS, for driver steering torque +MSG_LH_EPS_03 = 0x9F # RX from EPS, for driver steering torque MSG_ESP_05 = 0x106 # RX from ABS, for brake light state MSG_TSK_06 = 0x120 # RX from ECU, for ACC status from drivetrain coordinator MSG_MOTOR_20 = 0x121 # RX from ECU, for driver throttle input @@ -25,7 +25,7 @@ MSG_GRA_ACC_01 = 0x12B # TX by OP, ACC control buttons for cancel/resume MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts class TestVolkswagenMqbSafety(common.PandaSafetyTest): - cnt_eps_01 = 0 + cnt_lh_eps_03 = 0 cnt_esp_05 = 0 cnt_tsk_06 = 0 cnt_motor_20 = 0 @@ -79,11 +79,11 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest): return self.packer.make_can_msg_panda("TSK_06", 0, values) # Driver steering input torque - def _eps_01_msg(self, torque): - values = {"Driver_Strain": abs(torque), "Driver_Strain_VZ": torque < 0, - "COUNTER": self.cnt_eps_01 % 16} - self.__class__.cnt_eps_01 += 1 - return self.packer.make_can_msg_panda("EPS_01", 0, values) + def _lh_eps_03_msg(self, torque): + values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0, + "COUNTER": self.cnt_lh_eps_03 % 16} + self.__class__.cnt_lh_eps_03 += 1 + return self.packer.make_can_msg_panda("LH_EPS_03", 0, values) # openpilot steering output torque def _hca_01_msg(self, torque): @@ -205,21 +205,21 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest): self.assertTrue(self._tx(self._hca_01_msg(sign * (MAX_RT_DELTA + 1)))) def test_torque_measurements(self): - self._rx(self._eps_01_msg(50)) - self._rx(self._eps_01_msg(-50)) - self._rx(self._eps_01_msg(0)) - self._rx(self._eps_01_msg(0)) - self._rx(self._eps_01_msg(0)) - self._rx(self._eps_01_msg(0)) + self._rx(self._lh_eps_03_msg(50)) + self._rx(self._lh_eps_03_msg(-50)) + self._rx(self._lh_eps_03_msg(0)) + self._rx(self._lh_eps_03_msg(0)) + self._rx(self._lh_eps_03_msg(0)) + self._rx(self._lh_eps_03_msg(0)) self.assertEqual(-50, self.safety.get_torque_driver_min()) self.assertEqual(50, self.safety.get_torque_driver_max()) - self._rx(self._eps_01_msg(0)) + self._rx(self._lh_eps_03_msg(0)) self.assertEqual(0, self.safety.get_torque_driver_max()) self.assertEqual(-50, self.safety.get_torque_driver_min()) - self._rx(self._eps_01_msg(0)) + self._rx(self._lh_eps_03_msg(0)) self.assertEqual(0, self.safety.get_torque_driver_max()) self.assertEqual(0, self.safety.get_torque_driver_min()) @@ -228,10 +228,10 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest): # TODO: Would be ideal to check ESP_19 as well, but it has no checksum # or counter, and I'm not sure if we can easily validate Panda's simple # temporal reception-rate check here. - for msg in [MSG_EPS_01, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]: + for msg in [MSG_LH_EPS_03, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]: self.safety.set_controls_allowed(1) - if msg == MSG_EPS_01: - to_push = self._eps_01_msg(0) + if msg == MSG_LH_EPS_03: + to_push = self._lh_eps_03_msg(0) if msg == MSG_ESP_05: to_push = self._brake_msg(False) if msg == MSG_TSK_06: @@ -246,18 +246,18 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest): # counter # reset wrong_counters to zero by sending valid messages for i in range(MAX_WRONG_COUNTERS + 1): - self.__class__.cnt_eps_01 += 1 + self.__class__.cnt_lh_eps_03 += 1 self.__class__.cnt_esp_05 += 1 self.__class__.cnt_tsk_06 += 1 self.__class__.cnt_motor_20 += 1 if i < MAX_WRONG_COUNTERS: self.safety.set_controls_allowed(1) - self._rx(self._eps_01_msg(0)) + self._rx(self._lh_eps_03_msg(0)) self._rx(self._brake_msg(False)) self._rx(self._pcm_status_msg(True)) self._rx(self._gas_msg(0)) else: - self.assertFalse(self._rx(self._eps_01_msg(0))) + self.assertFalse(self._rx(self._lh_eps_03_msg(0))) self.assertFalse(self._rx(self._brake_msg(False))) self.assertFalse(self._rx(self._pcm_status_msg(True))) self.assertFalse(self._rx(self._gas_msg(0))) @@ -266,7 +266,7 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest): # restore counters for future tests with a couple of good messages for i in range(2): self.safety.set_controls_allowed(1) - self._rx(self._eps_01_msg(0)) + self._rx(self._lh_eps_03_msg(0)) self._rx(self._brake_msg(False)) self._rx(self._pcm_status_msg(True)) self._rx(self._gas_msg(0))