mirror of https://github.com/commaai/panda.git
Chrysler: cleanup + prep for Ram HD (#1012)
* Chrysler: cleanup + prep for Ram HD * prefix with chrysler
This commit is contained in:
Adeeb Shihadeh
GitHub
parent
b27e1476a7
commit
e30f7e8fc7
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@ -10,54 +10,69 @@ const int CHRYSLER_RAM_STANDSTILL_THRSLD = 3; // about 1m/s changed from wheel
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const int CHRYSLER_RAM_MAX_RATE_UP = 6;
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const int CHRYSLER_RAM_MAX_RATE_DOWN = 6;
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typedef struct {
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const int EPS_2;
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const int ESP_1;
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const int ESP_8;
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const int ECM_5;
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const int DAS_3;
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const int DAS_6;
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const int LKAS_COMMAND;
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const int CRUISE_BUTTONS;
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} ChryslerAddrs;
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// CAN messages for Chrysler/Jeep platforms
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#define EPS_2 544 // EPS driver input torque
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#define ESP_1 320 // Brake pedal and vehicle speed
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#define ESP_8 284 // Brake pedal and vehicle speed
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#define ECM_5 559 // Throttle position sensor
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#define DAS_3 500 // ACC engagement states from DASM
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#define DAS_6 678 // LKAS HUD and auto headlight control from DASM
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#define LKAS_COMMAND 658 // LKAS controls from DASM
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#define CRUISE_BUTTONS 571 // Cruise control buttons
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const ChryslerAddrs CHRYSLER_ADDRS = {
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.EPS_2 = 544, // EPS driver input torque
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.ESP_1 = 320, // Brake pedal and vehicle speed
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.ESP_8 = 284, // Brake pedal and vehicle speed
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.ECM_5 = 559, // Throttle position sensor
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.DAS_3 = 500, // ACC engagement states from DASM
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.DAS_6 = 678, // LKAS HUD and auto headlight control from DASM
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.LKAS_COMMAND = 658, // LKAS controls from DASM
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.CRUISE_BUTTONS = 571, // Cruise control buttons
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};
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// CAN messages for the 5h gen RAM DT platform
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#define EPS_2_RAM 49 // EPS driver input torque
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#define ESP_1_RAM 131 // Brake pedal and vehicle speed
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#define ESP_8_RAM 121 // Brake pedal and vehicle speed
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#define ECM_5_RAM 157 // Throttle position sensor
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#define DAS_3_RAM 153 // ACC engagement states from DASM
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#define DAS_6_RAM 250 // LKAS HUD and auto headlight control from DASM
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#define LKAS_COMMAND_RAM 166 // LKAS controls from DASM
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#define CRUISE_BUTTONS_RAM 177 // Cruise control buttons
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const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = {
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.EPS_2 = 49, // EPS driver input torque
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.ESP_1 = 131, // Brake pedal and vehicle speed
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.ESP_8 = 121, // Brake pedal and vehicle speed
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.ECM_5 = 157, // Throttle position sensor
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.DAS_3 = 153, // ACC engagement states from DASM
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.DAS_6 = 250, // LKAS HUD and auto headlight control from DASM
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.LKAS_COMMAND = 166, // LKAS controls from DASM
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.CRUISE_BUTTONS = 177, // Cruise control buttons
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};
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const CanMsg CHRYSLER_TX_MSGS[] = {
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{CRUISE_BUTTONS, 0, 3},
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{LKAS_COMMAND, 0, 6},
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{DAS_6, 0, 8},
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{CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3},
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{CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6},
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{CHRYSLER_ADDRS.DAS_6, 0, 8},
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};
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const CanMsg CHRYSLER_RAM_TX_MSGS[] = {
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{CRUISE_BUTTONS_RAM, 2, 3},
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{LKAS_COMMAND_RAM, 0, 8},
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{DAS_6_RAM, 0, 8},
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{CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3},
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{CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8},
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{CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
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};
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AddrCheckStruct chrysler_addr_checks[] = {
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{.msg = {{EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // EPS module
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{.msg = {{ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // brake pressed
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{.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // EPS module
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{.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // brake pressed
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//{.msg = {{ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}}}, // vehicle Speed
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{.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
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{.msg = {{ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // gas pedal
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{.msg = {{DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // cruise state
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{.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // gas pedal
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{.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // cruise state
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};
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#define CHRYSLER_ADDR_CHECK_LEN (sizeof(chrysler_addr_checks) / sizeof(chrysler_addr_checks[0]))
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AddrCheckStruct chrysler_ram_addr_checks[] = {
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{.msg = {{EPS_2_RAM, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // EPS module
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{.msg = {{ESP_1_RAM, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // brake pressed
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{.msg = {{ESP_8_RAM, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // vehicle Speed
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{.msg = {{ECM_5_RAM, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // gas pedal
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{.msg = {{DAS_3_RAM, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // cruise state
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // EPS module
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // brake pressed
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // vehicle Speed
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // gas pedal
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{.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // cruise state
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};
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#define CHRYSLER_RAM_ADDR_CHECK_LEN (sizeof(chrysler_ram_addr_checks) / sizeof(chrysler_ram_addr_checks[0]))
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@ -66,6 +81,7 @@ addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN}
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const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
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bool chrysler_ram = false;
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const ChryslerAddrs *chrysler_addrs = &CHRYSLER_ADDRS;
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static uint32_t chrysler_get_checksum(CANPacket_t *to_push) {
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int checksum_byte = GET_LEN(to_push) - 1U;
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@ -121,16 +137,14 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
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if (valid) {
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// Measured EPS torque
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const int eps_2 = chrysler_ram ? EPS_2_RAM : EPS_2;
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if ((bus == 0) && (addr == eps_2)) {
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if ((bus == 0) && (addr == chrysler_addrs->EPS_2)) {
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int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
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update_sample(&torque_meas, torque_meas_new);
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}
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// enter controls on rising edge of ACC, exit controls on ACC off
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const int das_3 = chrysler_ram ? DAS_3_RAM : DAS_3;
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const int das_3_bus = chrysler_ram ? 2 : 0;
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if ((bus == das_3_bus) && (addr == das_3)) {
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if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
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int cruise_engaged = GET_BIT(to_push, 21U) == 1U;
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if (cruise_engaged && !cruise_engaged_prev) {
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controls_allowed = 1;
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@ -143,7 +157,7 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
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// TODO: use the same message for both
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// update speed
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if (chrysler_ram && (bus == 0) && (addr == ESP_8_RAM)) {
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if (chrysler_ram && (bus == 0) && (addr == chrysler_addrs->ESP_8)) {
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vehicle_speed = (((GET_BYTE(to_push, 4) & 0x3U) << 8) + GET_BYTE(to_push, 5))*0.0078125;
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vehicle_moving = (int)vehicle_speed > CHRYSLER_RAM_STANDSTILL_THRSLD;
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}
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@ -155,19 +169,16 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
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}
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// exit controls on rising edge of gas press
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const int ecm_5 = chrysler_ram ? ECM_5_RAM : ECM_5;
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if ((bus == 0) && (addr == ecm_5)) {
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if ((bus == 0) && (addr == chrysler_addrs->ECM_5)) {
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gas_pressed = GET_BYTE(to_push, 0U) != 0U;
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}
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// exit controls on rising edge of brake press
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const int esp_1 = chrysler_ram ? ESP_1_RAM : ESP_1;
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if ((bus == 0) && (addr == esp_1)) {
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if ((bus == 0) && (addr == chrysler_addrs->ESP_1)) {
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brake_pressed = ((GET_BYTE(to_push, 0U) & 0xFU) >> 2U) == 1U;
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}
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const int lkas_command = chrysler_ram ? LKAS_COMMAND_RAM : LKAS_COMMAND;
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generic_rx_checks((bus == 0) && (addr == lkas_command));
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generic_rx_checks((bus == 0) && (addr == chrysler_addrs->LKAS_COMMAND));
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}
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return valid;
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}
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@ -185,8 +196,7 @@ static int chrysler_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
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}
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// STEERING
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const int lkas_addr = chrysler_ram ? LKAS_COMMAND_RAM : LKAS_COMMAND;
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if (tx && (addr == lkas_addr)) {
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if (tx && (addr == chrysler_addrs->LKAS_COMMAND)) {
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int start_byte = chrysler_ram ? 1 : 0;
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int desired_torque = ((GET_BYTE(to_send, start_byte) & 0x7U) << 8) | GET_BYTE(to_send, start_byte + 1);
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desired_torque -= 1024;
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@ -236,7 +246,7 @@ static int chrysler_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
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}
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// FORCE CANCEL: only the cancel button press is allowed
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if ((addr == CRUISE_BUTTONS) || (addr == CRUISE_BUTTONS_RAM)) {
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if (addr == chrysler_addrs->CRUISE_BUTTONS) {
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const bool is_cancel = GET_BYTE(to_send, 0) == 1U;
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const bool is_resume = GET_BYTE(to_send, 0) == 0x10U;
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const bool allowed = is_cancel || (is_resume && controls_allowed);
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@ -258,8 +268,7 @@ static int chrysler_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
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}
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// forward all messages from camera except LKAS messages
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const bool is_lkas = (!chrysler_ram && ((addr == LKAS_COMMAND) || (addr == DAS_6))) ||
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(chrysler_ram && ((addr == LKAS_COMMAND_RAM) || (addr == DAS_6_RAM)));
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const bool is_lkas = ((addr == chrysler_addrs->LKAS_COMMAND) || (addr == chrysler_addrs->DAS_6));
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if ((bus_num == 2) && !is_lkas){
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bus_fwd = 0;
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}
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@ -271,8 +280,10 @@ static const addr_checks* chrysler_init(uint16_t param) {
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chrysler_ram = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
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if (chrysler_ram) {
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chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS;
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chrysler_rx_checks = (addr_checks){chrysler_ram_addr_checks, CHRYSLER_RAM_ADDR_CHECK_LEN};
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} else {
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chrysler_addrs = &CHRYSLER_ADDRS;
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chrysler_rx_checks = (addr_checks){chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
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}
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@ -1,6 +1,10 @@
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env = Environment(
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CC='clang',
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CXX='clang++',
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CC='gcc',
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CFLAGS=[
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'-nostdlib',
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'-fno-builtin',
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'-std=gnu11',
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],
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CPPPATH=[".", "../../board"],
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)
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