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panda/board/safety/safety_toyota.h

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const SteeringLimits TOYOTA_STEERING_LIMITS = {
.max_steer = 1500,
.max_rate_up = 15, // ramp up slow
.max_rate_down = 25, // ramp down fast
.max_torque_error = 350, // max torque cmd in excess of motor torque
.max_rt_delta = 450, // the real time limit is 1800/sec, a 20% buffer
.max_rt_interval = 250000,
.type = TorqueMotorLimited,
// the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
// we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
.min_valid_request_frames = 18,
.max_invalid_request_frames = 1,
.min_valid_request_rt_interval = 170000, // 170ms; a ~10% buffer on cutting every 19 frames
.has_steer_req_tolerance = true,
// LTA angle limits
// factor for STEER_TORQUE_SENSOR->STEER_ANGLE and STEERING_LTA->STEER_ANGLE_CMD (1 / 0.0573)
.angle_deg_to_can = 17.452007,
.angle_rate_up_lookup = {
{5., 25., 25.},
{0.3, 0.15, 0.15}
},
.angle_rate_down_lookup = {
{5., 25., 25.},
{0.36, 0.26, 0.26}
},
};
const int TOYOTA_LTA_MAX_ANGLE = 1657; // EPS only accepts up to 94.9461
const int TOYOTA_LTA_MAX_MEAS_TORQUE = 1500;
const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
// longitudinal limits
const LongitudinalLimits TOYOTA_LONG_LIMITS = {
.max_accel = 2000, // 2.0 m/s2
.min_accel = -3500, // -3.5 m/s2
};
// Stock longitudinal
#define TOYOTA_COMMON_TX_MSGS \
{0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + ACC & PCM cancel cmds */ \
#define TOYOTA_COMMON_LONG_TX_MSGS \
TOYOTA_COMMON_TX_MSGS \
{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, /* DSU bus 0 */ \
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \
{0x411, 0, 8}, /* PCS_HUD */ \
{0x750, 0, 8}, /* radar diagnostic address */ \
const CanMsg TOYOTA_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
};
const CanMsg TOYOTA_LONG_TX_MSGS[] = {
TOYOTA_COMMON_LONG_TX_MSGS
};
#define TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \
{.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \
{.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \
{0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \
RxCheck toyota_lka_rx_checks[] = {
TOYOTA_COMMON_RX_CHECKS(false)
};
// Check the quality flag for angle measurement when using LTA, since it's not set on TSS-P cars
RxCheck toyota_lta_rx_checks[] = {
TOYOTA_COMMON_RX_CHECKS(true)
};
// safety param flags
// first byte is for EPS factor, second is for flags
const uint32_t TOYOTA_PARAM_OFFSET = 8U;
const uint32_t TOYOTA_EPS_FACTOR = (1UL << TOYOTA_PARAM_OFFSET) - 1U;
const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
bool toyota_alt_brake = false;
bool toyota_stock_longitudinal = false;
bool toyota_lta = false;
int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
static uint32_t toyota_compute_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len);
for (int i = 0; i < (len - 1); i++) {
checksum += (uint8_t)GET_BYTE(to_push, i);
}
return checksum;
}
static uint32_t toyota_get_checksum(const CANPacket_t *to_push) {
int checksum_byte = GET_LEN(to_push) - 1U;
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
}
static bool toyota_get_quality_flag_valid(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
bool valid = false;
if (addr == 0x260) {
valid = !GET_BIT(to_push, 3U); // STEER_ANGLE_INITIALIZING
}
return valid;
}
static void toyota_rx_hook(const CANPacket_t *to_push) {
if (GET_BUS(to_push) == 0U) {
int addr = GET_ADDR(to_push);
// get eps motor torque (0.66 factor in dbc)
if (addr == 0x260) {
int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6);
torque_meas_new = to_signed(torque_meas_new, 16);
// scale by dbc_factor
torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
// update array of sample
update_sample(&torque_meas, torque_meas_new);
// increase torque_meas by 1 to be conservative on rounding
torque_meas.min--;
torque_meas.max++;
// driver torque for angle limiting
int torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
torque_driver_new = to_signed(torque_driver_new, 16);
update_sample(&torque_driver, torque_driver_new);
// LTA request angle should match current angle while inactive, clipped to max accepted angle.
// note that angle can be relative to init angle on some TSS2 platforms, LTA has the same offset
bool steer_angle_initializing = GET_BIT(to_push, 3U);
if (!steer_angle_initializing) {
int angle_meas_new = (GET_BYTE(to_push, 3) << 8U) | GET_BYTE(to_push, 4);
angle_meas_new = CLAMP(to_signed(angle_meas_new, 16), -TOYOTA_LTA_MAX_ANGLE, TOYOTA_LTA_MAX_ANGLE);
update_sample(&angle_meas, angle_meas_new);
}
}
// enter controls on rising edge of ACC, exit controls on ACC off
// exit controls on rising edge of gas press
if (addr == 0x1D2) {
// 5th bit is CRUISE_ACTIVE
bool cruise_engaged = GET_BIT(to_push, 5U);
pcm_cruise_check(cruise_engaged);
// sample gas pedal
gas_pressed = !GET_BIT(to_push, 4U);
}
// sample speed
if (addr == 0xaa) {
int speed = 0;
// sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
for (uint8_t i = 0U; i < 8U; i += 2U) {
int wheel_speed = (GET_BYTE(to_push, i) << 8U) | GET_BYTE(to_push, (i + 1U));
speed += wheel_speed - 6767;
}
// check that all wheel speeds are at zero value
vehicle_moving = speed != 0;
UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 / 3.6);
}
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
if (((addr == 0x224) && toyota_alt_brake) || ((addr == 0x226) && !toyota_alt_brake)) {
uint8_t bit = (addr == 0x224) ? 5U : 37U;
brake_pressed = GET_BIT(to_push, bit);
}
bool stock_ecu_detected = addr == 0x2E4; // STEERING_LKA
if (!toyota_stock_longitudinal && (addr == 0x343)) {
stock_ecu_detected = true; // ACC_CONTROL
}
generic_rx_checks(stock_ecu_detected);
}
}
static bool toyota_tx_hook(const CANPacket_t *to_send) {
bool tx = true;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
// Check if msg is sent on BUS 0
if (bus == 0) {
// ACCEL: safety check on byte 1-2
if (addr == 0x343) {
int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
desired_accel = to_signed(desired_accel, 16);
bool violation = false;
violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
// only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
if (toyota_stock_longitudinal) {
bool cancel_req = GET_BIT(to_send, 24U);
if (!cancel_req) {
violation = true;
}
if (desired_accel != TOYOTA_LONG_LIMITS.inactive_accel) {
violation = true;
}
}
if (violation) {
tx = false;
}
}
// AEB: block all actuation. only used when DSU is unplugged
if (addr == 0x283) {
// only allow the checksum, which is the last byte
bool block = (GET_BYTES(to_send, 0, 4) != 0U) || (GET_BYTE(to_send, 4) != 0U) || (GET_BYTE(to_send, 5) != 0U);
if (block) {
tx = false;
}
}
// LTA angle steering check
if (addr == 0x191) {
// check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
bool lta_request = GET_BIT(to_send, 0U);
bool lta_request2 = GET_BIT(to_send, 25U);
int torque_wind_down = GET_BYTE(to_send, 5);
int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
lta_angle = to_signed(lta_angle, 16);
bool steer_control_enabled = lta_request || lta_request2;
if (!toyota_lta) {
// using torque (LKA), block LTA msgs with actuation requests
if (steer_control_enabled || (lta_angle != 0) || (torque_wind_down != 0)) {
tx = false;
}
} else {
// check angle rate limits and inactive angle
if (steer_angle_cmd_checks(lta_angle, steer_control_enabled, TOYOTA_STEERING_LIMITS)) {
tx = false;
}
if (lta_request != lta_request2) {
tx = false;
}
// TORQUE_WIND_DOWN is gated on steer request
if (!steer_control_enabled && (torque_wind_down != 0)) {
tx = false;
}
// TORQUE_WIND_DOWN can only be no or full torque
if ((torque_wind_down != 0) && (torque_wind_down != 100)) {
tx = false;
}
// check if we should wind down torque
int driver_torque = MIN(ABS(torque_driver.min), ABS(torque_driver.max));
if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) {
tx = false;
}
int eps_torque = MIN(ABS(torque_meas.min), ABS(torque_meas.max));
if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
tx = false;
}
}
}
// STEER: safety check on bytes 2-3
if (addr == 0x2E4) {
int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
desired_torque = to_signed(desired_torque, 16);
bool steer_req = GET_BIT(to_send, 0U);
// When using LTA (angle control), assert no actuation on LKA message
if (!toyota_lta) {
if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_STEERING_LIMITS)) {
tx = false;
}
} else {
if ((desired_torque != 0) || steer_req) {
tx = false;
}
}
}
}
// UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 0x750) {
// this address is sub-addressed. only allow tester present to radar (0xF)
bool invalid_uds_msg = (GET_BYTES(to_send, 0, 4) != 0x003E020FU) || (GET_BYTES(to_send, 4, 4) != 0x0U);
if (invalid_uds_msg) {
tx = 0;
}
}
return tx;
}
static safety_config toyota_init(uint16_t param) {
toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
safety_config ret;
if (toyota_stock_longitudinal) {
SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
} else {
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
}
toyota_lta ? SET_RX_CHECKS(toyota_lta_rx_checks, ret) : \
SET_RX_CHECKS(toyota_lka_rx_checks, ret);
return ret;
}
static int toyota_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1;
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
// block stock lkas messages and stock acc messages (if OP is doing ACC)
// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
// in TSS2 the camera does ACC as well, so filter 0x343
bool is_acc_msg = (addr == 0x343);
bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
if (!block_msg) {
bus_fwd = 0;
}
}
return bus_fwd;
}
const safety_hooks toyota_hooks = {
.init = toyota_init,
.rx = toyota_rx_hook,
.tx = toyota_tx_hook,
.fwd = toyota_fwd_hook,
.get_checksum = toyota_get_checksum,
.compute_checksum = toyota_compute_checksum,
.get_quality_flag_valid = toyota_get_quality_flag_valid,
};
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