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Honda Bosch: Support extended LKAS_HUD IDs (#615) 

* Add support for new Honda Bosch vehicles

- Support extended LKAS_HUD IDs on Honda Bosch

- Support extended ID checksum on incoming frames in safety hook (currently unused).

condense

Cleaner. Don't need to store the value in checksum at the return.

Co-Authored-By: Adeeb Shihadeh <adeebshihadeh@users.noreply.github.com>

* revert checksum change

* use full space

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@users.noreply.github.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Chris Souers 2021-08-22 02:34:51 -04:00 committed by GitHub
parent db4a43f8ce
commit 46593af619
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 13 additions and 14 deletions
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8
board/safety/safety_honda.h
View File

@ -7,8 +7,8 @@
// brake rising edge
// brake > 0mph
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}}; // Bosch Giraffe
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness
const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}, {0x33DA, 2, 5}, {0x33DB, 2, 8}}; // Bosch Giraffe
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch Harness
const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}}; // Bosch Giraffe w/ gas and brakes
const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch Harness w/ gas and brakes
@ -274,7 +274,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
}
// Bosch supplemental control check
// Bosch supplemental control check
if (addr == 0xE5) {
if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
tx = 0;
@ -376,7 +376,7 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
if (bus_num == bus_rdr_cam) {
int addr = GET_ADDR(to_fwd);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
if (!is_lkas_msg) {
bus_fwd = bus_rdr_car;
}

5
tests/safety/common.py
View File

@ -297,7 +297,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
def test_fwd_hook(self):
# some safety modes don't forward anything, while others blacklist msgs
for bus in range(0x0, 0x3):
for addr in range(0x1, 0x800):
for addr in range(0x1, 0x40000):
# assume len 8
msg = make_msg(bus, addr, 8)
fwd_bus = self.FWD_BUS_LOOKUP.get(bus, -1)
@ -306,7 +306,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(bus, msg))
def test_spam_can_buses(self):
for addr in range(1, 0x800):
for addr in range(1, 0x40000):
for bus in range(0, 4):
if all(addr != m[0] or bus != m[1] for m in self.TX_MSGS):
self.assertFalse(self._tx(make_msg(bus, addr, 8)))
@ -437,4 +437,3 @@ class PandaSafetyTest(PandaSafetyTestBase):
msg = make_msg(addr, bus)
self.safety.set_controls_allowed(1)
self.assertFalse(self._tx(msg))

12
tests/safety/test_honda.py
View File

@ -306,9 +306,9 @@ class TestHondaBoschSafety(TestHondaSafety):
class TestHondaBoschHarnessSafety(TestHondaBoschSafety):
TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0]] # Bosch Harness
TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0], [0x33DA, 0], [0x33DB, 0]] # Bosch Harness
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D]}
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
PT_BUS = 1
@ -330,9 +330,9 @@ class TestHondaBoschHarnessSafety(TestHondaBoschSafety):
class TestHondaBoschGiraffeSafety(TestHondaBoschHarnessSafety):
TX_MSGS = [[0xE4, 2], [0xE5, 2], [0x296, 0], [0x33D, 2]] # Bosch Giraffe
TX_MSGS = [[0xE4, 2], [0xE5, 2], [0x296, 0], [0x33D, 2], [0x33DA, 2], [0x33DB, 2]] # Bosch Giraffe
RELAY_MALFUNCTION_BUS = 2
FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D]}
FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
FWD_BUS_LOOKUP = {1: 2, 2: 1}
PT_BUS = 0
@ -395,7 +395,7 @@ class TestHondaBoschLongSafety(TestHondaBoschSafety):
class TestHondaBoschLongHarnessSafety(TestHondaBoschLongSafety):
TX_MSGS = [[0xE4, 1], [0x1DF, 1], [0x1EF, 1], [0x1FA, 1], [0x30C, 1], [0x33D, 1], [0x39F, 1], [0x18DAB0F1, 1]] # Bosch Harness w/ gas and brakes
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D]}
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
PT_BUS = 1
@ -410,7 +410,7 @@ class TestHondaBoschLongHarnessSafety(TestHondaBoschLongSafety):
class TestHondaBoschLongGiraffeSafety(TestHondaBoschLongSafety):
TX_MSGS = [[0xE4, 0], [0x1DF, 0], [0x1EF, 0], [0x1FA, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0], [0x18DAB0F1, 0]] # Bosch Giraffe w/ gas and brakes
RELAY_MALFUNCTION_BUS = 2
FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D]}
FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
FWD_BUS_LOOKUP = {1: 2, 2: 1}
PT_BUS = 0

2
tests/safety_replay/helpers.py
View File

@ -12,7 +12,7 @@ def to_signed(d, bits):
def is_steering_msg(mode, addr):
ret = False
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
elif mode == Panda.SAFETY_TOYOTA:
ret = addr == 0x2E4
elif mode == Panda.SAFETY_GM: