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Honda: remove bosch giraffe support (#791)

This commit is contained in:
Adeeb Shihadeh 2021-11-18 23:35:14 -08:00 committed by GitHub
parent e9365d44d3
commit 5d2d4ce1e7
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 6 additions and 68 deletions
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1
board/safety.h
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@ -241,7 +241,6 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_TOYOTA, &toyota_hooks},
{SAFETY_ELM327, &elm327_hooks},
{SAFETY_GM, &gm_hooks},
{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
{SAFETY_HYUNDAI, &hyundai_hooks},
{SAFETY_CHRYSLER, &chrysler_hooks},

36
board/safety/safety_honda.h
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@ -7,9 +7,7 @@
// 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_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
// Roughly calculated using the offsets in openpilot +5%:
@ -24,7 +22,7 @@ const int HONDA_BOSCH_NO_GAS_VALUE = -30000; // value sent when not requesting g
const int HONDA_BOSCH_GAS_MAX = 2000;
const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2
// Nidec and Bosch giraffe have pt on bus 0
// Nidec has the powertrain bus on bus 0
AddrCheckStruct honda_nidec_addr_checks[] = {
{.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
@ -61,7 +59,7 @@ int honda_brake = 0;
bool honda_alt_brake_msg = false;
bool honda_fwd_brake = false;
bool honda_bosch_long = false;
enum {HONDA_N_HW, HONDA_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
enum {HONDA_N_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
addr_checks honda_rx_checks = {honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
@ -217,11 +215,7 @@ static int honda_tx_hook(CANPacket_t *to_send) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
if ((honda_hw == HONDA_BG_HW) && !honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
} else if ((honda_hw == HONDA_BG_HW) && honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BG_LONG_TX_MSGS, sizeof(HONDA_BG_LONG_TX_MSGS)/sizeof(HONDA_BG_LONG_TX_MSGS[0]));
} else if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
} else if ((honda_hw == HONDA_BH_HW) && honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BH_LONG_TX_MSGS, sizeof(HONDA_BH_LONG_TX_MSGS)/sizeof(HONDA_BH_LONG_TX_MSGS[0]));
@ -343,22 +337,6 @@ static const addr_checks* honda_nidec_init(int16_t param) {
return &honda_rx_checks;
}
static const addr_checks* honda_bosch_giraffe_init(int16_t param) {
controls_allowed = false;
relay_malfunction_reset();
honda_hw = HONDA_BG_HW;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
// radar disabled so allow gas/brakes
#ifdef ALLOW_DEBUG
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
#endif
honda_rx_checks = (addr_checks){honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
return &honda_rx_checks;
}
static const addr_checks* honda_bosch_harness_init(int16_t param) {
controls_allowed = false;
relay_malfunction_reset();
@ -427,14 +405,6 @@ const safety_hooks honda_nidec_hooks = {
.fwd = honda_nidec_fwd_hook,
};
const safety_hooks honda_bosch_giraffe_hooks = {
.init = honda_bosch_giraffe_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = honda_bosch_fwd_hook,
};
const safety_hooks honda_bosch_harness_hooks = {
.init = honda_bosch_harness_init,
.rx = honda_rx_hook,

30
tests/safety/test_honda.py
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@ -372,21 +372,6 @@ class TestHondaBoschHarnessSafety(TestHondaBoschSafety):
self.assertTrue(self._tx(self._button_msg(Btn.RESUME)))
class TestHondaBoschGiraffeSafety(TestHondaBoschHarnessSafety):
TX_MSGS = [[0xE4, 2], [0xE5, 2], [0x296, 0], [0x33D, 2]] # Bosch Giraffe
RELAY_MALFUNCTION_BUS = 2
FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D]}
FWD_BUS_LOOKUP = {1: 2, 2: 1}
PT_BUS = 0
STEER_BUS = 2
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
self.safety.init_tests_honda()
class TestHondaBoschLongSafety(TestHondaBoschSafety):
NO_GAS = -30000
MAX_GAS = 2000
@ -451,20 +436,5 @@ class TestHondaBoschLongHarnessSafety(TestHondaBoschLongSafety):
self.safety.init_tests_honda()
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_BUS_LOOKUP = {1: 2, 2: 1}
PT_BUS = 0
STEER_BUS = 0
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 2)
self.safety.init_tests_honda()
if __name__ == "__main__":
unittest.main()

6
tests/safety_replay/helpers.py
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@ -10,7 +10,7 @@ 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]:
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
elif mode == Panda.SAFETY_TOYOTA:
ret = addr == 0x2E4
@ -26,7 +26,7 @@ def is_steering_msg(mode, addr):
def get_steer_torque(mode, to_send):
ret = 0
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
ret = to_send.RDLR & 0xFFFF0000
elif mode == Panda.SAFETY_TOYOTA:
ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
@ -44,7 +44,7 @@ def get_steer_torque(mode, to_send):
return ret
def set_desired_torque_last(safety, mode, torque):
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
pass # honda safety mode doesn't enforce a rate on steering msgs
elif mode == Panda.SAFETY_TOYOTA:
safety.set_toyota_desired_torque_last(torque)

1
tests/safety_replay/test_safety_replay.py
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@ -13,7 +13,6 @@ logs = [
("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 1), # HONDA.ACCORD
("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF (MK7)