mirror of https://github.com/commaai/panda.git
Toyota: 2021+ RAV4 Prime (#2042)
* from @pd0wm commaai/panda#1841 * diff reduction: won't need the flag rename * run tests with new DBC and new gas/brake messages * toyota_secoc_car to global * consolidate alt_brake_101 * consolidate alt_pcm_cruise_176 * consolidate alt_gas_pedal_116 * don't allow transmit/forward for 0x131 unless SecOC * cleanup and todo * diff reduction * reorder by usage frequency * test for no LTA actuation * bump opendbc commit ref in Dockerfile * gate SecOC variant on ALLOW_DEBUG * tweak gating for MISRA * mutation test hates lta_angle surviving various changes * common rx checks styling * don't allow short version of 0x2E5 for SecOC mode * whitespace diff reduction * secoc_car -> secoc * fix comment typo * retry CI * missed a couple secoc_car -> secoc * one big secoc/not-secoc block * genuinely useful MISRA warning * test both STEERING_LTA and STEERING_LTA_2 * comment labeling for STEERING_LTA_2 signals * Update board/safety/safety_toyota.h Co-authored-by: Shane Smiskol <shane@smiskol.com> * STEERING_LTA and STEERING_LTA_2 consistency * update gas/brake/cruise signal annotations --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Young
GitHub
parent
c77d3832ba
commit
abdc41856b
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@ -37,7 +37,7 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
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# TODO: this should be a "pip install" or not even in this repo at all
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RUN git config --global --add safe.directory $PYTHONPATH/panda
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ENV OPENDBC_REF="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
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ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
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RUN cd /tmp/ && \
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git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
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cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
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@ -3,8 +3,16 @@
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#include "safety_declarations.h"
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// Stock longitudinal
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#define TOYOTA_COMMON_TX_MSGS \
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{0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + ACC & PCM cancel cmds */ \
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#define TOYOTA_BASE_TX_MSGS \
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{0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + ACC & PCM cancel cmds */ \
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#define TOYOTA_COMMON_TX_MSGS \
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TOYOTA_BASE_TX_MSGS \
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{0x2E4, 0, 5}, \
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#define TOYOTA_COMMON_SECOC_TX_MSGS \
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TOYOTA_BASE_TX_MSGS \
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{0x2E4, 0, 8}, {0x131, 0, 8}, \
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#define TOYOTA_COMMON_LONG_TX_MSGS \
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TOYOTA_COMMON_TX_MSGS \
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@ -16,10 +24,13 @@
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#define TOYOTA_COMMON_RX_CHECKS(lta) \
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{.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \
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{.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \
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{.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \
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{.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \
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{0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \
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{.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, \
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{0x176, 0, 8, .check_checksum = true, .frequency = 32U}, { 0 }}}, \
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{.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U}, \
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{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \
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{0x226, 0, 8, .check_checksum = false, .frequency = 40U}}}, \
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static bool toyota_secoc = false;
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static bool toyota_alt_brake = false;
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static bool toyota_stock_longitudinal = false;
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static bool toyota_lta = false;
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@ -87,14 +98,31 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
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}
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// enter controls on rising edge of ACC, exit controls on ACC off
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// exit controls on rising edge of gas press
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if (addr == 0x1D2) {
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// 5th bit is CRUISE_ACTIVE
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bool cruise_engaged = GET_BIT(to_push, 5U);
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pcm_cruise_check(cruise_engaged);
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// sample gas pedal
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gas_pressed = !GET_BIT(to_push, 4U);
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// exit controls on rising edge of gas press, if not alternative experience
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// exit controls on rising edge of brake press
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if (toyota_secoc) {
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if (addr == 0x176) {
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bool cruise_engaged = GET_BIT(to_push, 5U); // PCM_CRUISE.CRUISE_ACTIVE
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pcm_cruise_check(cruise_engaged);
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}
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if (addr == 0x116) {
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gas_pressed = GET_BYTE(to_push, 1) != 0U; // GAS_PEDAL.GAS_PEDAL_USER
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}
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if (addr == 0x101) {
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brake_pressed = GET_BIT(to_push, 3U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_rav4_prime_generated.dbc)
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}
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} else {
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if (addr == 0x1D2) {
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bool cruise_engaged = GET_BIT(to_push, 5U); // PCM_CRUISE.CRUISE_ACTIVE
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pcm_cruise_check(cruise_engaged);
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gas_pressed = !GET_BIT(to_push, 4U); // PCM_CRUISE.GAS_RELEASED
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}
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if (!toyota_alt_brake && (addr == 0x226)) {
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brake_pressed = GET_BIT(to_push, 37U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_nodsu_pt_generated.dbc)
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}
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if (toyota_alt_brake && (addr == 0x224)) {
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brake_pressed = GET_BIT(to_push, 5U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_new_mc_pt_generated.dbc)
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}
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}
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// sample speed
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@ -111,12 +139,6 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
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UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 / 3.6);
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}
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// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
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if (((addr == 0x224) && toyota_alt_brake) || ((addr == 0x226) && !toyota_alt_brake)) {
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uint8_t bit = (addr == 0x224) ? 5U : 37U;
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brake_pressed = GET_BIT(to_push, bit);
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}
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bool stock_ecu_detected = addr == 0x2E4; // STEERING_LKA
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if (!toyota_stock_longitudinal && (addr == 0x343)) {
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stock_ecu_detected = true; // ACC_CONTROL
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@ -203,7 +225,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
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}
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}
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// LTA angle steering check
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// STEERING_LTA angle steering check
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if (addr == 0x191) {
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// check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
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bool lta_request = GET_BIT(to_send, 0U);
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@ -251,6 +273,20 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
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}
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}
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// STEERING_LTA_2 angle steering check (SecOC)
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if (toyota_secoc && (addr == 0x131)) {
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// SecOC cars block any form of LTA actuation for now
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bool lta_request = GET_BIT(to_send, 3U); // STEERING_LTA_2.STEER_REQUEST
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bool lta_request2 = GET_BIT(to_send, 0U); // STEERING_LTA_2.STEER_REQUEST_2
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int lta_angle_msb = GET_BYTE(to_send, 2); // STEERING_LTA_2.STEER_ANGLE_CMD (MSB)
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int lta_angle_lsb = GET_BYTE(to_send, 3); // STEERING_LTA_2.STEER_ANGLE_CMD (LSB)
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bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0);
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if (actuation) {
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tx = false;
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}
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}
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// STEER: safety check on bytes 2-3
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if (addr == 0x2E4) {
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int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
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@ -286,6 +322,10 @@ static safety_config toyota_init(uint16_t param) {
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TOYOTA_COMMON_TX_MSGS
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};
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static const CanMsg TOYOTA_SECOC_TX_MSGS[] = {
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TOYOTA_COMMON_SECOC_TX_MSGS
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};
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static const CanMsg TOYOTA_LONG_TX_MSGS[] = {
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TOYOTA_COMMON_LONG_TX_MSGS
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};
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@ -298,6 +338,11 @@ static safety_config toyota_init(uint16_t param) {
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const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
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const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
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#ifdef ALLOW_DEBUG
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const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
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toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC);
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#endif
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toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
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toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
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toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
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@ -305,7 +350,11 @@ static safety_config toyota_init(uint16_t param) {
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safety_config ret;
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if (toyota_stock_longitudinal) {
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SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
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if (toyota_secoc) {
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SET_TX_MSGS(TOYOTA_SECOC_TX_MSGS, ret);
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} else {
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SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
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}
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} else {
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SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
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}
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@ -340,6 +389,8 @@ static int toyota_fwd_hook(int bus_num, int addr) {
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// block stock lkas messages and stock acc messages (if OP is doing ACC)
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// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
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bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
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// on SecOC cars 0x131 is also LTA
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is_lkas_msg |= toyota_secoc && (addr == 0x131);
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// in TSS2 the camera does ACC as well, so filter 0x343
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bool is_acc_msg = (addr == 0x343);
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bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
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@ -187,6 +187,7 @@ class Panda:
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FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
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FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
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FLAG_TOYOTA_LTA = (4 << 8)
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FLAG_TOYOTA_SECOC = (8 << 8)
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FLAG_HONDA_ALT_BRAKE = 1
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FLAG_HONDA_BOSCH_LONG = 2
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@ -10,6 +10,7 @@ import panda.tests.safety.common as common
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from panda.tests.safety.common import CANPackerPanda
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TOYOTA_COMMON_TX_MSGS = [[0x2E4, 0], [0x191, 0], [0x412, 0], [0x343, 0], [0x1D2, 0]] # LKAS + LTA + ACC & PCM cancel cmds
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TOYOTA_SECOC_TX_MSGS = [[0x131, 0]] + TOYOTA_COMMON_TX_MSGS
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TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0
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[0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1
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[0x411, 0], # PCS_HUD
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@ -107,7 +108,8 @@ class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSa
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self.safety.set_controls_allowed(engaged)
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should_tx = not req and not req2 and angle == 0 and torque_wind_down == 0
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self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)))
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self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)),
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f"{req=} {req2=} {angle=} {torque_wind_down=}")
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def test_rx_hook(self):
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# checksum checks
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@ -324,5 +326,38 @@ class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyo
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self.safety.init_tests()
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class TestToyotaSecOcSafety(TestToyotaStockLongitudinalBase):
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TX_MSGS = TOYOTA_SECOC_TX_MSGS
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RELAY_MALFUNCTION_ADDRS = {0: (0x2E4,)}
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FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x131]}
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def setUp(self):
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self.packer = CANPackerPanda("toyota_rav4_prime_generated")
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self.safety = libpanda_py.libpanda
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self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_SECOC)
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self.safety.init_tests()
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# This platform also has alternate brake and PCM messages, but same naming in the DBC, so same packers work
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def _user_gas_msg(self, gas):
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values = {"GAS_PEDAL_USER": gas}
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return self.packer.make_can_msg_panda("GAS_PEDAL", 0, values)
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# This platform sends both STEERING_LTA (same as other Toyota) and STEERING_LTA_2 (SecOC signed)
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# STEERING_LTA is checked for no-actuation by the base class, STEERING_LTA_2 is checked for no-actuation below
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def _lta_2_msg(self, req, req2, angle_cmd, torque_wind_down=100):
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values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd}
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return self.packer.make_can_msg_panda("STEERING_LTA_2", 0, values)
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def test_lta_2_steer_cmd(self):
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for engaged, req, req2, angle in itertools.product([True, False], [0, 1], [0, 1], np.linspace(-20, 20, 5)):
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self.safety.set_controls_allowed(engaged)
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should_tx = not req and not req2 and angle == 0
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self.assertEqual(should_tx, self._tx(self._lta_2_msg(req, req2, angle)), f"{req=} {req2=} {angle=}")
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if __name__ == "__main__":
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unittest.main()
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