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Ford: set quality flags, checksum in safety tests (#1265) 

set quality flags, checksum
This commit is contained in:
Shane Smiskol 2023-02-24 23:03:21 -08:00 committed by GitHub
parent 8bb62cf226
commit cb0cbf10d7
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 34 additions and 2 deletions
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36
tests/safety/test_ford.py
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@ -10,6 +10,8 @@ from panda.tests.safety.common import CANPackerPanda
MSG_EngBrakeData = 0x165 # RX from PCM, for driver brake pedal and cruise state
MSG_EngVehicleSpThrottle = 0x204 # RX from PCM, for driver throttle input
MSG_BrakeSysFeatures = 0x415 # RX from ABS, for vehicle speed
MSG_Yaw_Data_FD1 = 0x91 # RX from RCM, for yaw rate
MSG_Steering_Data_FD1 = 0x083 # TX by OP, various driver switches and LKAS/CC buttons
MSG_ACCDATA_3 = 0x18A # TX by OP, ACC/TJA user interface
MSG_Lane_Assist_Data1 = 0x3CA # TX by OP, Lane Keep Assist
@ -17,6 +19,29 @@ MSG_LateralMotionControl = 0x3D3 # TX by OP, Traffic Jam Assist
MSG_IPMA_Data = 0x3D8 # TX by OP, IPMA and LKAS user interface
def checksum(msg):
addr, t, dat, bus = msg
ret = bytearray(dat)
if addr == MSG_Yaw_Data_FD1:
chksum = dat[0] + dat[1] # VehRol_W_Actl
chksum += dat[2] + dat[3] # VehYaw_W_Actl
chksum += dat[5] # VehRollYaw_No_Cnt
chksum += dat[6] >> 6 # VehRolWActl_D_Qf
chksum += (dat[6] >> 4) & 0x3 # VehYawWActl_D_Qf
chksum = 0xff - (chksum & 0xff)
ret[4] = chksum
elif addr == MSG_BrakeSysFeatures:
chksum = dat[0] + dat[1] # Veh_V_ActlBrk
chksum += (dat[2] >> 2) & 0xf # VehVActlBrk_No_Cnt
chksum += dat[2] >> 6 # VehVActlBrk_D_Qf
chksum = 0xff - (chksum & 0xff)
ret[3] = chksum
return addr, t, ret, bus
class Buttons:
CANCEL = 0
RESUME = 1
@ -36,6 +61,7 @@ class TestFordSafety(common.PandaSafetyTest):
FWD_BUS_LOOKUP = {0: 2, 2: 0}
cnt_speed = 0
cnt_yaw_rate = 0
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
@ -56,15 +82,21 @@ class TestFordSafety(common.PandaSafetyTest):
# Vehicle speed
def _speed_msg(self, speed: float):
values = {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_No_Cnt": self.cnt_speed % 16}
values = {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_D_Qf": 3, "VehVActlBrk_No_Cnt": self.cnt_speed % 16}
self.__class__.cnt_speed += 1
return self.packer.make_can_msg_panda("BrakeSysFeatures", 0, values)
return self.packer.make_can_msg_panda("BrakeSysFeatures", 0, values, fix_checksum=checksum)
# Standstill state
def _vehicle_moving_msg(self, speed: float):
values = {"VehStop_D_Stat": 1 if speed <= self.STANDSTILL_THRESHOLD else 0}
return self.packer.make_can_msg_panda("DesiredTorqBrk", 0, values)
# Current curvature
def _yaw_rate_msg(self, curvature: float, speed: float):
values = {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3, "VehRolWActl_D_Qf": 3, "VehRollYaw_No_Cnt": self.cnt_yaw_rate % 256}
self.__class__.cnt_yaw_rate += 1
return self.packer.make_can_msg_panda("Yaw_Data_FD1", 0, values, fix_checksum=checksum)
# Drive throttle input
def _user_gas_msg(self, gas: float):
values = {"ApedPos_Pc_ActlArb": gas}