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panda/board/safety/safety_ford.h

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#pragma once
#include "safety_declarations.h"
// Safety-relevant CAN messages for Ford vehicles.
#define FORD_EngBrakeData 0x165 // RX from PCM, for driver brake pedal and cruise state
#define FORD_EngVehicleSpThrottle 0x204 // RX from PCM, for driver throttle input
#define FORD_DesiredTorqBrk 0x213 // RX from ABS, for standstill state
#define FORD_BrakeSysFeatures 0x415 // RX from ABS, for vehicle speed
#define FORD_EngVehicleSpThrottle2 0x202 // RX from PCM, for second vehicle speed
#define FORD_Yaw_Data_FD1 0x91 // RX from RCM, for yaw rate
#define FORD_Steering_Data_FD1 0x083 // TX by OP, various driver switches and LKAS/CC buttons
#define FORD_ACCDATA 0x186 // TX by OP, ACC controls
#define FORD_ACCDATA_3 0x18A // TX by OP, ACC/TJA user interface
#define FORD_Lane_Assist_Data1 0x3CA // TX by OP, Lane Keep Assist
#define FORD_LateralMotionControl 0x3D3 // TX by OP, Lateral Control message
#define FORD_LateralMotionControl2 0x3D6 // TX by OP, alternate Lateral Control message
#define FORD_IPMA_Data 0x3D8 // TX by OP, IPMA and LKAS user interface
// CAN bus numbers.
#define FORD_MAIN_BUS 0U
#define FORD_CAM_BUS 2U
static uint8_t ford_get_counter(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t cnt = 0;
if (addr == FORD_BrakeSysFeatures) {
// Signal: VehVActlBrk_No_Cnt
cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
} else if (addr == FORD_Yaw_Data_FD1) {
// Signal: VehRollYaw_No_Cnt
cnt = GET_BYTE(to_push, 5);
} else {
}
return cnt;
}
static uint32_t ford_get_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t chksum = 0;
if (addr == FORD_BrakeSysFeatures) {
// Signal: VehVActlBrk_No_Cs
chksum = GET_BYTE(to_push, 3);
} else if (addr == FORD_Yaw_Data_FD1) {
// Signal: VehRollYawW_No_Cs
chksum = GET_BYTE(to_push, 4);
} else {
}
return chksum;
}
static uint32_t ford_compute_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t chksum = 0;
if (addr == FORD_BrakeSysFeatures) {
chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // Veh_V_ActlBrk
chksum += GET_BYTE(to_push, 2) >> 6; // VehVActlBrk_D_Qf
chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU; // VehVActlBrk_No_Cnt
chksum = 0xFFU - chksum;
} else if (addr == FORD_Yaw_Data_FD1) {
chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // VehRol_W_Actl
chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3); // VehYaw_W_Actl
chksum += GET_BYTE(to_push, 5); // VehRollYaw_No_Cnt
chksum += GET_BYTE(to_push, 6) >> 6; // VehRolWActl_D_Qf
chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U; // VehYawWActl_D_Qf
chksum = 0xFFU - chksum;
} else {
}
return chksum;
}
static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
bool valid = false;
if (addr == FORD_BrakeSysFeatures) {
valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U; // VehVActlBrk_D_Qf
} else if (addr == FORD_EngVehicleSpThrottle2) {
valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf
} else if (addr == FORD_Yaw_Data_FD1) {
valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf
} else {
}
return valid;
}
static bool ford_longitudinal = false;
#define FORD_INACTIVE_CURVATURE 1000U
#define FORD_INACTIVE_CURVATURE_RATE 4096U
#define FORD_INACTIVE_PATH_OFFSET 512U
#define FORD_INACTIVE_PATH_ANGLE 1000U
#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
#define FORD_MAX_SPEED_DELTA 2.0 // m/s
static bool ford_lkas_msg_check(int addr) {
return (addr == FORD_ACCDATA_3)
|| (addr == FORD_Lane_Assist_Data1)
|| (addr == FORD_LateralMotionControl)
|| (addr == FORD_LateralMotionControl2)
|| (addr == FORD_IPMA_Data);
}
// Curvature rate limits
static const SteeringLimits FORD_STEERING_LIMITS = {
.max_steer = 1000,
.angle_deg_to_can = 50000, // 1 / (2e-5) rad to can
.max_angle_error = 100, // 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can
.angle_rate_up_lookup = {
{5., 25., 25.},
{0.00045, 0.0001, 0.0001}
},
.angle_rate_down_lookup = {
{5., 25., 25.},
{0.00045, 0.00015, 0.00015}
},
// no blending at low speed due to lack of torque wind-up and inaccurate current curvature
.angle_error_min_speed = 10.0, // m/s
.enforce_angle_error = true,
.inactive_angle_is_zero = true,
};
static void ford_rx_hook(const CANPacket_t *to_push) {
if (GET_BUS(to_push) == FORD_MAIN_BUS) {
int addr = GET_ADDR(to_push);
// Update in motion state from standstill signal
if (addr == FORD_DesiredTorqBrk) {
// Signal: VehStop_D_Stat
vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) != 1U;
}
// Update vehicle speed
if (addr == FORD_BrakeSysFeatures) {
// Signal: Veh_V_ActlBrk
UPDATE_VEHICLE_SPEED(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6);
}
// Check vehicle speed against a second source
if (addr == FORD_EngVehicleSpThrottle2) {
// Disable controls if speeds from ABS and PCM ECUs are too far apart.
// Signal: Veh_V_ActlEng
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA;
if (is_invalid_speed) {
controls_allowed = false;
}
}
// Update vehicle yaw rate
if (addr == FORD_Yaw_Data_FD1) {
// Signal: VehYaw_W_Actl
float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
// convert current curvature into units on CAN for comparison with desired curvature
update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can));
}
// Update gas pedal
if (addr == FORD_EngVehicleSpThrottle) {
// Pedal position: (0.1 * val) in percent
// Signal: ApedPos_Pc_ActlArb
gas_pressed = (((GET_BYTE(to_push, 0) & 0x03U) << 8) | GET_BYTE(to_push, 1)) > 0U;
}
// Update brake pedal and cruise state
if (addr == FORD_EngBrakeData) {
// Signal: BpedDrvAppl_D_Actl
brake_pressed = ((GET_BYTE(to_push, 0) >> 4) & 0x3U) == 2U;
// Signal: CcStat_D_Actl
unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U;
bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
pcm_cruise_check(cruise_engaged);
}
// If steering controls messages are received on the destination bus, it's an indication
// that the relay might be malfunctioning.
bool stock_ecu_detected = ford_lkas_msg_check(addr);
if (ford_longitudinal) {
stock_ecu_detected = stock_ecu_detected || (addr == FORD_ACCDATA);
}
generic_rx_checks(stock_ecu_detected);
}
}
static bool ford_tx_hook(const CANPacket_t *to_send) {
const LongitudinalLimits FORD_LONG_LIMITS = {
// acceleration cmd limits (used for brakes)
// Signal: AccBrkTot_A_Rq
.max_accel = 5641, // 1.9999 m/s^s
.min_accel = 4231, // -3.4991 m/s^2
.inactive_accel = 5128, // -0.0008 m/s^2
// gas cmd limits
// Signal: AccPrpl_A_Rq & AccPrpl_A_Pred
.max_gas = 700, // 2.0 m/s^2
.min_gas = 450, // -0.5 m/s^2
.inactive_gas = 0, // -5.0 m/s^2
};
bool tx = true;
int addr = GET_ADDR(to_send);
// Safety check for ACCDATA accel and brake requests
if (addr == FORD_ACCDATA) {
// Signal: AccPrpl_A_Rq
int gas = ((GET_BYTE(to_send, 6) & 0x3U) << 8) | GET_BYTE(to_send, 7);
// Signal: AccPrpl_A_Pred
int gas_pred = ((GET_BYTE(to_send, 2) & 0x3U) << 8) | GET_BYTE(to_send, 3);
// Signal: AccBrkTot_A_Rq
int accel = ((GET_BYTE(to_send, 0) & 0x1FU) << 8) | GET_BYTE(to_send, 1);
// Signal: CmbbDeny_B_Actl
bool cmbb_deny = GET_BIT(to_send, 37U);
// Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
bool brake_actuation = GET_BIT(to_send, 54U) || GET_BIT(to_send, 55U);
bool violation = false;
violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS);
// Safety check for stock AEB
violation |= cmbb_deny; // do not prevent stock AEB actuation
violation |= !get_longitudinal_allowed() && brake_actuation;
if (violation) {
tx = false;
}
}
// Safety check for Steering_Data_FD1 button signals
// Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam)
// which we passthru in OP.
if (addr == FORD_Steering_Data_FD1) {
// Violation if resume button is pressed while controls not allowed, or
// if cancel button is pressed when cruise isn't engaged.
bool violation = false;
violation |= GET_BIT(to_send, 8U) && !cruise_engaged_prev; // Signal: CcAslButtnCnclPress (cancel)
violation |= GET_BIT(to_send, 25U) && !controls_allowed; // Signal: CcAsllButtnResPress (resume)
if (violation) {
tx = false;
}
}
// Safety check for Lane_Assist_Data1 action
if (addr == FORD_Lane_Assist_Data1) {
// Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid).
// This message must be sent for Lane Centering to work, and can include
// values such as the steering angle or lane curvature for debugging,
// but the action (LkaActvStats_D2_Req) must be set to zero.
unsigned int action = GET_BYTE(to_send, 0) >> 5;
if (action != 0U) {
tx = false;
}
}
// Safety check for LateralMotionControl action
if (addr == FORD_LateralMotionControl) {
// Signal: LatCtl_D_Rq
bool steer_control_enabled = ((GET_BYTE(to_send, 4) >> 2) & 0x7U) != 0U;
unsigned int raw_curvature = (GET_BYTE(to_send, 0) << 3) | (GET_BYTE(to_send, 1) >> 5);
unsigned int raw_curvature_rate = ((GET_BYTE(to_send, 1) & 0x1FU) << 8) | GET_BYTE(to_send, 2);
unsigned int raw_path_angle = (GET_BYTE(to_send, 3) << 3) | (GET_BYTE(to_send, 4) >> 5);
unsigned int raw_path_offset = (GET_BYTE(to_send, 5) << 2) | (GET_BYTE(to_send, 6) >> 6);
// These signals are not yet tested with the current safety limits
bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
// Check angle error and steer_control_enabled
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
if (violation) {
tx = false;
}
}
// Safety check for LateralMotionControl2 action
if (addr == FORD_LateralMotionControl2) {
// Signal: LatCtl_D2_Rq
bool steer_control_enabled = ((GET_BYTE(to_send, 0) >> 4) & 0x7U) != 0U;
unsigned int raw_curvature = (GET_BYTE(to_send, 2) << 3) | (GET_BYTE(to_send, 3) >> 5);
unsigned int raw_curvature_rate = (GET_BYTE(to_send, 6) << 3) | (GET_BYTE(to_send, 7) >> 5);
unsigned int raw_path_angle = ((GET_BYTE(to_send, 3) & 0x1FU) << 6) | (GET_BYTE(to_send, 4) >> 2);
unsigned int raw_path_offset = ((GET_BYTE(to_send, 4) & 0x3U) << 8) | GET_BYTE(to_send, 5);
// These signals are not yet tested with the current safety limits
bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
// Check angle error and steer_control_enabled
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
if (violation) {
tx = false;
}
}
return tx;
}
static int ford_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1;
switch (bus_num) {
case FORD_MAIN_BUS: {
// Forward all traffic from bus 0 onward
bus_fwd = FORD_CAM_BUS;
break;
}
case FORD_CAM_BUS: {
if (ford_lkas_msg_check(addr)) {
// Block stock LKAS and UI messages
bus_fwd = -1;
} else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
// Block stock ACC message
bus_fwd = -1;
} else {
// Forward remaining traffic
bus_fwd = FORD_MAIN_BUS;
}
break;
}
default: {
// No other buses should be in use; fallback to do-not-forward
bus_fwd = -1;
break;
}
}
return bus_fwd;
}
static safety_config ford_init(uint16_t param) {
bool ford_canfd = false;
// warning: quality flags are not yet checked in openpilot's CAN parser,
// this may be the cause of blocked messages
static RxCheck ford_rx_checks[] = {
{.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
// FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug
// Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC
// It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that
{.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = false, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}},
// These messages have no counter or checksum
{.msg = {{FORD_EngBrakeData, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{FORD_DesiredTorqBrk, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
};
static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
{FORD_Steering_Data_FD1, 0, 8},
{FORD_Steering_Data_FD1, 2, 8},
{FORD_ACCDATA, 0, 8},
{FORD_ACCDATA_3, 0, 8},
{FORD_Lane_Assist_Data1, 0, 8},
{FORD_LateralMotionControl2, 0, 8},
{FORD_IPMA_Data, 0, 8},
};
static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
{FORD_Steering_Data_FD1, 0, 8},
{FORD_Steering_Data_FD1, 2, 8},
{FORD_ACCDATA_3, 0, 8},
{FORD_Lane_Assist_Data1, 0, 8},
{FORD_LateralMotionControl2, 0, 8},
{FORD_IPMA_Data, 0, 8},
};
static const CanMsg FORD_STOCK_TX_MSGS[] = {
{FORD_Steering_Data_FD1, 0, 8},
{FORD_Steering_Data_FD1, 2, 8},
{FORD_ACCDATA_3, 0, 8},
{FORD_Lane_Assist_Data1, 0, 8},
{FORD_LateralMotionControl, 0, 8},
{FORD_IPMA_Data, 0, 8},
};
static const CanMsg FORD_LONG_TX_MSGS[] = {
{FORD_Steering_Data_FD1, 0, 8},
{FORD_Steering_Data_FD1, 2, 8},
{FORD_ACCDATA, 0, 8},
{FORD_ACCDATA_3, 0, 8},
{FORD_Lane_Assist_Data1, 0, 8},
{FORD_LateralMotionControl, 0, 8},
{FORD_IPMA_Data, 0, 8},
};
UNUSED(param);
#ifdef ALLOW_DEBUG
const uint16_t FORD_PARAM_LONGITUDINAL = 1;
const uint16_t FORD_PARAM_CANFD = 2;
ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
#endif
safety_config ret;
// FIXME: cppcheck thinks that ford_canfd is always false. This is not true
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
// cppcheck-suppress knownConditionTrueFalse
if (ford_canfd) {
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
} else {
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
}
return ret;
}
const safety_hooks ford_hooks = {
.init = ford_init,
.rx = ford_rx_hook,
.tx = ford_tx_hook,
.fwd = ford_fwd_hook,
.get_counter = ford_get_counter,
.get_checksum = ford_get_checksum,
.compute_checksum = ford_compute_checksum,
.get_quality_flag_valid = ford_get_quality_flag_valid,
};
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