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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1 @@ | ||
| v1.1.6 | ||
| v1.1.7 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,136 @@ | ||
| // board enforces | ||
| // in-state | ||
| // ACC is active (green) | ||
| // out-state | ||
| // brake pressed | ||
| // stock LKAS ECU is online | ||
| // ACC is not active (white or disabled) | ||
|
|
||
| // chrysler_: namespacing | ||
| int chrysler_speed = 0; | ||
|
|
||
| // silence everything if stock ECUs are still online | ||
| int chrysler_lkas_detected = 0; | ||
| int chrysler_desired_torque_last = 0; | ||
|
|
||
| static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { | ||
| int bus_number = (to_push->RDTR >> 4) & 0xFF; | ||
| uint32_t addr; | ||
| if (to_push->RIR & 4) { | ||
| // Extended | ||
| // Not looked at, but have to be separated | ||
| // to avoid address collision | ||
| addr = to_push->RIR >> 3; | ||
| } else { | ||
| // Normal | ||
| addr = to_push->RIR >> 21; | ||
| } | ||
|
|
||
| if (addr == 0x144 && bus_number == 0) { | ||
| chrysler_speed = ((to_push->RDLR & 0xFF000000) >> 16) | (to_push->RDHR & 0xFF); | ||
| } | ||
|
|
||
| // check if stock LKAS ECU is still online | ||
| if (addr == 0x292 && bus_number == 0) { | ||
| chrysler_lkas_detected = 1; | ||
| controls_allowed = 0; | ||
| } | ||
|
|
||
| // ["ACC_2"]['ACC_STATUS_2'] == 7 for active (green) Adaptive Cruise Control | ||
| if (addr == 0x1f4 && bus_number == 0) { | ||
| if (((to_push->RDLR & 0x380000) >> 19) == 7) { | ||
| controls_allowed = 1; | ||
| } else { | ||
| controls_allowed = 0; | ||
| } | ||
| } | ||
|
|
||
| // exit controls on brake press by human | ||
| if (addr == 0x140) { | ||
| if (to_push->RDLR & 0x4) { | ||
| controls_allowed = 0; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| // if controls_allowed | ||
| // allow steering up to limit | ||
| // else | ||
| // block all commands that produce actuation | ||
| static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { | ||
| // There can be only one! (LKAS) | ||
| if (chrysler_lkas_detected) { | ||
| return 0; | ||
| } | ||
|
|
||
| uint32_t addr; | ||
| if (to_send->RIR & 4) { | ||
| // Extended | ||
| addr = to_send->RIR >> 3; | ||
| } else { | ||
| // Normal | ||
| addr = to_send->RIR >> 21; | ||
| } | ||
|
|
||
| // LKA STEER: Too large of values cause the steering actuator ECU to silently | ||
| // fault and no longer actuate the wheel until the car is rebooted. | ||
| if (addr == 0x292) { | ||
| int rdlr = to_send->RDLR; | ||
| int straight = 1024; | ||
| int steer = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - straight; | ||
| int max_steer = 230; | ||
| int max_rate = 50; // ECU is fine with 100, but 3 is typical. | ||
| if (steer > max_steer) { | ||
| return false; | ||
| } | ||
| if (steer < -max_steer) { | ||
| return false; | ||
| } | ||
| if (!controls_allowed && steer != 0) { | ||
| // If controls not allowed, only allow steering to move closer to 0. | ||
| if (chrysler_desired_torque_last == 0) { | ||
| return false; | ||
| } | ||
| if ((chrysler_desired_torque_last > 0) && (steer >= chrysler_desired_torque_last)) { | ||
| return false; | ||
| } | ||
| if ((chrysler_desired_torque_last < 0) && (steer <= chrysler_desired_torque_last)) { | ||
| return false; | ||
| } | ||
| } | ||
| if (steer < (chrysler_desired_torque_last - max_rate)) { | ||
| return false; | ||
| } | ||
| if (steer > (chrysler_desired_torque_last + max_rate)) { | ||
| return false; | ||
| } | ||
|
|
||
| chrysler_desired_torque_last = steer; | ||
| } | ||
|
|
||
| // 1 allows the message through | ||
| return true; | ||
| } | ||
|
|
||
| static int chrysler_tx_lin_hook(int lin_num, uint8_t *data, int len) { | ||
| // LIN is not used. | ||
| return false; | ||
| } | ||
|
|
||
| static void chrysler_init(int16_t param) { | ||
| controls_allowed = 0; | ||
| } | ||
|
|
||
| static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) { | ||
| return -1; | ||
| } | ||
|
|
||
| const safety_hooks chrysler_hooks = { | ||
| .init = chrysler_init, | ||
| .rx = chrysler_rx_hook, | ||
| .tx = chrysler_tx_hook, | ||
| .tx_lin = chrysler_tx_lin_hook, | ||
| .ignition = default_ign_hook, | ||
| .fwd = chrysler_fwd_hook, | ||
| }; | ||
|
|
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