Skip to content

Commit

Permalink
Squashed 'panda/' changes from 3b35621..73a60d5c
Browse files Browse the repository at this point in the history 
73a60d5c uds: clear rx buffer on drain
3b20804 uds: rx message buffering
d034f3e Added the option to turn on IR in power savings mode (#431)
82cafd1 Allow fan control in power saving (#429)
186d9dc Fixed GMLAN interrupts when used in Tesla safety (#428)
f67ec28 Fix msg checks for non Honda and Toyota (#426)

git-subtree-dir: panda
git-subtree-split: 73a60d5
  • Loading branch information
Vehicle Researcher committed Feb 6, 2020
1 parent b0b7a76 commit 4ea182a
Show file tree
Hide file tree
Showing 10 changed files with 240 additions and 200 deletions.
11 changes: 7 additions & 4 deletions board/drivers/gmlan_alt.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,12 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
return len;
}

void TIM4_IRQ_Handler(void);

void setup_timer4(void) {
// register interrupt
REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)

// setup
register_set(&(TIM4->PSC), (48-1), 0xFFFFU); // Tick on 1 us
register_set(&(TIM4->CR1), TIM_CR1_CEN, 0x3FU); // Enable
Expand Down Expand Up @@ -236,7 +241,6 @@ void TIM4_IRQ_Handler(void) {
gmlan_sendmax = -1; // exit
}
}
TIM4->SR = 0;
} else if (gmlan_alt_mode == GPIO_SWITCH) {
if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
Expand All @@ -259,10 +263,10 @@ void TIM4_IRQ_Handler(void) {
}
}
}
TIM4->SR = 0;
} else {
puts("invalid gmlan_alt_mode\n");
// Invalid GMLAN mode. Do not put a print statement here, way too fast to keep up with
}
TIM4->SR = 0;
}

bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
Expand All @@ -280,7 +284,6 @@ bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);

// 33kbps
REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
setup_timer4();
}
return gmlan_send_ok;
Expand Down
16 changes: 6 additions & 10 deletions board/main.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -294,19 +294,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xb0: set IR power
case 0xb0:
if(power_save_status == POWER_SAVE_STATUS_DISABLED){
current_board->set_ir_power(setup->b.wValue.w);
} else {
puts("Setting IR power not allowed in power saving mode\n");
}
current_board->set_ir_power(setup->b.wValue.w);
break;
// **** 0xb1: set fan power
case 0xb1:
if(power_save_status == POWER_SAVE_STATUS_DISABLED){
current_board->set_fan_power(setup->b.wValue.w);
} else {
puts("Setting fan power not allowed in power saving mode\n");
}
current_board->set_fan_power(setup->b.wValue.w);
break;
// **** 0xb2: get fan rpm
case 0xb2:
Expand Down Expand Up @@ -716,6 +708,10 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
}

// Also disable fan and IR when the heartbeat goes missing
current_board->set_fan_power(0U);
current_board->set_ir_power(0U);
}

// enter CDP mode when car starts to ensure we are charging a turned off EON
Expand Down
3 changes: 1 addition & 2 deletions board/power_saving.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -49,10 +49,9 @@ void set_power_save_state(int state) {
set_gpio_output(GPIOA, 14, enable);
}

// Switch off IR and fan when in power saving
// Switch off IR when in power saving
if(!enable){
current_board->set_ir_power(0U);
current_board->set_fan_power(0U);
}

power_save_status = state;
Expand Down
24 changes: 12 additions & 12 deletions board/safety.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -148,20 +148,20 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,

if (index != -1) {
// checksum check
if ((get_checksum != NULL) && (compute_checksum != NULL)) {
if (rx_checks[index].check_checksum) {
uint8_t checksum = get_checksum(to_push);
uint8_t checksum_comp = compute_checksum(to_push);
rx_checks[index].valid_checksum = checksum_comp == checksum;
}
if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].check_checksum) {
uint8_t checksum = get_checksum(to_push);
uint8_t checksum_comp = compute_checksum(to_push);
rx_checks[index].valid_checksum = checksum_comp == checksum;
} else {
rx_checks[index].valid_checksum = true;
}

// counter check
if (get_counter != NULL) {
if (rx_checks[index].max_counter > 0U) {
uint8_t counter = get_counter(to_push);
update_counter(rx_checks, index, counter);
}
// counter check (max_counter == 0 means skip check)
if ((get_counter != NULL) && (rx_checks[index].max_counter > 0U)) {
uint8_t counter = get_counter(to_push);
update_counter(rx_checks, index, counter);
} else {
rx_checks[index].wrong_counters = 0U;
}
}
return is_msg_valid(rx_checks, index);
Expand Down
50 changes: 28 additions & 22 deletions board/safety/safety_chrysler.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,36 +20,42 @@ uint32_t chrysler_ts_last = 0;
struct sample_t chrysler_torque_meas; // last few torques measured

static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

// Measured eps torque
if (addr == 544) {
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
NULL, NULL, NULL);

// update array of samples
update_sample(&chrysler_torque_meas, torque_meas_new);
}
if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

// Measured eps torque
if (addr == 544) {
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;

// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x1F4) {
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1;
// update array of samples
update_sample(&chrysler_torque_meas, torque_meas_new);
}
if (!cruise_engaged) {
controls_allowed = 0;

// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x1F4) {
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
chrysler_cruise_engaged_last = cruise_engaged;
}
chrysler_cruise_engaged_last = cruise_engaged;
}

// TODO: add gas pressed check
// TODO: add gas pressed check

// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
relay_malfunction = true;
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
relay_malfunction = true;
}
}
return 1;
return valid;
}

static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
Expand Down
126 changes: 66 additions & 60 deletions board/safety/safety_gm.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -42,78 +42,84 @@ uint32_t gm_ts_last = 0;
struct sample_t gm_torque_driver; // last few driver torques measured

static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

if (addr == 388) {
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&gm_torque_driver, torque_driver_new);
}

// sample speed, really only care if car is moving or not
// rear left wheel speed
if (addr == 842) {
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
NULL, NULL, NULL);

// ACC steering wheel buttons
if (addr == 481) {
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
switch (button) {
case 2: // resume
case 3: // set
controls_allowed = 1;
break;
case 6: // cancel
controls_allowed = 0;
break;
default:
break; // any other button is irrelevant
if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

if (addr == 388) {
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&gm_torque_driver, torque_driver_new);
}
}

// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
int brake = GET_BYTE(to_push, 1);
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake < 10) {
brake = 0;
// sample speed, really only care if car is moving or not
// rear left wheel speed
if (addr == 842) {
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
if (brake && (!gm_brake_prev || gm_moving)) {
controls_allowed = 0;

// ACC steering wheel buttons
if (addr == 481) {
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
switch (button) {
case 2: // resume
case 3: // set
controls_allowed = 1;
break;
case 6: // cancel
controls_allowed = 0;
break;
default:
break; // any other button is irrelevant
}
}
gm_brake_prev = brake;
}

// exit controls on rising edge of gas press
if (addr == 417) {
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev) {
controls_allowed = 0;
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
int brake = GET_BYTE(to_push, 1);
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake < 10) {
brake = 0;
}
if (brake && (!gm_brake_prev || gm_moving)) {
controls_allowed = 0;
}
gm_brake_prev = brake;
}
gm_gas_prev = gas;
}

// exit controls on regen paddle
if (addr == 189) {
bool regen = GET_BYTE(to_push, 0) & 0x20;
if (regen) {
controls_allowed = 0;
// exit controls on rising edge of gas press
if (addr == 417) {
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev) {
controls_allowed = 0;
}
gm_gas_prev = gas;
}
}

// Check if ASCM or LKA camera are online
// on powertrain bus.
// 384 = ASCMLKASteeringCmd
// 715 = ASCMGasRegenCmd
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
relay_malfunction = true;
// exit controls on regen paddle
if (addr == 189) {
bool regen = GET_BYTE(to_push, 0) & 0x20;
if (regen) {
controls_allowed = 0;
}
}

// Check if ASCM or LKA camera are online
// on powertrain bus.
// 384 = ASCMLKASteeringCmd
// 715 = ASCMGasRegenCmd
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
relay_malfunction = true;
}
}
return 1;
return valid;
}

// all commands: gas/regen, friction brake and steering
Expand Down
50 changes: 28 additions & 22 deletions board/safety/safety_hyundai.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,35 +21,41 @@ uint32_t hyundai_ts_last = 0;
struct sample_t hyundai_torque_driver; // last few driver torques measured

static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

if (addr == 897) {
int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
NULL, NULL, NULL);

if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 1057) {
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
if (cruise_engaged && !hyundai_cruise_engaged_last) {
controls_allowed = 1;
if (addr == 897) {
int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
if (!cruise_engaged) {
controls_allowed = 0;

// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 1057) {
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
if (cruise_engaged && !hyundai_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
hyundai_cruise_engaged_last = cruise_engaged;
}
hyundai_cruise_engaged_last = cruise_engaged;
}

// TODO: check gas pressed
// TODO: check gas pressed

// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
relay_malfunction = true;
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
relay_malfunction = true;
}
}
return 1;
return valid;
}

static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
Expand Down
Loading

0 comments on commit 4ea182a

Please sign in to comment.