Squashed 'panda/' changes from 769ade0..1b49d3e

1b49d3e Hyundai: add gas disengage and tests (#447)
598074c Volkswagen safety updates: Phase 2 (#445)
b2ffaae Chrysler: disengage on gas press  (#442)
2ebbe36 Subaru: disengage on gas press (#446)
ccf75c4 Volkswagen safety updates: Phase 1 (#444)

git-subtree-dir: panda
git-subtree-split: 1b49d3e

board/safety.h

@@ -31,7 +31,7 @@
 #define SAFETY_TESLA 10U
 #define SAFETY_SUBARU 11U
 #define SAFETY_MAZDA 13U
-#define SAFETY_VOLKSWAGEN 15U
+#define SAFETY_VOLKSWAGEN_MQB 15U
 #define SAFETY_TOYOTA_IPAS 16U
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
@@ -57,6 +57,21 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
+// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
+// algorithm. Called at init time for safety modes using CRC-8.
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
+  for (int i = 0; i < 256; i++) {
+    uint8_t crc = i;
+    for (int j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U)
+        crc = (uint8_t)((crc << 1) ^ poly);
+      else
+        crc <<= 1;
+    }
+    crc_lut[i] = crc;
+  }
+}
+
 bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
   bool allowed = false;
   for (int i = 0; i < len; i++) {
@@ -185,7 +200,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
-  {SAFETY_VOLKSWAGEN, &volkswagen_hooks},
+  {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
 #ifdef ALLOW_DEBUG
   {SAFETY_CADILLAC, &cadillac_hooks},

board/safety/safety_chrysler.h

@@ -4,18 +4,23 @@ const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
+const int CHRYSLER_GAS_THRSLD = 30;  // 7% more than 2m/s
 const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};
 
 // TODO: do checksum and counter checks
 AddrCheckStruct chrysler_rx_checks[] = {
   {.addr = {544}, .bus = 0, .expected_timestep = 10000U},
+  {.addr = {514}, .bus = 0, .expected_timestep = 10000U},
   {.addr = {500}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {308}, .bus = 0, .expected_timestep = 20000U},  // verify ts
 };
 const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
 
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
+bool chrysler_gas_prev = false;
+int chrysler_speed = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
 
@@ -29,15 +34,15 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int addr = GET_ADDR(to_push);
 
     // Measured eps torque
-    if (addr == 544) {
+    if ((addr == 544) && (bus == 0)) {
       int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
 
       // update array of samples
       update_sample(&chrysler_torque_meas, torque_meas_new);
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if (addr == 0x1F4) {
+    if ((addr == 500) && (bus == 0)) {
       int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
       if (cruise_engaged && !chrysler_cruise_engaged_last) {
         controls_allowed = 1;
@@ -48,7 +53,21 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       chrysler_cruise_engaged_last = cruise_engaged;
     }
 
-    // TODO: add gas pressed check
+    // update speed
+    if ((addr == 514) && (bus == 0)) {
+      int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
+      int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
+      chrysler_speed = (speed_l + speed_r) / 2;
+    }
+
+    // exit controls on rising edge of gas press
+    if ((addr == 308) && (bus == 0)) {
+      bool gas = (GET_BYTE(to_push, 5) & 0x7F) != 0;
+      if (gas && !chrysler_gas_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+        controls_allowed = 0;
+      }
+      chrysler_gas_prev = gas;
+    }
 
     // check if stock camera ECU is on bus 0
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {

board/safety/safety_hyundai.h

@@ -9,6 +9,7 @@ const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};
 
 // TODO: do checksum and counter checks
 AddrCheckStruct hyundai_rx_checks[] = {
+  {.addr = {608}, .bus = 0, .expected_timestep = 10000U},
   {.addr = {897}, .bus = 0, .expected_timestep = 10000U},
   {.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
 };
@@ -17,6 +18,7 @@ const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_c
 int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
 int hyundai_cruise_engaged_last = 0;
+bool hyundai_gas_last = false;
 uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured
 
@@ -48,7 +50,14 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       hyundai_cruise_engaged_last = cruise_engaged;
     }
 
-    // TODO: check gas pressed
+    // exit controls on rising edge of gas press
+    if ((addr == 608) && (bus == 0)) {
+      bool gas = (GET_BYTE(to_push, 7) >> 6) != 0;
+      if (gas && ! hyundai_gas_last) {
+        controls_allowed = 0;
+      }
+      hyundai_gas_last = gas;
+    }
 
     // check if stock camera ECU is on bus 0
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {

board/safety/safety_subaru.h

@@ -12,6 +12,7 @@ const AddrBus SUBARU_TX_MSGS[] = {{0x122, 0}, {0x164, 0}, {0x221, 0}, {0x322, 0}
 
 // TODO: do checksum and counter checks after adding the signals to the outback dbc file
 AddrCheckStruct subaru_rx_checks[] = {
+  {.addr = { 0x40, 0x140}, .bus = 0, .expected_timestep = 10000U},
   {.addr = {0x119, 0x371}, .bus = 0, .expected_timestep = 20000U},
   {.addr = {0x240, 0x144}, .bus = 0, .expected_timestep = 50000U},
 };
@@ -21,6 +22,7 @@ int subaru_cruise_engaged_last = 0;
 int subaru_rt_torque_last = 0;
 int subaru_desired_torque_last = 0;
 uint32_t subaru_ts_last = 0;
+bool subaru_gas_last = false;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
 static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -53,7 +55,15 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       subaru_cruise_engaged_last = cruise_engaged;
     }
 
-    // TODO: enforce cancellation on gas pressed
+    // exit controls on rising edge of gas press
+    if (((addr == 0x40) || (addr == 0x140)) && (bus == 0)) {
+      int byte = (addr == 0x40) ? 4 : 0;
+      bool gas = GET_BYTE(to_push, byte) != 0;
+      if (gas && !subaru_gas_last) {
+        controls_allowed = 0;
+      }
+      subaru_gas_last = gas;
+    }
 
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
       relay_malfunction = true;

board/safety/safety_toyota.h

@@ -106,7 +106,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of gas press
     if (addr == 0x2C1) {
-      int gas = GET_BYTE(to_push, 6) & 0xFF;
+      int gas = GET_BYTE(to_push, 6);
       if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected) {
         controls_allowed = 0;
       }