make ignition logic common for all cars (commaai#303)

* make ignition logic common for all cars * ignition_can is not a safety thing. move it to can drivers * bump version * gm safety passive is deprecated * move tx 1 on logic into board specific headers.
rafcabezas · Oct 22, 2019 · 1102e69 · 1102e69
1 parent 3a110c6
commit 1102e69
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Showing 24 changed files with 47 additions and 126 deletions.
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-v1.5.4
+v1.5.5
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -23,7 +23,8 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
 }
 
 void black_enable_can_transcievers(bool enabled) {
-  for(uint8_t i=1U; i<=4U; i++){
+  uint8_t t1 = enabled ? 1U : 2U;  // leave transciever 1 enabled to detect CAN ignition
+  for(uint8_t i=t1; i<=4U; i++) {
     black_enable_can_transciever(i, enabled);
   }
 }

diff --git a/board/boards/white.h b/board/boards/white.h
@@ -20,8 +20,10 @@ void white_enable_can_transciever(uint8_t transciever, bool enabled) {
 }
 
 void white_enable_can_transcievers(bool enabled) {
-  for(uint8_t i=1; i<=3U; i++)
+  uint8_t t1 = enabled ? 1U : 2U;  // leave transciever 1 enabled to detect CAN ignition
+  for(uint8_t i=t1; i<=3U; i++) {
     white_enable_can_transciever(i, enabled);
+  }
 }
 
 void white_set_led(uint8_t color, bool enabled) {

diff --git a/board/drivers/can.h b/board/drivers/can.h
@@ -30,6 +30,9 @@ void can_init_all(void);
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
 bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 
+// Ignition detected from CAN meessages
+bool ignition_can = false;
+
 // end API
 
 #define ALL_CAN_SILENT 0xFF
@@ -332,6 +335,38 @@ void process_can(uint8_t can_number) {
   }
 }
 
+void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  int bus = GET_BUS(to_push);
+  int addr = GET_ADDR(to_push);
+  int len = GET_LEN(to_push);
+
+  if (bus == 0) {
+    // GM exception
+    if ((addr == 0x1F1) && (len == 8)) {
+      //Bit 5 is ignition "on"
+      ignition_can = (GET_BYTE(to_push, 0) & 0x20) != 0;
+    }
+    // Tesla exception
+    if ((addr == 0x348) && (len == 8)) {
+      // GTW_status
+      ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
+    }
+    // Cadillac exception
+    if ((addr == 0x160) && (len == 5)) {
+      // this message isn't all zeros when ignition is on
+      ignition_can = GET_BYTES_04(to_push) != 0;
+    }
+    // VW exception (not used yet)
+    // While we do monitor VW Terminal 15 (ignition-on) state, we are not currently acting on it. Instead we use the
+    // default GPIO ignition hook. We may do so in the future for harness integrations at the camera (where we only have
+    // T30 unswitched power) instead of the gateway (where we have both T30 and T15 ignition-switched power).
+    //if ((bus == 0) && (addr == 0x3C0)) {
+    //  vw_ignition_started = (GET_BYTE(to_push, 2) & 0x2) >> 1;
+    //}
+  }
+}
+
 // CAN receive handlers
 // blink blue when we are receiving CAN messages
 void can_rx(uint8_t can_number) {
@@ -365,6 +400,7 @@ void can_rx(uint8_t can_number) {
     }
 
     safety_rx_hook(&to_push);
+    ignition_can_hook(&to_push);
 
     current_board->set_led(LED_BLUE, true);
     can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;

diff --git a/board/main.c b/board/main.c
@@ -139,13 +139,6 @@ void set_safety_mode(uint16_t mode, int16_t param) {
           can_silent = ALL_CAN_LIVE;
           break;
       }
-    if (safety_ignition_hook() != -1) {
-      // if the ignition hook depends on something other than the started GPIO
-      // we have to disable power savings (fix for GM and Tesla)
-      set_power_save_state(POWER_SAVE_STATUS_DISABLED);
-    } else {
-      // power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
-    }
     can_init_all();
   }
 }
@@ -175,14 +168,9 @@ int get_health_pkt(void *dat) {
     health->current_pkt = 0;
   }
 
-  int safety_ignition = safety_ignition_hook();
-  if (safety_ignition < 0) {
-    //Use the GPIO pin to determine ignition
-    health->started_pkt = (uint8_t)(current_board->check_ignition());
-  } else {
-    //Current safety hooks want to determine ignition (ex: GM)
-    health->started_pkt = safety_ignition;
-  }
+  //Use the GPIO pin to determine ignition or use a CAN based logic
+  bool ignition = current_board->check_ignition() || ignition_can;
+  health->started_pkt = (uint8_t)(ignition);
 
   health->controls_allowed_pkt = controls_allowed;
   health->gas_interceptor_detected_pkt = gas_interceptor_detected;

diff --git a/board/power_saving.h b/board/power_saving.h
@@ -25,7 +25,6 @@ void set_power_save_state(int state) {
       enable = true;
     }
 
-    // Switch CAN transcievers
     current_board->enable_can_transcievers(enable);
 
     // Switch EPS/GPS
@@ -34,13 +33,13 @@ void set_power_save_state(int state) {
     } else {
       current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
     }
-    
+
     if(hw_type != HW_TYPE_BLACK_PANDA){
       // turn on GMLAN
       set_gpio_output(GPIOB, 14, enable);
       set_gpio_output(GPIOB, 15, enable);
 
-      // turn on LIN    
+      // turn on LIN
       set_gpio_output(GPIOB, 7, enable);
       set_gpio_output(GPIOA, 14, enable);
     }

diff --git a/board/safety.h b/board/safety.h
@@ -30,7 +30,6 @@
 #define SAFETY_CHRYSLER 9U
 #define SAFETY_TESLA 10U
 #define SAFETY_SUBARU 11U
-#define SAFETY_GM_PASSIVE 12U
 #define SAFETY_MAZDA 13U
 #define SAFETY_VOLKSWAGEN 15U
 #define SAFETY_TOYOTA_IPAS 16U
@@ -52,12 +51,6 @@ int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
   return current_hooks->tx_lin(lin_num, data, len);
 }
 
-// -1 = Disabled (Use GPIO to determine ignition)
-// 0 = Off (not started)
-// 1 = On (started)
-int safety_ignition_hook() {
-  return current_hooks->ignition();
-}
 int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
@@ -80,7 +73,6 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
-  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
   {SAFETY_VOLKSWAGEN, &volkswagen_hooks},
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},

diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
@@ -10,7 +10,6 @@ const int CADILLAC_MAX_RATE_DOWN = 5;
 const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
 const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
 
-bool cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
 int cadillac_rt_torque_last = 0;
 const int cadillac_torque_msgs_n = 4;
@@ -35,11 +34,6 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     update_sample(&cadillac_torque_driver, torque_driver_new);
   }
 
-  // this message isn't all zeros when ignition is on
-  if ((addr == 0x160) && (bus == 0)) {
-    cadillac_ign = GET_BYTES_04(to_push) != 0;
-  }
-
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == 0x370) && (bus == 0)) {
     int cruise_engaged = GET_BYTE(to_push, 2) & 0x80;  // bit 23
@@ -118,18 +112,12 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void cadillac_init(int16_t param) {
   UNUSED(param);
   controls_allowed = 0;
-  cadillac_ign = 0;
-}
-
-static int cadillac_ign_hook(void) {
-  return cadillac_ign;
 }
 
 const safety_hooks cadillac_hooks = {
   .init = cadillac_init,
   .rx = cadillac_rx_hook,
   .tx = cadillac_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = cadillac_ign_hook,
   .fwd = default_fwd_hook,
 };
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -136,6 +136,5 @@ const safety_hooks chrysler_hooks = {
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = chrysler_fwd_hook,
 };
diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
@@ -2,10 +2,6 @@ void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   UNUSED(to_push);
 }
 
-int default_ign_hook(void) {
-  return -1; // use GPIO to determine ignition
-}
-
 // *** no output safety mode ***
 
 static void nooutput_init(int16_t param) {
@@ -36,7 +32,6 @@ const safety_hooks nooutput_hooks = {
   .rx = default_rx_hook,
   .tx = nooutput_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = default_fwd_hook,
 };
 
@@ -64,6 +59,5 @@ const safety_hooks alloutput_hooks = {
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
   .tx_lin = alloutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = default_fwd_hook,
 };
diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
@@ -38,6 +38,5 @@ const safety_hooks elm327_hooks = {
   .rx = default_rx_hook,
   .tx = elm327_tx_hook,
   .tx_lin = elm327_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = default_fwd_hook,
 };
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -97,6 +97,5 @@ const safety_hooks ford_hooks = {
   .rx = ford_rx_hook,
   .tx = ford_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = default_fwd_hook,
 };
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -24,7 +24,6 @@ int gm_gas_prev = 0;
 bool gm_moving = false;
 // silence everything if stock car control ECUs are still online
 bool gm_ascm_detected = 0;
-bool gm_ignition_started = 0;
 int gm_rt_torque_last = 0;
 int gm_desired_torque_last = 0;
 uint32_t gm_ts_last = 0;
@@ -41,13 +40,6 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     update_sample(&gm_torque_driver, torque_driver_new);
   }
 
-  if ((addr == 0x1F1) && (bus_number == 0)) {
-    //Bit 5 should be ignition "on"
-    //Backup plan is Bit 2 (accessory power)
-    bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
-    gm_ignition_started = ign;
-  }
-
   // sample speed, really only care if car is moving or not
   // rear left wheel speed
   if (addr == 842) {
@@ -224,41 +216,13 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void gm_init(int16_t param) {
   UNUSED(param);
   controls_allowed = 0;
-  gm_ignition_started = 0;
-}
-
-static int gm_ign_hook(void) {
-  return gm_ignition_started;
 }
 
-// All sending is disallowed.
-// The only difference from "no output" model
-// is using GM ignition hook.
-
-static void gm_passive_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus_number = GET_BUS(to_push);
-  int addr = GET_ADDR(to_push);
-
-  if ((addr == 0x1F1) && (bus_number == 0)) {
-    bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
-    gm_ignition_started = ign;
-  }
-}
 
 const safety_hooks gm_hooks = {
   .init = gm_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = gm_ign_hook,
-  .fwd = default_fwd_hook,
-};
-
-const safety_hooks gm_passive_hooks = {
-  .init = gm_init,
-  .rx = gm_passive_rx_hook,
-  .tx = nooutput_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .ignition = gm_ign_hook,
   .fwd = default_fwd_hook,
 };
diff --git a/board/safety/safety_gm_ascm.h b/board/safety/safety_gm_ascm.h
@@ -39,7 +39,6 @@ const safety_hooks gm_ascm_hooks = {
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = gm_ascm_fwd_hook,
 };
 
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -231,7 +231,6 @@ const safety_hooks honda_hooks = {
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = honda_fwd_hook,
 };
 
@@ -240,6 +239,5 @@ const safety_hooks honda_bosch_hooks = {
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = honda_bosch_fwd_hook,
 };
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -155,6 +155,5 @@ const safety_hooks hyundai_hooks = {
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = hyundai_fwd_hook,
 };
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
@@ -164,6 +164,5 @@ const safety_hooks mazda_hooks = {
   .rx = mazda_rx_hook,
   .tx = mazda_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = mazda_fwd_hook,
 };
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -124,6 +124,5 @@ const safety_hooks subaru_hooks = {
   .rx = subaru_rx_hook,
   .tx = subaru_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
   .fwd = subaru_fwd_hook,
 };