Skip to content

Commit

Permalink
Body Harness - c3x
Browse files Browse the repository at this point in the history
  • Loading branch information
@csouers
csouers committed Oct 8, 2024
1 parent abdc418 commit 8110ba3
Show file tree
Hide file tree
Showing 4 changed files with 91 additions and 14 deletions.
2 changes: 1 addition & 1 deletion board/power_saving.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ void set_power_save_state(int state) {
enable = true;
}

current_board->enable_can_transceivers(enable);
current_board->enable_can_transceivers(true);

// Switch off IR when in power saving
if(!enable){
Expand Down
34 changes: 31 additions & 3 deletions board/safety/safety_elm327.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,16 +3,44 @@
#include "safety_declarations.h"
#include "safety_defaults.h"

#define CAN_GATEWAY_INPUT 0x800
#define CAN_GATEWAY_OUTPUT 0x801
#define CAN_GATEWAY_SIZE 8
#define OTA_IN 0x1

static bool elm327_tx_hook(const CANPacket_t *to_send) {
const int GM_CAMERA_DIAG_ADDR = 0x24B;

bool tx = true;
int addr = GET_ADDR(to_send);
int len = GET_LEN(to_send);

// All ISO 15765-4 messages must be 8 bytes long
if (len != 8) {
tx = false;
// All ISO 15765-4 messages must be 8 bytes long
// TODO: Replace this with the check functionality from safety_honda
bool is_body = (addr == 0x16f118f0) || (addr == 0x0ef81218) || (addr == CAN_GATEWAY_INPUT);
if (is_body) {
if ((len != 8) && (addr == 0x16f118f0)){ // honda bcm diag request
tx = false;
}
else if ((len != 2) && (addr == 0x0ef81218)){ // 2017 honda civic hatch keyfob replay
tx = false;
}
else if ((len != CAN_GATEWAY_SIZE) && (addr == CAN_GATEWAY_INPUT)){ // body harness heartbeat frame
tx = false;
}
else {
tx = false; // we shouldn't end up here if we did things correctly
}
}
// // allow OTA flashing
// else if (addr == OTA_IN){
// tx = true;
// }
else {
//All ISO 15765-4 messages must be 8 bytes long
if (len != 8) {
tx = false;
}
}

// Check valid 29 bit send addresses for ISO 15765-4
Expand Down
38 changes: 31 additions & 7 deletions board/safety/safety_honda.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ static void honda_rx_hook(const CANPacket_t *to_push) {

// check ACC main state
// 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
if ((addr == 0x326) || (addr == 0x1A6)) {
if (((addr == 0x326) && (bus == pt_bus)) || (addr == 0x1A6)) {
acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
if (!acc_main_on) {
controls_allowed = false;
Expand Down Expand Up @@ -173,6 +173,11 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side
bool stock_ecu_detected = false;

// // TODO: tick the body harness gatewayheartbeat. If we lose contact with the OP, should we go not controls_allowed???
// if ((addr == 0x801) && (len == 8)) {
//
// }

// If steering controls messages are received on the destination bus, it's an indication
// that the relay might be malfunctioning
if ((addr == 0xE4) || (addr == 0x194)) {
Expand All @@ -197,6 +202,7 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
.min_accel = -350,

.max_gas = 2000,
.min_gas = -40,
.inactive_gas = -30000,
};

Expand Down Expand Up @@ -299,11 +305,29 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
}
}

// KWP over CAN. Allow only short turn signal request and cancel
// TODO: move to gateway firmware
if (addr == 0x16F118F0){
bool signalCmd = ((GET_LEN(to_send) == 8U) && ((GET_BYTES(to_send, 0, 4) == 0x000F0A30U) || (GET_BYTES(to_send, 0, 4) == 0x000F0B30U)) && (GET_BYTES(to_send, 4, 4) == 0x0U));
bool cancelCmd = ((GET_LEN(to_send) == 1U) && (GET_BYTE(to_send, 0) == 0x20U));
// always allow cancel
if (!cancelCmd) {
if (!controls_allowed) {
tx = false;
}
else {
if (!signalCmd) {
tx = false;
}
}
}
}

return tx;
}

static safety_config honda_nidec_init(uint16_t param) {
static CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}};
static CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}};

const uint16_t HONDA_PARAM_NIDEC_ALT = 4;

Expand All @@ -321,7 +345,7 @@ static safety_config honda_nidec_init(uint16_t param) {

if (enable_nidec_alt) {
// For Nidecs with main on signal on an alternate msg (missing 0x326)
static RxCheck honda_nidec_alt_rx_checks[] = {
static RxCheck honda_nidec_alt_rx_checks[] = {
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
};

Expand All @@ -336,10 +360,10 @@ static safety_config honda_nidec_init(uint16_t param) {
}

static safety_config honda_bosch_init(uint16_t param) {
static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch
static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes
static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}}; // Bosch radarless
static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}}; // Bosch radarless w/ gas and brakes
static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}}; // Bosch w/ body
static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes and body
static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}}; // Bosch radarless
static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}, {0x16F118F0, 0, 8}, {0x16F118F0, 0, 1}}; // Bosch radarless w/ gas and brakes

const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
const uint16_t HONDA_PARAM_RADARLESS = 8;
Expand Down
31 changes: 28 additions & 3 deletions tests/safety/test_honda.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,18 @@ class Btn:
HONDA_NIDEC = 0
HONDA_BOSCH = 1

turnSignalCmdLeftMsg = b"\x30\x0a\x0f\x00\x00\x00\x00\x00"
turnSignalCmdRightMsg = b"\x30\x0b\x0f\x00\x00\x00\x00\x00"
turnSignalCmdCancelMsg = b"\x20"
trunkCmdReleaseMsg = b"\x30\x09\x01\x00\x00\x00\x00\x00"

def interceptor_msg(gas, addr):
to_send = common.make_msg(0, addr, 6)
to_send[0].data[0] = (gas & 0xFF00) >> 8
to_send[0].data[1] = gas & 0xFF
to_send[0].data[2] = (gas & 0xFF00) >> 8
to_send[0].data[3] = gas & 0xFF
return to_send

# Honda safety has several different configurations tested here:
# * Nidec
Expand Down Expand Up @@ -136,6 +148,18 @@ def test_rx_hook(self):
self._rx(self._button_msg(Btn.SET, main_on=True))
self.assertTrue(self.safety.get_controls_allowed())

# Never allow dangerous commands; e.g. trunk release
def test_kwp_over_can(self):
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdCancelMsg)))
self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdLeftMsg)))
self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdRightMsg)))
self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, trunkCmdReleaseMsg)))
self.safety.set_controls_allowed(1)
self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdCancelMsg)))
self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdLeftMsg)))
self.assertTrue(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, turnSignalCmdRightMsg)))
self.assertFalse(self._tx(libpanda_py.make_CANPacket(0x16F118F0, 0, trunkCmdReleaseMsg)))

class HondaPcmEnableBase(common.PandaCarSafetyTest):
# pylint: disable=no-member,abstract-method
Expand Down Expand Up @@ -459,6 +483,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
Covers the Honda Bosch safety mode with longitudinal control
"""
NO_GAS = -30000
MIN_GAS = -40
MAX_GAS = 2000
MAX_ACCEL = 2.0 # accel is used for brakes, but openpilot can set positive values
MIN_ACCEL = -3.5
Expand Down Expand Up @@ -495,10 +520,10 @@ def test_diagnostics(self):

def test_gas_safety_check(self):
for controls_allowed in [True, False]:
for gas in np.arange(self.NO_GAS, self.MAX_GAS + 2000, 100):
accel = 0 if gas < 0 else gas / 1000
for gas in np.arange(self.NO_GAS, self.MAX_GAS + 200, 1):
accel = 0 if gas < self.MIN_GAS else gas / 1000
self.safety.set_controls_allowed(controls_allowed)
send = (controls_allowed and 0 <= gas <= self.MAX_GAS) or gas == self.NO_GAS
send = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.NO_GAS
self.assertEqual(send, self._tx(self._send_gas_brake_msg(gas, accel)), (controls_allowed, gas, accel))

def test_brake_safety_check(self):
Expand Down

0 comments on commit 8110ba3

Please sign in to comment.