274 lines
12 KiB
C
274 lines
12 KiB
C
#pragma once
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#include "iqdbc/safety/declarations.h"
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#include "iqdbc/safety/modes/volkswagen_common.h"
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#define MSG_LENKHILFE_3 0x0D0U // RX from EPS, for steering angle and driver steering torque
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#define MSG_HCA_1 0x0D2U // TX by OP, Heading Control Assist steering torque
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#define MSG_BREMSE_1 0x1A0U // RX from ABS, for ego speed
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#define MSG_MOTOR_3 0x380U // RX from ECU
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#define MSG_MOTOR_2 0x288U // RX from ECU, for CC state and brake switch state
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#define MSG_ACC_SYSTEM 0x368U // TX by OP, longitudinal acceleration controls
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#define MSG_MOTOR_3 0x380U // RX from ECU, for driver throttle input
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#define MSG_GRA_NEU 0x38AU // TX by OP, ACC control buttons for cancel/resume
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#define MSG_MOTOR_5 0x480U // RX from ECU, for ACC main switch state
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#define MSG_ACC_GRA_ANZEIGE 0x56AU // TX by OP, ACC HUD
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#define MSG_LDW_1 0x5BEU // TX by OP, Lane line recognition and text alerts
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#define MSG_BLINKMODI_02 0x0AAU // TX by OP, Blinker control
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#define MSG_APD_1 0x3D6U // TX by OP, CarParams
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#define MSG_SNG_1 0x3D7U // TX by OP
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#define MSG_PQ_SAFETY_1 0x6A0U // RX by OP
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#define MSG_PQ_DEBUG_LA 0x6A1U // TX by panda, internal safety state debug
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#define MSG_IQ 0x6A1U // TX by OP
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static bool volkswagen_pq_alc_module_present = false;
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static bool volkswagen_pq_acc_tsk_ready = false;
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static bool volkswagen_pq_lowline = false;
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static bool volkswagen_pq_acc_fts_epb = false;
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static bool volkswagen_pq_sng_ecd = false;
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static uint32_t volkswagen_pq_get_checksum(const CANPacket_t *msg) {
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return (uint32_t)msg->data[(msg->addr == MSG_MOTOR_5) ? 7 : 0];
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}
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static uint8_t volkswagen_pq_get_counter(const CANPacket_t *msg) {
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uint8_t counter = 0U;
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if (msg->addr == MSG_LENKHILFE_3) {
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counter = (uint8_t)(msg->data[1] & 0xF0U) >> 4;
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} else if (msg->addr == MSG_GRA_NEU) {
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counter = (uint8_t)(msg->data[2] & 0xF0U) >> 4;
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} else {
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}
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return counter;
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}
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static uint32_t volkswagen_pq_compute_checksum(const CANPacket_t *msg) {
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int len = GET_LEN(msg);
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uint8_t checksum = 0U;
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int checksum_byte = (msg->addr == MSG_MOTOR_5) ? 7 : 0;
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// Simple XOR over the payload, except for the byte where the checksum lives.
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for (int i = 0; i < len; i++) {
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if (i != checksum_byte) {
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checksum ^= (uint8_t)msg->data[i];
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}
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}
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return checksum;
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}
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static safety_config volkswagen_pq_init(uint16_t param) {
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// Transmit of GRA_Neu is allowed on bus 0/1/2 for compatibility across camera and gateway integrations
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static const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS[] = {{MSG_HCA_1, 0, 5, .check_relay = true}, {MSG_LDW_1, 0, 8, .check_relay = true},
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{MSG_GRA_NEU, 0, 4, .check_relay = false}, {MSG_GRA_NEU, 1, 4, .check_relay = false},
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{MSG_GRA_NEU, 2, 4, .check_relay = false}, {MSG_BLINKMODI_02, 0, 8, .check_relay = false},
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{MSG_APD_1, 1, 8, .check_relay = false}, {MSG_IQ, 1, 8, .check_relay = false}};
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// Lowline (non-ECAN) lateral-only cars: ptCAN (bus 1) is the only active bus, no J533 gateway.
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// HCA_1 and lateral messages go directly on bus 1 to the EPS. GRA_Neu bus 0 dropped (dead).
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static const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS_BUS1[] = {{MSG_HCA_1, 1, 5, .check_relay = true}, {MSG_LDW_1, 1, 8, .check_relay = true},
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{MSG_GRA_NEU, 1, 4, .check_relay = false}, {MSG_GRA_NEU, 2, 4, .check_relay = false},
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{MSG_BLINKMODI_02, 1, 8, .check_relay = false},
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{MSG_APD_1, 1, 8, .check_relay = false}, {MSG_IQ, 1, 8, .check_relay = false}};
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static const CanMsg VOLKSWAGEN_PQ_LONG_TX_MSGS[] = {{MSG_HCA_1, 0, 5, .check_relay = true}, {MSG_LDW_1, 0, 8, .check_relay = true},
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{MSG_ACC_SYSTEM, 0, 8, .check_relay = true}, {MSG_ACC_GRA_ANZEIGE, 0, 8, .check_relay = true},
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{MSG_GRA_NEU, 1, 4, .check_relay = false}, {MSG_GRA_NEU, 2, 4, .check_relay = true},
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{MSG_BLINKMODI_02, 0, 8, .check_relay = false}, {MSG_MOTOR_2, 2, 8, .check_relay = true},
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{MSG_MOTOR_5, 2, 8, .check_relay = true}, {MSG_MOTOR_3, 1, 8, .check_relay = false},
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{MSG_APD_1, 1, 8, .check_relay = false}, {MSG_IQ, 1, 8, .check_relay = false},
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{MSG_SNG_1, 1, 8, .check_relay = false}};
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static RxCheck volkswagen_pq_rx_checks[] = {
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{.msg = {{MSG_LENKHILFE_3, 1, 6, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{MSG_BREMSE_1, 1, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{MSG_MOTOR_2, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{MSG_MOTOR_3, 1, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{MSG_MOTOR_5, 1, 8, 50U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{MSG_GRA_NEU, 1, 4, 30U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{MSG_PQ_SAFETY_1, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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};
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volkswagen_common_init();
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volkswagen_pq_alc_module_present = GET_FLAG(param, FLAG_VOLKSWAGEN_PQ_ALC_MODULE);
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volkswagen_pq_lowline = GET_FLAG(param, FLAG_VOLKSWAGEN_PQ_LOWLINE);
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vw_iq_no_cam = GET_FLAG(param, FLAG_VOLKSWAGEN_PQ_NO_CAM_BUS);
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volkswagen_pq_acc_fts_epb = GET_FLAG(param, FLAG_VOLKSWAGEN_PQ_ACC_FTS_EPB);
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volkswagen_pq_sng_ecd = GET_FLAG(param, FLAG_VOLKSWAGEN_PQ_SNG_ECD);
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volkswagen_pq_acc_tsk_ready = false;
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#ifdef ALLOW_DEBUG
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volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
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volkswagen_allow_long_accel_with_gas_pressed = GET_FLAG(param, FLAG_VOLKSWAGEN_ALLOW_LONG_ACCEL_WITH_GAS_PRESSED);
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#else
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SAFETY_UNUSED(param);
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#endif
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safety_config ret = volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_LONG_TX_MSGS) : \
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volkswagen_pq_lowline ? BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_STOCK_TX_MSGS_BUS1) : \
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BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_STOCK_TX_MSGS);
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if (!volkswagen_pq_alc_module_present) {
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ret.rx_checks_len -= 1;
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}
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return ret;
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}
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static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
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// All PQ RX processing is on bus 1 (ptCAN). Messages exist on both bus 0 and bus 1 for ECAN
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// gateway cars; on lowline non-ECAN cars bus 1 is the only active bus.
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if (msg->bus == 1U) {
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// Update in-motion state from speed value.
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// Signal: Bremse_1.BR1_Rad_kmh
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if (msg->addr == MSG_BREMSE_1) {
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int speed = ((msg->data[2] & 0xFEU) >> 1) | (msg->data[3] << 7);
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vehicle_moving = speed > 0;
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}
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// Update driver input torque samples
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// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
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// Signal: Lenkhilfe_3.LH3_LMSign (direction)
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if (msg->addr == MSG_LENKHILFE_3) {
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int torque_driver_new = msg->data[2] | ((msg->data[3] & 0x3U) << 8);
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int sign = (msg->data[3] & 0x4U) >> 2;
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if (sign == 1) {
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torque_driver_new *= -1;
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}
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update_sample(&torque_driver, torque_driver_new);
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uint16_t angle_raw = (uint16_t)msg->data[4] | (((uint16_t)msg->data[5] & 0x0FU) << 8);
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bool angle_sign = ((msg->data[5] >> 4) & 0x1U) != 0U;
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float angle_deg = (float)angle_raw * 0.15f;
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vw_iq_measured_angle_deg = angle_sign ? -angle_deg : angle_deg;
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}
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// acc_main_on tracked unconditionally so main-switch disengagement works for both long
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// and lateral-only (pcmCruise) configurations.
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if (msg->addr == MSG_MOTOR_5) {
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acc_main_on = GET_BIT(msg, 50U);
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}
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if (volkswagen_longitudinal) {
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if (msg->addr == MSG_MOTOR_5) {
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if (!acc_main_on && !volkswagen_pq_acc_tsk_ready) {
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controls_allowed = false;
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}
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}
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if (msg->addr == MSG_MOTOR_2) {
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volkswagen_pq_acc_tsk_ready = GET_BIT(msg, 21U);
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if (!acc_main_on && !volkswagen_pq_acc_tsk_ready) {
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controls_allowed = false;
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}
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}
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if (msg->addr == MSG_GRA_NEU) {
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bool set_button = GET_BIT(msg, 16U);
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bool resume_button = GET_BIT(msg, 17U);
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if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
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controls_allowed = acc_main_on || volkswagen_pq_acc_tsk_ready;
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}
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volkswagen_set_button_prev = set_button;
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volkswagen_resume_button_prev = resume_button;
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if (GET_BIT(msg, 9U)) {
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controls_allowed = false;
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}
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}
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} else {
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if (msg->addr == MSG_MOTOR_2) {
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int acc_status = (msg->data[2] & 0xC0U) >> 6;
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bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
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pcm_cruise_check(cruise_engaged);
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}
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}
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if (msg->addr == MSG_MOTOR_3) {
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gas_pressed = (msg->data[2]);
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}
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if (msg->addr == MSG_MOTOR_2) {
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brake_pressed = (msg->data[2] & 0x1U);
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}
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if (volkswagen_pq_alc_module_present && (msg->addr == MSG_PQ_SAFETY_1)) {
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const uint16_t desired_angle_raw = (uint16_t)msg->data[6] | (((uint16_t)msg->data[7] & 0x7FU) << 8);
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const bool desired_angle_sign = (msg->data[7] & 0x80U) != 0U;
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const float desired_angle_deg = (float)desired_angle_raw * 0.04375f;
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vw_iq_alc_desired_angle_deg = desired_angle_sign ? -desired_angle_deg : desired_angle_deg;
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}
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}
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}
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static bool volkswagen_pq_tx_hook(const CANPacket_t *msg) {
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bool tx = true;
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if (msg->addr == MSG_APD_1) {
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volkswagen_iq_decode_apd(msg);
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}
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if (msg->addr == MSG_HCA_1) {
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volkswagen_iq_send_debug_la(MSG_PQ_DEBUG_LA, 1U);
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const uint8_t hca_status = (msg->data[1] >> 4) & 0x0FU;
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if (volkswagen_pq_alc_module_present && (hca_status == 8U)) {
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if (volkswagen_iq_alc_angle_accel_check(false)) {
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tx = false;
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}
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} else if ((hca_status == 5U) || (hca_status == 7U)) {
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int desired_torque = msg->data[2] | ((msg->data[3] & 0x7FU) << 8);
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desired_torque = desired_torque / 32;
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int sign = (msg->data[3] & 0x80U) >> 7;
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if (sign == 1) {
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desired_torque *= -1;
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}
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if (volkswagen_iq_lat_accel_torque_check(desired_torque)) {
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tx = false;
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}
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} else {
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}
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}
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if (msg->addr == MSG_ACC_SYSTEM) {
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int desired_accel = ((((msg->data[4] & 0x7U) << 8) | msg->data[3]) * 5U) - 7220U;
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if (volkswagen_iq_long_accel_check(desired_accel)) {
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tx = false;
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}
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}
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if ((msg->addr == MSG_GRA_NEU) && !controls_allowed) {
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if (GET_BIT(msg, 16U) || GET_BIT(msg, 17U)) {
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tx = false;
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}
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}
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if (msg->addr == MSG_MOTOR_3) {
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if (!volkswagen_pq_acc_fts_epb) {
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tx = false;
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}
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}
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if (msg->addr == MSG_SNG_1) {
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if (!volkswagen_pq_sng_ecd) {
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tx = false;
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}
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}
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return tx;
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}
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static bool volkswagen_pq_fwd_hook(int bus_num, int addr) {
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SAFETY_UNUSED(addr);
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return vw_iq_no_cam && (bus_num == 0);
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}
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const safety_hooks volkswagen_pq_hooks = {
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.init = volkswagen_pq_init,
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.rx = volkswagen_pq_rx_hook,
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.tx = volkswagen_pq_tx_hook,
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.fwd = volkswagen_pq_fwd_hook,
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.get_counter = volkswagen_pq_get_counter,
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.get_checksum = volkswagen_pq_get_checksum,
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.compute_checksum = volkswagen_pq_compute_checksum,
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};
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