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IQ.Pilot Release Commit @ 0798119

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IQ.Lvbs history cleanup
2026-08-22 23:42:42 -05:00
commit b42569dbca
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45
iqdbc_repo/iqdbc/safety/modes/body.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
static void body_rx_hook(const CANPacket_t *msg) {
if (msg->addr == 0x201U) {
controls_allowed = true;
}
}
static bool body_tx_hook(const CANPacket_t *msg) {
bool tx = true;
if (!controls_allowed && (msg->addr != 0x1U)) {
tx = false;
}
// Allow going into CAN flashing mode even if controls are not allowed
bool flash_msg = (msg->addr == 0x250U) && (GET_LEN(msg) == 8U);
if (!controls_allowed && (GET_BYTES(msg, 0, 4) == 0xdeadfaceU) && (GET_BYTES(msg, 4, 4) == 0x0ab00b1eU) && flash_msg) {
tx = true;
}
return tx;
}
static safety_config body_init(uint16_t param) {
static RxCheck body_rx_checks[] = {
{.msg = {{0x201, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, .check_relay = false}, {0x250, 0, 6, .check_relay = false}, {0x251, 0, 5, .check_relay = false}, // body
{0x1, 0, 8, .check_relay = false}}; // CAN flasher
SAFETY_UNUSED(param);
safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
ret.disable_forwarding = true;
return ret;
}
const safety_hooks body_hooks = {
.init = body_init,
.rx = body_rx_hook,
.tx = body_tx_hook,
};

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iqdbc_repo/iqdbc/safety/modes/byd.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
// BYD Sealion 7 (e-Platform 3.0), Konik BYD-6 relay harness.
// bus 0 = chassis CAN, bus 2 = camera / ADAS side.
#define BYD_STEER_MODULE_2 0x11FU // RX from EPS, steering angle
#define BYD_STEERING_TORQUE 0x1FCU // RX from EPS, driver torque + EPS state
#define BYD_WHEEL_SPEEDS 0x1F0U // RX from ESP, vehicle speed
#define BYD_DRIVE_STATE 0x242U // RX from VCU, gear + brake pressed
#define BYD_PEDAL 0x342U // RX from VCU, accelerator pedal
#define BYD_ACC_HUD_ADAS 0x32DU // RX from ADAS(b0), cruise state
#define BYD_STEERING_MODULE_ADAS 0x1E2U // TX to EPS, angle command
#define BYD_LKAS_HUD_ADAS 0x316U // TX to cluster, LKAS HUD
#define BYD_ACC_CMD 0x32EU // TX to IPB, accel command
#define BYD_PCM_BUTTONS 0x3B0U // TX, cruise cancel
// WHEEL_SPEEDS scale, kph per LSB. PROVISIONAL - keep in lockstep with byd_sealion_7.dbc.
#define BYD_WHEEL_SPEED_SCALE 0.0725f
// STEERING_TORQUE.DRIVER_TORQUE counts (0.1 Nm/LSB). MUST equal CarControllerParams
// .STEER_DRIVER_OVERRIDE * 10 in values.py: carstate.py latches on the same instantaneous
// sample, and if the two sides disagree openpilot and the panda desync into controlsMismatch.
#define BYD_DRIVER_TORQUE_OVERRIDE 120
// A steering override disengages and stays disengaged until the driver deliberately re-arms,
// either by cycling stock cruise or pressing the LKAS/ICC button (0x3B0 bit 6, confirmed
// on-car). Mirrors the override latch in carstate.py.
static bool byd_override_latched = false;
static bool byd_lkas_btn_prev = false;
// ACC_CMD.ACCEL_CMD is an 8-bit field at 0.05 m/s^2 per LSB with a -5 m/s^2 offset, so raw 100
// is 0.0 m/s^2. Limits below are in offset-corrected LSBs.
#define BYD_ACCEL_OFFSET 100
static uint8_t byd_get_counter(const CANPacket_t *msg) {
uint8_t cnt = 0U;
if ((msg->addr == BYD_STEERING_TORQUE) || (msg->addr == BYD_WHEEL_SPEEDS) || (msg->addr == BYD_PEDAL)) {
cnt = (msg->data[6] >> 4) & 0xFU;
} else if (msg->addr == BYD_ACC_HUD_ADAS) {
cnt = msg->data[6] & 0xFU;
} else if (msg->addr == BYD_STEER_MODULE_2) {
cnt = msg->data[4] & 0xFU;
} else {
}
return cnt;
}
static uint32_t byd_get_checksum(const CANPacket_t *msg) {
return msg->data[7];
}
static uint32_t byd_compute_checksum(const CANPacket_t *msg) {
// Every 8-byte BYD frame: the last byte is the inverted sum of the first seven.
uint8_t sum = 0U;
for (int i = 0; i < 7; i++) {
sum = (uint8_t)(sum + msg->data[i]);
}
return (uint32_t)((uint8_t)(~sum));
}
static void byd_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
// Steering angle: STEER_ANGLE_2, 0.1 deg/LSB, signed, little endian
if (msg->addr == BYD_STEER_MODULE_2) {
int angle_meas_new = to_signed((msg->data[1] << 8) | msg->data[0], 16);
update_sample(&angle_meas, angle_meas_new);
}
// Vehicle speed. NOTE: on the Sealion 7 this address carries four 12-bit wheel speeds, not
// the Atto 3's single 16-bit WHEELSPEED_CLEAN. Decoding it the Atto 3 way yields garbage,
// and vehicle speed feeds the angle rate limits.
// FL 0|12, FR 16|12, RL 28|12, RR 40|12
if (msg->addr == BYD_WHEEL_SPEEDS) {
uint32_t fl = ((uint32_t)msg->data[0]) | ((uint32_t)(msg->data[1] & 0xFU) << 8);
uint32_t fr = ((uint32_t)msg->data[2]) | ((uint32_t)(msg->data[3] & 0xFU) << 8);
uint32_t rl = ((uint32_t)(msg->data[3] >> 4)) | ((uint32_t)msg->data[4] << 4);
uint32_t rr = ((uint32_t)msg->data[5]) | ((uint32_t)(msg->data[6] & 0xFU) << 8);
float speed = ((float)(fl + fr + rl + rr) / 4.0f) * BYD_WHEEL_SPEED_SCALE;
vehicle_moving = speed > 0.0f;
UPDATE_VEHICLE_SPEED(speed * KPH_TO_MS);
}
// Brake pressed. This MUST stay the same bit that carstate.py reads (DRIVE_STATE bit 37);
// if the two latches read different sources a light brake graze clears only one of them and
// controlsd raises "Controls Mismatch".
if (msg->addr == BYD_DRIVE_STATE) {
brake_pressed = ((msg->data[4] >> 5) & 0x1U) != 0U;
}
// Gas pressed, from the real accelerator pedal (GAS_PEDAL, 0.01/LSB). NOT
// DRIVE_STATE.RAW_THROTTLE, which is powertrain torque demand and pulses on its own while
// accelerating.
if (msg->addr == BYD_PEDAL) {
gas_pressed = msg->data[0] > 10U;
}
// Driver torque, and the override latch. DRIVER_TORQUE is 4|12 signed.
if (msg->addr == BYD_STEERING_TORQUE) {
int torque_driver_new = to_signed(((msg->data[1] & 0xFFU) << 4) | (msg->data[0] >> 4), 12);
update_sample(&torque_driver, torque_driver_new);
if (SAFETY_ABS(torque_driver_new) > BYD_DRIVER_TORQUE_OVERRIDE) {
byd_override_latched = true;
}
}
// LKAS/ICC button (0x3B0 bit 6) re-arms after an override
if (msg->addr == BYD_PCM_BUTTONS) {
bool lkas_btn = ((msg->data[0] >> 6) & 0x1U) != 0U;
if (lkas_btn && !byd_lkas_btn_prev) {
byd_override_latched = false;
}
byd_lkas_btn_prev = lkas_btn;
}
// Cruise state. The ADAS/ACC ECU is on the chassis bus, not behind the camera relay.
// CRUISE_STATE is the high nibble of byte 5: 0=off, 1=available, 2=engaged,
// 3=engaged and commanding accel. PR #3337/#3352 read ACC_STATE from byte 2, which is a
// constant 0x3c here and can only ever report 7 (ERROR).
if (msg->addr == BYD_ACC_HUD_ADAS) {
uint8_t cruise_state = msg->data[5] >> 4;
if (cruise_state < 2U) {
byd_override_latched = false;
}
bool acc_on = (cruise_state >= 2U) && !byd_override_latched;
pcm_cruise_check(acc_on);
}
}
}
static bool byd_tx_hook(const CANPacket_t *msg) {
const AngleSteeringLimits BYD_STEERING_LIMITS = {
.max_angle = 3900, // 390 deg
.angle_deg_to_can = 10,
.frequency = 50U,
};
const AngleSteeringParams BYD_STEERING_PARAMS = {
.slip_factor = -0.000572451189655154, // calc_slip_factor(VM) for BYD_SEALION_7
.steer_ratio = 16.0,
.wheelbase = 2.93,
};
// ACCEL_CMD in offset-corrected LSBs of 0.05 m/s^2
const LongitudinalLimits BYD_LONG_LIMITS = {
.max_accel = 40, // 2.0 m/s^2
.min_accel = -70, // -3.5 m/s^2
.inactive_accel = 0,
.zero_accel = 0,
};
bool tx = true;
if (msg->bus == 0U) {
// Steering angle command: STEER_ANGLE 24|16, 0.1 deg/LSB signed; STEER_REQ is bit 21
if (msg->addr == BYD_STEERING_MODULE_ADAS) {
int desired_angle = to_signed((msg->data[4] << 8) | msg->data[3], 16);
bool steer_req = ((msg->data[2] >> 5) & 0x1U) != 0U;
if (steer_angle_cmd_checks_vm(desired_angle, steer_req, BYD_STEERING_LIMITS, BYD_STEERING_PARAMS)) {
tx = false;
}
}
// Longitudinal command
if (msg->addr == BYD_ACC_CMD) {
int desired_accel = (int)msg->data[0] - BYD_ACCEL_OFFSET;
if (longitudinal_accel_checks(desired_accel, BYD_LONG_LIMITS)) {
tx = false;
}
}
}
return tx;
}
static safety_config byd_init(uint16_t param) {
// 0x1E2 and 0x316 are transmitted continuously, gated only by STEER_REQ. check_relay blocks
// the camera's own copies, so openpilot is the only source of both while installed. The EPS
// latches a fault if the 0x1E2 stream stops while it is actuating.
static const CanMsg BYD_TX_MSGS[] = {
{BYD_STEERING_MODULE_ADAS, 0, 8, .check_relay = true},
{BYD_LKAS_HUD_ADAS, 0, 8, .check_relay = true},
{BYD_PCM_BUTTONS, 0, 8, .check_relay = false},
};
// Longitudinal is only offered on a gateway harness, where the ACC ECU is behind the relay
// and 0x32E is genuinely filterable. On a camera harness the ACC ECU is in front of the
// relay, so alphaLongitudinalAvailable is false there and this list is never selected -
// check_relay would otherwise fire on every stock ACC frame.
static const CanMsg BYD_LONG_TX_MSGS[] = {
{BYD_STEERING_MODULE_ADAS, 0, 8, .check_relay = true},
{BYD_LKAS_HUD_ADAS, 0, 8, .check_relay = true},
{BYD_ACC_CMD, 0, 8, .check_relay = true},
{BYD_PCM_BUTTONS, 0, 8, .check_relay = false},
};
// 4-bit rolling counters, so max_counter is 15. Leaving it 0 does not "skip" the check, it
// pins wrong_counters at the failure threshold and every frame is rejected.
static RxCheck byd_rx_checks[] = {
{.msg = {{BYD_STEER_MODULE_2, 0, 5, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // steering angle (4-bit checksum, not the byte-7 one)
{.msg = {{BYD_STEERING_TORQUE, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // driver torque + EPS state
{.msg = {{BYD_WHEEL_SPEEDS, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // vehicle speed
{.msg = {{BYD_DRIVE_STATE, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // gear + brake (no counter/checksum)
{.msg = {{BYD_PEDAL, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // accelerator pedal
{.msg = {{BYD_ACC_HUD_ADAS, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // cruise state (chassis bus, not behind the relay)
};
byd_override_latched = false;
byd_lkas_btn_prev = false;
bool byd_longitudinal = false;
SAFETY_UNUSED(param);
#ifdef ALLOW_DEBUG
const int FLAG_BYD_LONG_CONTROL = 1;
byd_longitudinal = GET_FLAG(param, FLAG_BYD_LONG_CONTROL);
#endif
// cppcheck-suppress knownConditionTrueFalse
return byd_longitudinal ? BUILD_SAFETY_CFG(byd_rx_checks, BYD_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(byd_rx_checks, BYD_TX_MSGS);
}
const safety_hooks byd_hooks = {
.init = byd_init,
.rx = byd_rx_hook,
.tx = byd_tx_hook,
.get_counter = byd_get_counter,
.get_checksum = byd_get_checksum,
.compute_checksum = byd_compute_checksum,
};

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iqdbc_repo/iqdbc/safety/modes/chrysler.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
// Chrysler Pacifica/Jeep addresses
#define CHRYSLER_EPS_2 0x220 // EPS driver input torque
#define CHRYSLER_ESP_1 0x140 // Brake pedal and vehicle speed
#define CHRYSLER_ESP_8 0x11C // Brake pedal and vehicle speed
#define CHRYSLER_ECM_5 0x22F // Throttle position sensor
#define CHRYSLER_DAS_3 0x1F4 // ACC engagement states from DASM
#define CHRYSLER_DAS_6 0x2A6 // LKAS HUD and auto headlight control from DASM
#define CHRYSLER_LKAS_COMMAND 0x292 // LKAS controls from DASM
#define CHRYSLER_CRUISE_BUTTONS 0x23B // Cruise control buttons
#define CHRYSLER_LKAS_HEARTBIT 0x2D9 // LKAS HEARTBIT from DASM
#define CHRYSLER_TRACTION_BUTTON 0x330 // Traction control button
#define CHRYSLER_Center_Stack_2 0x000 // Placeholder, does not exist
// RAM DT addresses
#define CHRYSLER_RAM_DT_EPS_2 0x31
#define CHRYSLER_RAM_DT_ESP_1 0x83
#define CHRYSLER_RAM_DT_ESP_8 0x79
#define CHRYSLER_RAM_DT_ECM_5 0x9D
#define CHRYSLER_RAM_DT_DAS_3 0x99
#define CHRYSLER_RAM_DT_DAS_6 0xFA
#define CHRYSLER_RAM_DT_LKAS_COMMAND 0xA6
#define CHRYSLER_RAM_DT_CRUISE_BUTTONS 0xB1
#define CHRYSLER_RAM_DT_LKAS_HEARTBIT 0x00 // Placeholder, does not exist
#define CHRYSLER_RAM_DT_TRACTION_BUTTON 0x00 // Placeholder, does not exist
#define CHRYSLER_RAM_DT_Center_Stack_2 0x28A
// RAM HD addresses
#define CHRYSLER_RAM_HD_EPS_2 0x220
#define CHRYSLER_RAM_HD_ESP_1 0x140
#define CHRYSLER_RAM_HD_ESP_8 0x11C
#define CHRYSLER_RAM_HD_ECM_5 0x22F
#define CHRYSLER_RAM_HD_DAS_3 0x1F4
#define CHRYSLER_RAM_HD_DAS_6 0x275
#define CHRYSLER_RAM_HD_LKAS_COMMAND 0x276
#define CHRYSLER_RAM_HD_CRUISE_BUTTONS 0x23A
#define CHRYSLER_RAM_HD_LKAS_HEARTBIT 0x00 // Placeholder, does not exist
#define CHRYSLER_RAM_HD_TRACTION_BUTTON 0x00 // Placeholder, does not exist
#define CHRYSLER_RAM_HD_Center_Stack_2 0x28A
typedef enum {
CHRYSLER_RAM_DT,
CHRYSLER_RAM_HD,
CHRYSLER_PACIFICA, // plus Jeep
} ChryslerPlatform;
static ChryslerPlatform chrysler_platform;
#define CHRYSLER_ADDR(name) ((uint32_t)((chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_##name : \
((chrysler_platform == CHRYSLER_RAM_HD) ? CHRYSLER_RAM_HD_##name : CHRYSLER_##name)))
static uint32_t chrysler_get_checksum(const CANPacket_t *msg) {
int checksum_byte = GET_LEN(msg) - 1U;
return (uint8_t)(msg->data[checksum_byte]);
}
static uint32_t chrysler_compute_checksum(const CANPacket_t *msg) {
// TODO: clean this up
// http://illmatics.com/Remote%20Car%20Hacking.pdf
uint8_t checksum = 0xFFU;
int len = GET_LEN(msg);
for (int j = 0; j < (len - 1); j++) {
uint8_t shift = 0x80U;
uint8_t curr = (uint8_t)msg->data[j];
for (int i=0; i<8; i++) {
uint8_t bit_sum = curr & shift;
uint8_t temp_chk = checksum & 0x80U;
if (bit_sum != 0U) {
bit_sum = 0x1C;
if (temp_chk != 0U) {
bit_sum = 1;
}
checksum = checksum << 1;
temp_chk = checksum | 1U;
bit_sum ^= temp_chk;
} else {
if (temp_chk != 0U) {
bit_sum = 0x1D;
}
checksum = checksum << 1;
bit_sum ^= checksum;
}
checksum = bit_sum;
shift = shift >> 1;
}
}
return (uint8_t)(~checksum);
}
static uint8_t chrysler_get_counter(const CANPacket_t *msg) {
return (uint8_t)(msg->data[6] >> 4);
}
static void chrysler_rx_hook(const CANPacket_t *msg) {
// Measured EPS torque
if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(EPS_2))) {
int torque_meas_new = ((msg->data[4] & 0x7U) << 8) + msg->data[5] - 1024U;
update_sample(&torque_meas, torque_meas_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
const unsigned int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0U : 2U;
if ((msg->bus == das_3_bus) && (msg->addr == CHRYSLER_ADDR(DAS_3))) {
bool cruise_engaged = GET_BIT(msg, 21U);
pcm_cruise_check(cruise_engaged);
acc_main_on = GET_BIT(msg, 20U);
}
// TODO: use the same message for both
// update vehicle moving
if ((chrysler_platform != CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ESP_8))) {
vehicle_moving = ((msg->data[4] << 8) + msg->data[5]) != 0U;
}
if ((chrysler_platform == CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == 514U)) {
int speed_l = (msg->data[0] << 4) + (msg->data[1] >> 4);
int speed_r = (msg->data[2] << 4) + (msg->data[3] >> 4);
vehicle_moving = (speed_l != 0) || (speed_r != 0);
}
// exit controls on rising edge of gas press
if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ECM_5))) {
gas_pressed = msg->data[0U] != 0U;
}
// exit controls on rising edge of brake press
if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ESP_1))) {
brake_pressed = ((msg->data[0U] & 0xFU) >> 2U) == 1U;
}
if ((chrysler_platform == CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(TRACTION_BUTTON))) {
aol_button_press = GET_BIT(msg, 53U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
}
if ((chrysler_platform != CHRYSLER_PACIFICA) && (msg->bus == 0U)) {
if (msg->addr == CHRYSLER_ADDR(Center_Stack_2)) {
aol_button_press = GET_BIT(msg, 57U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
}
}
}
static bool chrysler_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits CHRYSLER_STEERING_LIMITS = {
.max_torque = 261,
.max_rt_delta = 112,
.max_rate_up = 3,
.max_rate_down = 3,
.max_torque_error = 80,
.type = TorqueMotorLimited,
};
const TorqueSteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
.max_torque = 350,
.max_rt_delta = 112,
.max_rate_up = 6,
.max_rate_down = 6,
.max_torque_error = 80,
.type = TorqueMotorLimited,
};
const TorqueSteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
.max_torque = 361,
.max_rt_delta = 182,
.max_rate_up = 14,
.max_rate_down = 14,
.max_torque_error = 80,
.type = TorqueMotorLimited,
};
bool tx = true;
// STEERING
if (msg->addr == CHRYSLER_ADDR(LKAS_COMMAND)) {
int start_byte = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 1;
int desired_torque = ((msg->data[start_byte] & 0x7U) << 8) | msg->data[start_byte + 1];
desired_torque -= 1024;
const TorqueSteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
(chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;
bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? GET_BIT(msg, 4U) : (msg->data[3] & 0x7U) == 2U;
if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
tx = false;
}
}
// FORCE CANCEL: only the cancel button press is allowed
if (msg->addr == CHRYSLER_ADDR(CRUISE_BUTTONS)) {
const bool is_cancel = msg->data[0] == 1U;
const bool is_accel = msg->data[0] == 0x04U;
const bool is_decel = msg->data[0] == 0x08U;
const bool is_resume = msg->data[0] == 0x10U;
const bool allowed = is_cancel || ((is_resume || is_accel || is_decel) && controls_allowed);
if (!allowed) {
tx = false;
}
}
return tx;
}
static safety_config chrysler_init(uint16_t param) {
const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
static RxCheck chrysler_ram_dt_rx_checks[] = {
{.msg = {{CHRYSLER_RAM_DT_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_DT_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static RxCheck chrysler_rx_checks[] = {
{.msg = {{CHRYSLER_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{514, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_DAS_3, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_TRACTION_BUTTON, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static const CanMsg CHRYSLER_TX_MSGS[] = {
{CHRYSLER_CRUISE_BUTTONS, 0, 3, .check_relay = false},
{CHRYSLER_LKAS_COMMAND, 0, 6, .check_relay = true},
{CHRYSLER_DAS_6, 0, 8, .check_relay = true},
{CHRYSLER_LKAS_HEARTBIT, 0, 5, .check_relay = true},
};
static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
{CHRYSLER_RAM_DT_CRUISE_BUTTONS, 2, 3, .check_relay = false},
{CHRYSLER_RAM_DT_LKAS_COMMAND, 0, 8, .check_relay = true},
{CHRYSLER_RAM_DT_DAS_6, 0, 8, .check_relay = true},
};
#ifdef ALLOW_DEBUG
static RxCheck chrysler_ram_hd_rx_checks[] = {
{.msg = {{CHRYSLER_RAM_HD_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{CHRYSLER_RAM_HD_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
{CHRYSLER_RAM_HD_CRUISE_BUTTONS, 2, 3, .check_relay = false},
{CHRYSLER_RAM_HD_LKAS_COMMAND, 0, 8, .check_relay = true},
{CHRYSLER_RAM_HD_DAS_6, 0, 8, .check_relay = true},
};
const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
bool enable_ram_hd = GET_FLAG(param, CHRYSLER_PARAM_RAM_HD);
#endif
safety_config ret;
bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
if (enable_ram_dt) {
chrysler_platform = CHRYSLER_RAM_DT;
ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
#ifdef ALLOW_DEBUG
} else if (enable_ram_hd) {
chrysler_platform = CHRYSLER_RAM_HD;
ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS);
#endif
} else {
chrysler_platform = CHRYSLER_PACIFICA;
ret = BUILD_SAFETY_CFG(chrysler_rx_checks, CHRYSLER_TX_MSGS);
}
return ret;
}
const safety_hooks chrysler_hooks = {
.init = chrysler_init,
.rx = chrysler_rx_hook,
.tx = chrysler_tx_hook,
.get_counter = chrysler_get_counter,
.get_checksum = chrysler_get_checksum,
.compute_checksum = chrysler_compute_checksum,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
// GCOV_EXCL_START
// Unreachable by design (doesn't define any rx msgs)
void default_rx_hook(const CANPacket_t *msg) {
SAFETY_UNUSED(msg);
}
// GCOV_EXCL_STOP
// *** no output safety mode ***
static safety_config nooutput_init(uint16_t param) {
SAFETY_UNUSED(param);
return (safety_config){NULL, 0, NULL, 0, true}; // NOLINT(readability/braces)
}
// GCOV_EXCL_START
// Unreachable by design (doesn't define any tx msgs)
static bool nooutput_tx_hook(const CANPacket_t *msg) {
SAFETY_UNUSED(msg);
return false;
}
// GCOV_EXCL_STOP
const safety_hooks nooutput_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
.tx = nooutput_tx_hook,
};
// *** all output safety mode ***
static safety_config alloutput_init(uint16_t param) {
// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
controls_allowed = true;
bool alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
return (safety_config){NULL, 0, NULL, 0, !alloutput_passthrough}; // NOLINT(readability/braces)
}
static bool alloutput_tx_hook(const CANPacket_t *msg) {
SAFETY_UNUSED(msg);
return true;
}
const safety_hooks alloutput_hooks = {
.init = alloutput_init,
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
};

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iqdbc_repo/iqdbc/safety/modes/elm327.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/defaults.h"
static bool elm327_tx_hook(const CANPacket_t *msg) {
const unsigned int GM_CAMERA_DIAG_ADDR = 0x24BU;
bool tx = true;
int len = GET_LEN(msg);
// 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
// Check valid 11 bit send addresses for ISO 15765-4
if ((msg->addr != 0x18DB33F1U) && ((msg->addr & 0x1FFF00FFU) != 0x18DA00F1U) &&
((msg->addr & 0x1FFFFF00U) != 0x600U) && ((msg->addr & 0x1FFFFF00U) != 0x700U) &&
(msg->addr != GM_CAMERA_DIAG_ADDR)) {
tx = false;
}
// GM camera uses non-standard diagnostic address, this has no control message address collisions
if ((msg->addr == GM_CAMERA_DIAG_ADDR) && (len == 8)) {
// Only allow known frame types for ISO 15765-2
if ((msg->data[0] & 0xF0U) > 0x30U) {
tx = false;
}
}
return tx;
}
// If safety_param == 0, bus 1 is multiplexed to the OBD-II port
const safety_hooks elm327_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
.tx = elm327_tx_hook,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
// Safety-relevant CAN messages for Ford vehicles.
#define FORD_EngBrakeData 0x165U // RX from PCM, for driver brake pedal and cruise state
#define FORD_EngVehicleSpThrottle 0x204U // RX from PCM, for driver throttle input
#define FORD_DesiredTorqBrk 0x213U // RX from ABS, for standstill state
#define FORD_BrakeSysFeatures 0x415U // RX from ABS, for vehicle speed
#define FORD_EngVehicleSpThrottle2 0x202U // RX from PCM, for second vehicle speed
#define FORD_Yaw_Data_FD1 0x91U // RX from RCM, for yaw rate
#define FORD_Steering_Data_FD1 0x083U // TX by OP, various driver switches and LKAS/CC buttons
#define FORD_ACCDATA 0x186U // TX by OP, ACC controls
#define FORD_ACCDATA_3 0x18AU // TX by OP, ACC/TJA user interface
#define FORD_Lane_Assist_Data1 0x3CAU // TX by OP, Lane Keep Assist
#define FORD_LateralMotionControl 0x3D3U // TX by OP, Lateral Control message
#define FORD_LateralMotionControl2 0x3D6U // TX by OP, alternate Lateral Control message
#define FORD_IPMA_Data 0x3D8U // TX by OP, IPMA and LKAS user interface
// CAN bus numbers.
#define FORD_MAIN_BUS 0U
#define FORD_CAM_BUS 2U
static uint8_t ford_get_counter(const CANPacket_t *msg) {
uint8_t cnt = 0;
if (msg->addr == FORD_BrakeSysFeatures) {
// Signal: VehVActlBrk_No_Cnt
cnt = (msg->data[2] >> 2) & 0xFU;
} else if (msg->addr == FORD_Yaw_Data_FD1) {
// Signal: VehRollYaw_No_Cnt
cnt = msg->data[5];
} else {
}
return cnt;
}
static uint32_t ford_get_checksum(const CANPacket_t *msg) {
uint8_t chksum = 0;
if (msg->addr == FORD_BrakeSysFeatures) {
// Signal: VehVActlBrk_No_Cs
chksum = msg->data[3];
} else if (msg->addr == FORD_Yaw_Data_FD1) {
// Signal: VehRollYawW_No_Cs
chksum = msg->data[4];
} else {
}
return chksum;
}
static uint32_t ford_compute_checksum(const CANPacket_t *msg) {
uint8_t chksum = 0;
if (msg->addr == FORD_BrakeSysFeatures) {
chksum += msg->data[0] + msg->data[1]; // Veh_V_ActlBrk
chksum += msg->data[2] >> 6; // VehVActlBrk_D_Qf
chksum += (msg->data[2] >> 2) & 0xFU; // VehVActlBrk_No_Cnt
chksum = 0xFFU - chksum;
} else if (msg->addr == FORD_Yaw_Data_FD1) {
chksum += msg->data[0] + msg->data[1]; // VehRol_W_Actl
chksum += msg->data[2] + msg->data[3]; // VehYaw_W_Actl
chksum += msg->data[5]; // VehRollYaw_No_Cnt
chksum += msg->data[6] >> 6; // VehRolWActl_D_Qf
chksum += (msg->data[6] >> 4) & 0x3U; // VehYawWActl_D_Qf
chksum = 0xFFU - chksum;
} else {
}
return chksum;
}
static bool ford_get_quality_flag_valid(const CANPacket_t *msg) {
bool valid = false;
if (msg->addr == FORD_BrakeSysFeatures) {
valid = (msg->data[2] >> 6) == 0x3U; // VehVActlBrk_D_Qf
} else if (msg->addr == FORD_EngVehicleSpThrottle2) {
valid = ((msg->data[4] >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf
} else if (msg->addr == FORD_Yaw_Data_FD1) {
valid = ((msg->data[6] >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf
} else {
}
return valid;
}
#define FORD_INACTIVE_CURVATURE 1000U
#define FORD_INACTIVE_CURVATURE_RATE 4096U
#define FORD_INACTIVE_PATH_OFFSET 512U
#define FORD_INACTIVE_PATH_ANGLE 1000U
#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
// Curvature rate limits
#define FORD_LIMITS(limit_lateral_acceleration) { \
.max_angle = 1000, /* 0.02 curvature */ \
.angle_deg_to_can = 50000, /* 1 / (2e-5) rad to can */ \
.max_angle_error = 100, /* 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can */ \
.angle_rate_up_lookup = { \
{5., 25., 25.}, \
{0.00045, 0.0001, 0.0001} \
}, \
.angle_rate_down_lookup = { \
{5., 25., 25.}, \
{0.00045, 0.00015, 0.00015} \
}, \
\
/* no blending at low speed due to lack of torque wind-up and inaccurate current curvature */ \
.angle_error_min_speed = 10.0, /* m/s */ \
\
.angle_is_curvature = (limit_lateral_acceleration), \
.enforce_angle_error = true, \
.inactive_angle_is_zero = true, \
}
static const AngleSteeringLimits FORD_STEERING_LIMITS = FORD_LIMITS(false);
static void ford_rx_hook(const CANPacket_t *msg) {
if (msg->bus == FORD_MAIN_BUS) {
// Update in motion state from standstill signal
if (msg->addr == FORD_DesiredTorqBrk) {
// Signal: VehStop_D_Stat
vehicle_moving = ((msg->data[3] >> 3) & 0x3U) != 1U;
}
// Update vehicle speed
if (msg->addr == FORD_BrakeSysFeatures) {
// Signal: Veh_V_ActlBrk
UPDATE_VEHICLE_SPEED(((msg->data[0] << 8) | msg->data[1]) * 0.01 * KPH_TO_MS);
}
// Check vehicle speed against a second source
if (msg->addr == FORD_EngVehicleSpThrottle2) {
// Disable controls if speeds from ABS and PCM ECUs are too far apart.
// Signal: Veh_V_ActlEng
float filtered_pcm_speed = ((msg->data[6] << 8) | msg->data[7]) * 0.01 * KPH_TO_MS;
speed_mismatch_check(filtered_pcm_speed);
}
// Update vehicle yaw rate
if (msg->addr == FORD_Yaw_Data_FD1) {
// Signal: VehYaw_W_Actl
// TODO: we should use the speed which results in the closest angle measurement to the desired angle
float ford_yaw_rate = (((msg->data[2] << 8U) | msg->data[3]) * 0.0002) - 6.5;
float current_curvature = ford_yaw_rate / SAFETY_MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
// convert current curvature into units on CAN for comparison with desired curvature
update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can));
}
// Update gas pedal
if (msg->addr == FORD_EngVehicleSpThrottle) {
// Pedal position: (0.1 * val) in percent
// Signal: ApedPos_Pc_ActlArb
gas_pressed = (((msg->data[0] & 0x03U) << 8) | msg->data[1]) > 0U;
}
// Update brake pedal and cruise state
if (msg->addr == FORD_EngBrakeData) {
// Signal: BpedDrvAppl_D_Actl
brake_pressed = ((msg->data[0] >> 4) & 0x3U) == 2U;
// Signal: CcStat_D_Actl
unsigned int cruise_state = msg->data[1] & 0x07U;
bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
pcm_cruise_check(cruise_engaged);
acc_main_on = (cruise_state == 3U) || cruise_engaged;
}
if (msg->addr == FORD_Steering_Data_FD1) {
aol_button_press = GET_BIT(msg, 40U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
}
}
}
static bool ford_tx_hook(const CANPacket_t *msg) {
const LongitudinalLimits FORD_LONG_LIMITS = {
// acceleration cmd limits (used for brakes)
// Signal: AccBrkTot_A_Rq
.max_accel = 5641, // 1.9999 m/s^s
.min_accel = 4231, // -3.4991 m/s^2
.inactive_accel = 5128, // -0.0008 m/s^2
.zero_accel = 5129, // 0.0031 m/s^2
// gas cmd limits
// Signal: AccPrpl_A_Rq & AccPrpl_A_Pred
.max_gas = 700, // 2.0 m/s^2
.min_gas = 450, // -0.5 m/s^2
.inactive_gas = 0, // -5.0 m/s^2
};
bool tx = true;
// Safety check for ACCDATA accel and brake requests
if (msg->addr == FORD_ACCDATA) {
// Signal: AccPrpl_A_Rq
int gas = ((msg->data[6] & 0x3U) << 8) | msg->data[7];
// Signal: AccPrpl_A_Pred
int gas_pred = ((msg->data[2] & 0x3U) << 8) | msg->data[3];
// Signal: AccBrkTot_A_Rq
int accel = ((msg->data[0] & 0x1FU) << 8) | msg->data[1];
// Signal: CmbbDeny_B_Actl
bool cmbb_deny = (msg->data[4] >> 5) & 1U;
// Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
bool brake_actuation = ((msg->data[6] >> 6) & 1U) || ((msg->data[6] >> 7) & 1U);
bool violation = false;
violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS);
// Safety check for stock AEB
violation |= cmbb_deny; // do not prevent stock AEB actuation
violation |= !get_longitudinal_brake_allowed() && brake_actuation;
if (violation) {
tx = false;
}
}
// Safety check for Steering_Data_FD1 button signals
// Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam)
// which we passthru in OP.
if (msg->addr == FORD_Steering_Data_FD1) {
// Violation if resume button is pressed while controls not allowed, or
// if cancel button is pressed when cruise isn't engaged.
bool violation = false;
violation |= ((msg->data[1] >> 0) & 1U) && !cruise_engaged_prev; // Signal: CcAslButtnCnclPress (cancel)
violation |= ((msg->data[3] >> 1) & 1U) && !controls_allowed; // Signal: CcAsllButtnResPress (resume)
if (violation) {
tx = false;
}
}
// Safety check for Lane_Assist_Data1 action
if (msg->addr == FORD_Lane_Assist_Data1) {
// Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid).
// This message must be sent for Lane Centering to work, and can include
// values such as the steering angle or lane curvature for debugging,
// but the action (LkaActvStats_D2_Req) must be set to zero.
unsigned int action = msg->data[0] >> 5;
if (action != 0U) {
tx = false;
}
}
// Safety check for LateralMotionControl action
if (msg->addr == FORD_LateralMotionControl) {
// Signal: LatCtl_D_Rq
bool steer_control_enabled = ((msg->data[4] >> 2) & 0x7U) != 0U;
unsigned int raw_curvature = (msg->data[0] << 3) | (msg->data[1] >> 5);
unsigned int raw_curvature_rate = ((msg->data[1] & 0x1FU) << 8) | msg->data[2];
unsigned int raw_path_angle = (msg->data[3] << 3) | (msg->data[4] >> 5);
unsigned int raw_path_offset = (msg->data[5] << 2) | (msg->data[6] >> 6);
// These signals are not yet tested with the current safety limits
bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
// Check angle error and steer_control_enabled
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
if (violation) {
tx = false;
}
}
// Safety check for LateralMotionControl2 action
if (msg->addr == FORD_LateralMotionControl2) {
static const AngleSteeringLimits FORD_CANFD_STEERING_LIMITS = FORD_LIMITS(true);
// Signal: LatCtl_D2_Rq
bool steer_control_enabled = ((msg->data[0] >> 4) & 0x7U) != 0U;
unsigned int raw_curvature = (msg->data[2] << 3) | (msg->data[3] >> 5);
unsigned int raw_curvature_rate = (msg->data[6] << 3) | (msg->data[7] >> 5);
unsigned int raw_path_angle = ((msg->data[3] & 0x1FU) << 6) | (msg->data[4] >> 2);
unsigned int raw_path_offset = ((msg->data[4] & 0x3U) << 8) | msg->data[5];
// These signals are not yet tested with the current safety limits
bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
// Check angle error and steer_control_enabled
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_CANFD_STEERING_LIMITS);
if (violation) {
tx = false;
}
}
return tx;
}
static safety_config ford_init(uint16_t param) {
// warning: quality flags are not yet checked in openpilot's CAN parser,
// this may be the cause of blocked messages
static RxCheck ford_rx_checks[] = {
{.msg = {{FORD_BrakeSysFeatures, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}},
// FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug
// Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC
// It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that
{.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},
{.msg = {{FORD_Yaw_Data_FD1, 0, 8, 100U, .max_counter = 255U}, { 0 }, { 0 }}},
// These messages have no counter or checksum
{.msg = {{FORD_EngBrakeData, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{FORD_DesiredTorqBrk, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{FORD_Steering_Data_FD1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
#define FORD_COMMON_TX_MSGS \
{FORD_Steering_Data_FD1, 0, 8, .check_relay = false}, \
{FORD_Steering_Data_FD1, 2, 8, .check_relay = false}, \
{FORD_ACCDATA_3, 0, 8, .check_relay = true}, \
{FORD_Lane_Assist_Data1, 0, 8, .check_relay = true}, \
{FORD_IPMA_Data, 0, 8, .check_relay = true}, \
static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
FORD_COMMON_TX_MSGS
{FORD_ACCDATA, 0, 8, .check_relay = true},
{FORD_LateralMotionControl2, 0, 8, .check_relay = true},
};
static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
FORD_COMMON_TX_MSGS
{FORD_LateralMotionControl2, 0, 8, .check_relay = true},
};
static const CanMsg FORD_LONG_TX_MSGS[] = {
FORD_COMMON_TX_MSGS
{FORD_ACCDATA, 0, 8, .check_relay = true},
{FORD_LateralMotionControl, 0, 8, .check_relay = true},
};
const uint16_t FORD_PARAM_CANFD = 2;
const bool ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
bool ford_longitudinal = false;
#ifdef ALLOW_DEBUG
const uint16_t FORD_PARAM_LONGITUDINAL = 1;
ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
#endif
// Longitudinal is the default for CAN, and optional for CAN FD w/ ALLOW_DEBUG
ford_longitudinal = !ford_canfd || ford_longitudinal;
safety_config ret;
if (ford_canfd) {
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS);
}
return ret;
}
const safety_hooks ford_hooks = {
.init = ford_init,
.rx = ford_rx_hook,
.tx = ford_tx_hook,
.get_counter = ford_get_counter,
.get_checksum = ford_get_checksum,
.compute_checksum = ford_compute_checksum,
.get_quality_flag_valid = ford_get_quality_flag_valid,
};

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iqdbc_repo/iqdbc/safety/modes/gm.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
#define GM_COMMON_RX_CHECKS \
{.msg = {{0x184, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x34A, 0, 5, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x1E1, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0xBE, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, /* Volt, Silverado, Acadia Denali */ \
{0xBE, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, /* Bolt EUV */ \
{0xBE, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* Escalade */ \
{.msg = {{0x1C4, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define GM_EV_COMMON_ADDR_CHECK \
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define GM_NON_ACC_ADDR_CHECK \
{.msg = {{0x3D1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static const LongitudinalLimits *gm_long_limits;
enum {
GM_BTN_UNPRESS = 1,
GM_BTN_RESUME = 2,
GM_BTN_SET = 3,
GM_BTN_CANCEL = 6,
};
typedef enum {
GM_ASCM,
GM_CAM
} GmHardware;
static GmHardware gm_hw = GM_ASCM;
static bool gm_pcm_cruise = false;
static bool gm_non_acc = false;
static void gm_rx_hook(const CANPacket_t *msg) {
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
if (msg->bus == 0U) {
if (msg->addr == 0x184U) {
int torque_driver_new = ((msg->data[6] & 0x7U) << 8) | msg->data[7];
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}
// sample rear wheel speeds
if (msg->addr == 0x34AU) {
int left_rear_speed = (msg->data[0] << 8) | msg->data[1];
int right_rear_speed = (msg->data[2] << 8) | msg->data[3];
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
}
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
if ((msg->addr == 0x1E1U) && !gm_pcm_cruise) {
int button = (msg->data[5] & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = button;
}
// Reference for brake pressed signals:
// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
if ((msg->addr == 0xBEU) && (gm_hw == GM_ASCM)) {
brake_pressed = msg->data[1] >= 8U;
}
if ((msg->addr == 0xC9U) && (gm_hw == GM_CAM)) {
brake_pressed = GET_BIT(msg, 40U);
}
if (msg->addr == 0x1C4U) {
gas_pressed = msg->data[5] != 0U;
// enter controls on rising edge of ACC, exit controls when ACC off
if (gm_pcm_cruise && !gm_non_acc) {
bool cruise_engaged = (msg->data[1] >> 5) != 0U;
pcm_cruise_check(cruise_engaged);
}
}
if (msg->addr == 0xBDU) {
regen_braking = (msg->data[0] >> 4) != 0U;
}
if (msg->addr == 0xC9U) {
acc_main_on = GET_BIT(msg, 29U);
}
if (msg->addr == 0x3D1U) {
bool cruise_engaged = GET_BIT(msg, 39U);
pcm_cruise_check(cruise_engaged);
}
}
}
static bool gm_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits GM_STEERING_LIMITS = {
.max_torque = 300,
.max_rate_up = 10,
.max_rate_down = 15,
.driver_torque_allowance = 65,
.driver_torque_multiplier = 4,
.max_rt_delta = 128,
.type = TorqueDriverLimited,
};
bool tx = true;
// BRAKE: safety check
if (msg->addr == 0x315U) {
int brake = ((msg->data[0] & 0xFU) << 8) + msg->data[1];
brake = (0x1000 - brake) & 0xFFF;
if (longitudinal_brake_checks(brake, *gm_long_limits)) {
tx = false;
}
}
// LKA STEER: safety check
if (msg->addr == 0x180U) {
int desired_torque = ((msg->data[0] & 0x7U) << 8) + msg->data[1];
desired_torque = to_signed(desired_torque, 11);
bool steer_req = GET_BIT(msg, 3U);
if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
tx = false;
}
}
// GAS/REGEN: safety check
if (msg->addr == 0x2CBU) {
bool apply = GET_BIT(msg, 0U);
// convert float CAN signal to an int for gas checks: 22534 / 0.125 = 180272
int gas_regen = (((msg->data[1] & 0x7U) << 16) | (msg->data[2] << 8) | msg->data[3]) - 180272U;
bool violation = false;
// Allow apply bit in pre-enabled and overriding states
violation |= !controls_allowed && apply;
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
if (violation) {
tx = false;
}
}
// BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
if ((msg->addr == 0x1E1U) && gm_pcm_cruise) {
int button = (msg->data[5] >> 4) & 0x7U;
bool allowed_cancel = (button == 6) && cruise_engaged_prev;
if (!allowed_cancel) {
tx = false;
}
}
return tx;
}
static safety_config gm_init(uint16_t param) {
const uint16_t GM_PARAM_HW_CAM = 1;
const uint16_t GM_PARAM_EV = 4;
// common safety checks assume unscaled integer values
static const int GM_GAS_TO_CAN = 8; // 1 / 0.125
static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 1018 * GM_GAS_TO_CAN,
.min_gas = -650 * GM_GAS_TO_CAN,
.inactive_gas = -650 * GM_GAS_TO_CAN,
.max_brake = 400,
};
static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, // pt bus
{0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
{0x315, 2, 5, .check_relay = false}}; // ch bus
static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 1346 * GM_GAS_TO_CAN,
.min_gas = -540 * GM_GAS_TO_CAN,
.inactive_gas = -500 * GM_GAS_TO_CAN,
.max_brake = 400,
};
// block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, // pt bus
{0x184, 2, 8, .check_relay = true}}; // camera bus
static RxCheck gm_rx_checks[] = {
GM_COMMON_RX_CHECKS
};
static RxCheck gm_ev_rx_checks[] = {
GM_COMMON_RX_CHECKS
GM_EV_COMMON_ADDR_CHECK
};
static RxCheck gm_non_acc_rx_checks[] = {
GM_COMMON_RX_CHECKS
GM_NON_ACC_ADDR_CHECK
};
static RxCheck gm_non_acc_ev_rx_checks[] = {
GM_COMMON_RX_CHECKS
GM_EV_COMMON_ADDR_CHECK
GM_NON_ACC_ADDR_CHECK
};
static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, // pt bus
{0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}}; // camera bus
if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
gm_hw = GM_CAM;
gm_long_limits = &GM_CAM_LONG_LIMITS;
} else {
gm_hw = GM_ASCM;
gm_long_limits = &GM_ASCM_LONG_LIMITS;
}
bool gm_cam_long = false;
#ifdef ALLOW_DEBUG
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
#endif
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
const uint16_t GM_PARAM_IQ_NON_ACC = 1;
gm_non_acc = GET_FLAG(current_safety_param_iq, GM_PARAM_IQ_NON_ACC);
safety_config ret;
if (gm_hw == GM_CAM) {
// FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
// cppcheck-suppress knownConditionTrueFalse
ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
}
const bool gm_ev = GET_FLAG(param, GM_PARAM_EV);
if (gm_ev) {
SET_RX_CHECKS(gm_ev_rx_checks, ret);
}
if (gm_non_acc) {
SET_TX_MSGS(GM_CAM_TX_MSGS, ret);
if (gm_ev) {
SET_RX_CHECKS(gm_non_acc_ev_rx_checks, ret);
} else {
SET_RX_CHECKS(gm_non_acc_rx_checks, ret);
}
}
// ASCM does not forward any messages
if (gm_hw == GM_ASCM) {
ret.disable_forwarding = true;
}
return ret;
}
const safety_hooks gm_hooks = {
.init = gm_init,
.rx = gm_rx_hook,
.tx = gm_tx_hook,
};

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iqdbc_repo/iqdbc/safety/modes/honda.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
// All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
{.msg = {{0x1A6, (pt_bus), 8, 25U, .max_counter = 3U, .ignore_quality_flag = true}, /* SCM_BUTTONS */ \
{0x296, (pt_bus), 4, 25U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }}}, \
{.msg = {{0x158, (pt_bus), 8, 100U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \
{.msg = {{0x17C, (pt_bus), 8, 100U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \
#define HONDA_COMMON_RX_CHECKS(pt_bus) \
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
{.msg = {{0x326, (pt_bus), 8, 10U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* SCM_FEEDBACK */ \
// Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus) \
{.msg = {{0x1BE, (pt_bus), 3, 50U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* BRAKE_MODULE */ \
#define HONDA_GAS_INTERCEPTOR_ADDR_CHECK \
{.msg = {{0x201, 0, 6, 50U, .max_counter = 15U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define HONDA_N_COMMON_TX_MSGS \
{0xE4, 0, 5, .check_relay = true}, \
{0x194, 0, 4, .check_relay = true}, \
{0x1FA, 0, 8, .check_relay = false}, \
{0x30C, 0, 8, .check_relay = true}, \
{0x33D, 0, 5, .check_relay = true}, \
enum {
HONDA_BTN_NONE = 0,
HONDA_BTN_MAIN = 1,
HONDA_BTN_CANCEL = 2,
HONDA_BTN_SET = 3,
HONDA_BTN_RESUME = 4,
};
static int honda_brake = 0;
static bool honda_brake_switch_prev = false;
static bool honda_alt_brake_msg = false;
static bool honda_fwd_brake = false;
static bool honda_bosch_long = false;
static bool honda_bosch_radarless = false;
static bool honda_bosch_canfd = false;
static bool honda_nidec_hybrid = false;
typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
static HondaHw honda_hw = HONDA_NIDEC;
static unsigned int honda_get_pt_bus(void) {
return ((honda_hw == HONDA_BOSCH) && !honda_bosch_radarless && !honda_bosch_canfd) ? 1U : 0U;
}
static uint32_t honda_get_checksum(const CANPacket_t *msg) {
int checksum_byte = GET_LEN(msg) - 1U;
return (uint8_t)(msg->data[checksum_byte]) & 0xFU;
}
static uint32_t honda_compute_checksum(const CANPacket_t *msg) {
int len = GET_LEN(msg);
uint8_t checksum = 0U;
unsigned int addr = msg->addr;
while (addr > 0U) {
checksum += (uint8_t)(addr & 0xFU); addr >>= 4;
}
for (int j = 0; j < len; j++) {
uint8_t byte = msg->data[j];
checksum += (uint8_t)(byte & 0xFU) + (byte >> 4U);
if (j == (len - 1)) {
checksum -= (byte & 0xFU); // remove checksum in message
}
}
return (uint8_t)((8U - checksum) & 0xFU);
}
static uint8_t honda_get_counter(const CANPacket_t *msg) {
uint8_t cnt = 0U;
if (msg->addr == 0x201U) {
// Signal: PEDAL_COUNTER
cnt = msg->data[4] & 0x0FU;
} else {
int counter_byte = GET_LEN(msg) - 1U;
cnt = (msg->data[counter_byte] >> 4U) & 0x3U;
}
return cnt;
}
static int HONDA_GET_INTERCEPTOR(const CANPacket_t *msg) {
uint16_t val1 = (uint16_t)((uint16_t)msg->data[0] << 8U) | (uint16_t)msg->data[1];
uint16_t val2 = (uint16_t)((uint16_t)msg->data[2] << 8U) | (uint16_t)msg->data[3];
uint16_t avg = (uint16_t)((val1 + val2) / 2U);
return (int)avg;
}
static void honda_rx_hook(const CANPacket_t *msg) {
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || ((honda_hw == HONDA_NIDEC) && !enable_gas_interceptor);
unsigned int pt_bus = honda_get_pt_bus();
// sample speed
if (msg->addr == 0x158U) {
vehicle_moving = msg->data[0] | msg->data[1];
}
// check ACC main state
// 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
if ((msg->addr == 0x326U) || (msg->addr == 0x1A6U)) {
acc_main_on = GET_BIT(msg, ((msg->addr == 0x326U) ? 28U : 47U));
if (!acc_main_on) {
controls_allowed = false;
}
}
// enter controls when PCM enters cruise state
if (pcm_cruise && (msg->addr == 0x17CU)) {
const bool cruise_engaged = GET_BIT(msg, 38U);
// engage on rising edge
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = true;
}
// Since some Nidec cars can brake down to 0 after the PCM disengages,
// we don't disengage when the PCM does.
if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) {
controls_allowed = false;
}
cruise_engaged_prev = cruise_engaged;
}
// state machine to enter and exit controls for button enabling
// 0x1A6 for the ILX, 0x296 for the Civic Touring
if (((msg->addr == 0x1A6U) || (msg->addr == 0x296U)) && (msg->bus == pt_bus)) {
int button = (msg->data[0] & 0xE0U) >> 5;
int cruise_setting = (msg->data[(msg->addr == 0x296U) ? 0U : 5U] & 0x0CU) >> 2U;
if (cruise_setting == 1) {
aol_button_press = AOL_BUTTON_PRESSED;
} else if (cruise_setting == 0) {
aol_button_press = AOL_BUTTON_NOT_PRESSED;
} else {
}
// enter controls on the falling edge of set or resume
bool set = (button != HONDA_BTN_SET) && (cruise_button_prev == HONDA_BTN_SET);
bool res = (button != HONDA_BTN_RESUME) && (cruise_button_prev == HONDA_BTN_RESUME);
if (acc_main_on && !pcm_cruise && (set || res)) {
controls_allowed = true;
}
// exit controls once main or cancel are pressed
if ((button == HONDA_BTN_MAIN) || (button == HONDA_BTN_CANCEL)) {
controls_allowed = false;
}
cruise_button_prev = button;
}
// user brake signal on 0x17C reports applied brake from computer brake on accord
// and crv, which prevents the usual brake safety from working correctly. these
// cars have a signal on 0x1BE which only detects user's brake being applied so
// in these cases, this is used instead.
// most hondas: 0x17C
// accord, crv: 0x1BE
if (honda_alt_brake_msg) {
if (msg->addr == 0x1BEU) {
brake_pressed = GET_BIT(msg, 4U);
}
} else {
if (msg->addr == 0x17CU) {
// also if brake switch is 1 for two CAN frames, as brake pressed is delayed
const bool brake_switch = GET_BIT(msg, 32U);
brake_pressed = (GET_BIT(msg, 53U)) || (brake_switch && honda_brake_switch_prev);
honda_brake_switch_prev = brake_switch;
}
}
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
if (msg->addr == 0x201U) {
// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
// Threshold calculated from DBC gains: round(((83.3 / 0.253984064) + (83.3 / 0.126992032)) / 2) = 492
const int honda_gas_interceptor_thrsld = 492;
int gas_interceptor = HONDA_GET_INTERCEPTOR(msg);
gas_pressed = gas_interceptor > honda_gas_interceptor_thrsld;
gas_interceptor_prev = gas_interceptor;
}
if (!enable_gas_interceptor) {
if (msg->addr == 0x17CU) {
gas_pressed = msg->data[0] != 0U;
}
}
// disable stock Honda AEB in alternative experience
if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
if ((msg->bus == 2U) && (msg->addr == 0x1FAU)) {
bool honda_stock_aeb = GET_BIT(msg, 29U);
int honda_stock_brake = (msg->data[0] << 2) | (msg->data[1] >> 6);
if (honda_nidec_hybrid) {
honda_stock_brake = (msg->data[6] << 2) | (msg->data[7] >> 6);
}
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
honda_fwd_brake = false;
} else if (honda_stock_brake >= honda_brake) {
honda_fwd_brake = true;
} else {
// Leave Honda forward brake as is
}
}
}
}
static bool honda_tx_hook(const CANPacket_t *msg) {
const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
.max_accel = 200, // accel is used for brakes
.min_accel = -350,
.zero_accel = 0,
.max_gas = 2000,
.inactive_gas = -30000,
};
const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
.max_gas = 198, // 0xc6
.max_brake = 255,
.inactive_speed = 0,
};
bool tx = true;
unsigned int bus_pt = honda_get_pt_bus();
unsigned int bus_buttons = (honda_bosch_radarless) ? 2U : bus_pt; // the camera controls ACC on radarless Bosch cars
// ACC_HUD: safety check (nidec w/o pedal)
if ((msg->addr == 0x30CU) && (msg->bus == bus_pt)) {
int pcm_speed = (msg->data[0] << 8) | msg->data[1];
int pcm_gas = msg->data[2];
bool violation = false;
violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS);
violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS);
if (violation) {
tx = false;
}
}
// BRAKE: safety check (nidec)
if ((msg->addr == 0x1FAU) && (msg->bus == bus_pt)) {
honda_brake = (msg->data[0] << 2) + ((msg->data[1] >> 6) & 0x3U);
if (honda_nidec_hybrid) {
honda_brake = (msg->data[6] << 2) + ((msg->data[7] >> 6) & 0x3U);
}
if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
tx = false;
}
if (honda_fwd_brake) {
tx = false;
}
}
// BRAKE/GAS: safety check (bosch)
if ((msg->addr == 0x1DFU) && (msg->bus == bus_pt)) {
int accel = (msg->data[3] << 3) | ((msg->data[4] >> 5) & 0x7U);
accel = to_signed(accel, 11);
int gas = (msg->data[0] << 8) | msg->data[1];
gas = to_signed(gas, 16);
bool violation = false;
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
if (violation) {
tx = false;
}
}
// ACCEL: safety check (radarless)
if ((msg->addr == 0x1C8U) && (msg->bus == bus_pt)) {
int accel = (msg->data[0] << 4) | (msg->data[1] >> 4);
accel = to_signed(accel, 12);
bool violation = false;
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
if (violation) {
tx = false;
}
}
// STEER: safety check
if ((msg->addr == 0xE4U) || (msg->addr == 0x194U)) {
if (!(controls_allowed || aol_is_lateral_control_allowed_by_aol())) {
bool steer_applied = msg->data[0] | msg->data[1];
if (steer_applied) {
tx = false;
}
}
}
// Bosch supplemental control check
if (msg->addr == 0xE5U) {
if ((GET_BYTES(msg, 0, 4) != 0x10800004U) || ((GET_BYTES(msg, 4, 4) & 0x00FFFFFFU) != 0x0U)) {
tx = false;
}
}
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
// This avoids unintended engagements while still allowing resume spam
if ((msg->addr == 0x296U) && !controls_allowed && (msg->bus == bus_buttons)) {
if (((msg->data[0] >> 5) & 0x7U) != 2U) {
tx = false;
}
}
// Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if (msg->addr == 0x18DAB0F1U) {
if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
tx = false;
}
}
// GAS: safety check (interceptor)
if (msg->addr == 0x200U) {
if (longitudinal_interceptor_checks(msg)) {
tx = false;
}
}
return tx;
}
static safety_config honda_nidec_init(uint16_t param) {
// 0x1FA is dynamically forwarded based on stock AEB
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud
static CanMsg HONDA_N_TX_MSGS[] = {HONDA_N_COMMON_TX_MSGS};
static CanMsg HONDA_N_INTERCEPTOR_TX_MSGS[] = {
HONDA_N_COMMON_TX_MSGS
{0x200, 0, 6, .check_relay = false},
};
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
const uint16_t HONDA_PARAM_IQ_NIDEC_HYBRID = 1;
const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 2;
honda_hw = HONDA_NIDEC;
honda_brake = 0;
honda_brake_switch_prev = false;
honda_fwd_brake = false;
honda_alt_brake_msg = false;
honda_bosch_long = false;
honda_bosch_radarless = false;
honda_bosch_canfd = false;
safety_config ret;
bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);
honda_nidec_hybrid = GET_FLAG(current_safety_param_iq, HONDA_PARAM_IQ_NIDEC_HYBRID);
enable_gas_interceptor = GET_FLAG(current_safety_param_iq, HONDA_PARAM_GAS_INTERCEPTOR);
if (enable_nidec_alt) {
// For Nidecs with main on signal on an alternate msg (missing 0x326)
static RxCheck honda_nidec_alt_rx_checks[] = {
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
{.msg = {{0x1FA, 2, 8, 50U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // BRAKE_COMMAND
};
SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret);
} else {
// Nidec includes BRAKE_COMMAND
static RxCheck honda_nidec_common_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(0)
{.msg = {{0x1FA, 2, 8, 50U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // BRAKE_COMMAND
};
SET_RX_CHECKS(honda_nidec_common_rx_checks, ret);
}
SET_TX_MSGS(HONDA_N_TX_MSGS, ret);
if (enable_gas_interceptor) {
if (enable_nidec_alt) {
static RxCheck honda_nidec_alt_interceptor_rx_checks[] = {
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
{.msg = {{0x1FA, 2, 8, 50U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // BRAKE_COMMAND
HONDA_GAS_INTERCEPTOR_ADDR_CHECK
};
SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret);
} else {
static RxCheck honda_nidec_common_interceptor_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(0)
{.msg = {{0x1FA, 2, 8, 50U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // BRAKE_COMMAND
HONDA_GAS_INTERCEPTOR_ADDR_CHECK
};
SET_RX_CHECKS(honda_nidec_common_interceptor_rx_checks, ret);
}
SET_TX_MSGS(HONDA_N_INTERCEPTOR_TX_MSGS, ret);
}
return ret;
}
static safety_config honda_bosch_init(uint16_t param) {
static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0xE5, 0, 8, .check_relay = true}, {0x296, 1, 4, .check_relay = false},
{0x33D, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x33DA, 0, 5, .check_relay = true}, {0x33DB, 0, 8, .check_relay = true}}; // Bosch
static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5, .check_relay = true}, {0x1DF, 1, 8, .check_relay = true}, {0x1EF, 1, 8, .check_relay = false},
{0x1FA, 1, 8, .check_relay = false}, {0x30C, 1, 8, .check_relay = false}, {0x33D, 1, 5, .check_relay = true},
{0x33DA, 1, 5, .check_relay = true}, {0x33DB, 1, 8, .check_relay = true}, {0x39F, 1, 8, .check_relay = false},
{0x18DAB0F1, 1, 8, .check_relay = false}}; // Bosch w/ gas and brakes
static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}}; // Bosch radarless
static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
{0x30C, 0, 8, .check_relay = true}}; // Bosch radarless w/ gas and brakes
static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
const uint16_t HONDA_PARAM_RADARLESS = 8;
const uint16_t HONDA_PARAM_BOSCH_CANFD = 16;
// Bosch radarless has the powertrain bus on bus 0
static RxCheck honda_bosch_pt0_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(0)
};
static RxCheck honda_bosch_pt0_alt_brake_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(0)
HONDA_ALT_BRAKE_ADDR_CHECK(0)
};
// Bosch has powertrain on bus 1, verified 0x1A6 does not exist
static RxCheck honda_bosch_pt1_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(1)
};
static RxCheck honda_bosch_pt1_alt_brake_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(1)
HONDA_ALT_BRAKE_ADDR_CHECK(1)
};
honda_hw = HONDA_BOSCH;
honda_brake_switch_prev = false;
honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
honda_bosch_canfd = GET_FLAG(param, HONDA_PARAM_BOSCH_CANFD);
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
// radar disabled so allow gas/brakes
#ifdef ALLOW_DEBUG
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
#endif
safety_config ret;
if (honda_bosch_radarless || honda_bosch_canfd) {
if (honda_alt_brake_msg) {
SET_RX_CHECKS(honda_bosch_pt0_alt_brake_rx_checks, ret);
} else {
SET_RX_CHECKS(honda_bosch_pt0_rx_checks, ret);
}
} else {
if (honda_alt_brake_msg) {
SET_RX_CHECKS(honda_bosch_pt1_alt_brake_rx_checks, ret);
} else {
SET_RX_CHECKS(honda_bosch_pt1_rx_checks, ret);
}
}
if (honda_bosch_radarless) {
if (honda_bosch_long) {
SET_TX_MSGS(HONDA_RADARLESS_LONG_TX_MSGS, ret);
} else {
SET_TX_MSGS(HONDA_RADARLESS_TX_MSGS, ret);
}
} else if (honda_bosch_canfd) {
SET_TX_MSGS(HONDA_CANFD_TX_MSGS, ret);
} else {
if (honda_bosch_long) {
SET_TX_MSGS(HONDA_BOSCH_LONG_TX_MSGS, ret);
} else {
SET_TX_MSGS(HONDA_BOSCH_TX_MSGS, ret);
}
}
return ret;
}
static bool honda_nidec_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
if (bus_num == 2) {
// forwarded if stock AEB is active
bool is_brake_msg = addr == 0x1FA;
block_msg = is_brake_msg && !honda_fwd_brake;
}
return block_msg;
}
const safety_hooks honda_nidec_hooks = {
.init = honda_nidec_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.fwd = honda_nidec_fwd_hook,
.get_counter = honda_get_counter,
.get_checksum = honda_get_checksum,
.compute_checksum = honda_compute_checksum,
};
const safety_hooks honda_bosch_hooks = {
.init = honda_bosch_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.get_counter = honda_get_counter,
.get_checksum = honda_get_checksum,
.compute_checksum = honda_compute_checksum,
};

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iqdbc_repo/iqdbc/safety/modes/hyundai.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/hyundai_common.h"
#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
.max_torque = (steer), \
.max_rate_up = (rate_up), \
.max_rate_down = (rate_down), \
.max_rt_delta = 112, \
.driver_torque_allowance = 50, \
.driver_torque_multiplier = 2, \
.type = TorqueDriverLimited, \
/* the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, */ \
/* we allow setting CF_Lkas_ActToi bit to 0 while maintaining the requested torque value for two consecutive frames */ \
.min_valid_request_frames = 89, \
.max_invalid_request_frames = 2, \
.min_valid_request_rt_interval = 810000, /* 810ms; a ~10% buffer on cutting every 90 frames */ \
.has_steer_req_tolerance = true, \
}
extern const LongitudinalLimits HYUNDAI_LONG_LIMITS;
const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
.max_accel = 250, // 1/100 m/s2
.min_accel = -400, // 1/100 m/s2
};
static const CanMsg HYUNDAI_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 0, 4}, // CLU11 Bus 0
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
{593, 2, 8}, // MDPS12, Bus 2
{1056, 0, 8}, // SCC11, Bus 0
{1057, 0, 8}, // SCC12, Bus 0
{1290, 0, 8}, // SCC13, Bus 0
{905, 0, 8}, // SCC14, Bus 0
{909, 0, 8}, // FCA11 Bus 0
{1155, 0, 8}, // FCA12 Bus 0
{1186, 0, 8}, // FRT_RADAR11, Bus 0
{1265, 2, 4}, // CLU11, Bus 0, 2
{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable) // 2000
{0x7b1, 0, 8},
};
#define HYUNDAI_COMMON_RX_CHECKS(legacy) \
{.msg = {{0x260, 0, 8, .max_counter = 3U, .frequency = 100U}, \
{0x371, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, \
{0x91, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}}}, \
{.msg = {{0x386, 0, 8, .ignore_checksum = (legacy), .ignore_counter = (legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0x394, 0, 8, .ignore_checksum = (legacy), .ignore_counter = (legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \
#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \
{.msg = {{0x421, (scc_bus), 8, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \
static bool hyundai_legacy = false;
static bool hyundai_cruise_buttons_alt = false;
static uint8_t hyundai_get_counter(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t cnt = 0;
if (addr == 0x260) {
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
} else if (addr == 0x386) {
cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
} else if (addr == 0x394) {
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
} else if (addr == 0x421) {
cnt = GET_BYTE(to_push, 7) & 0xFU;
} else if (addr == 0x4F1) {
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
} else {
}
return cnt;
}
static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t chksum = 0;
if (addr == 0x260) {
chksum = GET_BYTE(to_push, 7) & 0xFU;
} else if (addr == 0x386) {
chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
} else if (addr == 0x394) {
chksum = GET_BYTE(to_push, 6) & 0xFU;
} else if (addr == 0x421) {
chksum = GET_BYTE(to_push, 7) >> 4;
} else {
}
return chksum;
}
static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t chksum = 0;
if (addr == 0x386) {
// count the bits
for (int i = 0; i < 8; i++) {
uint8_t b = GET_BYTE(to_push, i);
for (int j = 0; j < 8; j++) {
uint8_t bit = 0;
// exclude checksum and counter
if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) {
bit = (b >> (uint8_t)j) & 1U;
}
chksum += bit;
}
}
chksum = (chksum ^ 9U) & 15U;
} else {
// sum of nibbles
for (int i = 0; i < 8; i++) {
if ((addr == 0x394) && (i == 7)) {
continue; // exclude
}
uint8_t b = GET_BYTE(to_push, i);
if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) {
b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum
}
chksum += (b % 16U) + (b / 16U);
}
chksum = (16U - (chksum % 16U)) % 16U;
}
return chksum;
}
static void hyundai_rx_hook(const CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
// SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
if (addr == 0x421) {
if (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc)) {
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U;
hyundai_common_cruise_state_check(cruise_engaged);
}
}
if (bus == 0) {
if (addr == 0x251) {
int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}
// ACC steering wheel buttons
if (addr == 1007) hyundai_cruise_buttons_alt = true; // CASPER_EV: 1007
if (addr == 1007) {
int cruise_button = (GET_BYTE(to_push, 7) >> 4) & 0x07U;
bool main_button = GET_BIT(to_push, 58U);
hyundai_common_cruise_buttons_check(cruise_button, main_button);
}
else if (addr == 0x4F1 && !hyundai_cruise_buttons_alt) {
int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
bool main_button = GET_BIT(to_push, 3U);
hyundai_common_cruise_buttons_check(cruise_button, main_button);
}
// gas press, different for EV, hybrid, and ICE models
if ((addr == 0x371) && hyundai_ev_gas_signal) {
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
} else if ((addr == 0x371) && hyundai_hybrid_gas_signal) {
gas_pressed = GET_BYTE(to_push, 7) != 0U;
} else if ((addr == 0x91) && hyundai_fcev_gas_signal) {
gas_pressed = GET_BYTE(to_push, 6) != 0U;
} else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
} else {
}
// sample wheel speed, averaging opposite corners
if (addr == 0x386) {
uint32_t front_left_speed = GET_BYTES(to_push, 0, 2) & 0x3FFFU;
uint32_t rear_right_speed = GET_BYTES(to_push, 6, 2) & 0x3FFFU;
vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
}
if (addr == 0x394) {
brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U;
}
bool stock_ecu_detected = (addr == 0x340);
// If openpilot is controlling longitudinal we need to ensure the radar is turned off
// Enforce by checking we don't see SCC12
if (hyundai_longitudinal && (addr == 0x421)) {
stock_ecu_detected = true;
}
generic_rx_checks();
stock_ecu_check(stock_ecu_detected);
}
}
uint32_t last_ts_lkas11_from_op = 0;
uint32_t last_ts_scc12_from_op = 0;
uint32_t last_ts_scc13_from_op = 0;
uint32_t last_ts_mdps12_from_op = 0;
uint32_t last_ts_fca11_from_op = 0;
uint32_t last_ts_fca12_from_op = 0;
uint32_t last_ts_lfahda_mfc_from_op = 0;
static bool hyundai_tx_hook(const CANPacket_t *to_send) {
const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(512, 10, 10);
const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(512, 10, 10);
const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
bool tx = true;
int addr = GET_ADDR(to_send);
// FCA11: Block any potential actuation
if (addr == 0x38D) {
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
bool FCA_CmdAct = GET_BIT(to_send, 20U);
bool CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
tx = false;
}
}
// ACCEL: safety check
if (addr == 0x421) {
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
int aeb_decel_cmd = GET_BYTE(to_send, 2);
bool aeb_req = GET_BIT(to_send, 54U);
bool violation = false;
violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
violation |= (aeb_decel_cmd != 0);
violation |= aeb_req;
if (violation) {
tx = false;
}
}
// LKA STEER: safety check
if (addr == 0x340) {
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U;
bool steer_req = GET_BIT(to_send, 27U);
const TorqueSteeringLimits limits = hyundai_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 :
hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
tx = false;
}
}
// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 0x7D0) {
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
tx = false;
}
}
// BUTTONS: used for resume spamming and cruise cancellation
if ((addr == 0x4F1) && !hyundai_longitudinal) {
int button = GET_BYTE(to_send, 0) & 0x7U;
bool allowed_resume = (button == 1) && controls_allowed;
bool allowed_cancel = (button == 4) && (cruise_engaged_prev || controls_allowed);
if (!(allowed_resume || allowed_cancel)) {
tx = false;
}
}
uint32_t now = microsecond_timer_get();
if(addr == 832)
last_ts_lkas11_from_op = (tx == 0 ? 0 : now);
else if(addr == 1057)
last_ts_scc12_from_op = (tx == 0 ? 0 : now);
else if(addr == 593)
last_ts_mdps12_from_op = (tx == 0 ? 0 : now);
else if (addr == 909)
last_ts_fca11_from_op = (tx == 0 ? 0 : now);
else if (addr == 1155)
last_ts_fca12_from_op = (tx == 0 ? 0 : now);
else if(addr == 1290)
last_ts_scc13_from_op = (tx == 0 ? 0 : now);
else if(addr == 0x485)
last_ts_lfahda_mfc_from_op = (tx == 0 ? 0 : now);
return tx;
}
static bool hyundai_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1;
uint32_t now = microsecond_timer_get();
// forward cam to ccan and viceversa, except lkas cmd
if (bus_num == 0) {
bus_fwd = 2;
if(addr == 593) {
if(now - last_ts_mdps12_from_op < 200000) {
bus_fwd = -1;
}
}
}
if (bus_num == 2) {
bool is_lkas_msg = addr == 832;
bool is_lfahda_msg = addr == 1157;
bool is_scc_msg = addr == 1056 || addr == 1057 || addr == 905;
bool is_scc13_msg = addr == 1290;
bool is_fca11_msg = addr == 909;
bool is_fca12_msg = addr == 1155;
bool block_msg = is_lkas_msg || is_lfahda_msg || is_scc_msg || is_scc13_msg || is_fca11_msg || is_fca12_msg;
if (!block_msg) {
bus_fwd = 0;
}
else {
if(is_lkas_msg) {
if(now - last_ts_lkas11_from_op >= 200000) {
bus_fwd = 0;
}
}
else if(is_lfahda_msg) {
if (now - last_ts_lfahda_mfc_from_op >= 200000)
bus_fwd = 0;
}
else if (is_scc_msg) {
if (now - last_ts_scc12_from_op >= 400000)
bus_fwd = 0;
}
else if (is_scc13_msg) {
if (now - last_ts_scc13_from_op >= 800000)
bus_fwd = 0;
}
else if (is_fca11_msg) {
if (now - last_ts_fca11_from_op >= 400000)
bus_fwd = 0;
}
else if (is_fca12_msg) {
if (now - last_ts_fca12_from_op >= 400000)
bus_fwd = 0;
}
}
}
return bus_fwd == -1;
}
/* case
- legacy(on/off) + camera_scc(allways longitudinal on) + longitudinal(scc off)
*/
static safety_config hyundai_init_carrot(bool legacy_car) {
static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 0, 4}, // CLU11 Bus 0
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
{0x251, 2, 8}, // MDPS12 Bus 2
{0x420, 0, 8}, // SCC11 Bus 0
{0x421, 0, 8}, // SCC12 Bus 0
{0x50A, 0, 8}, // SCC13 Bus 0
{0x389, 0, 8}, // SCC14 Bus 0
{0x4A2, 0, 2}, // FRT_RADAR11 Bus 0
{0x38D, 0, 8}, // FCA11 Bus 0
{0x483, 0, 8}, // FCA12 Bus 0
{0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable)
};
static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
{0x340, 0, 8}, // LKAS11 Bus 0
{0x4F1, 2, 4}, // CLU11 Bus 2
{0x485, 0, 8}, // LFAHDA_MFC Bus 0
{593, 2, 8}, // MDPS12, Bus 2
{1056, 0, 8}, // SCC11, Bus 0
{1057, 0, 8}, // SCC12, Bus 0
{1290, 0, 8}, // SCC13, Bus 0
{905, 0, 8}, // SCC14, Bus 0
{909, 0, 8}, // FCA11 Bus 0
{1155, 0, 8}, // FCA12 Bus 0
{1186, 0, 8}, // FRT_RADAR11, Bus 0
{0x4F1, 0, 4}, // CLU11 Bus 0
};
safety_config ret;
if (hyundai_camera_scc) {
static RxCheck hyundai_cam_scc_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(2)
};
static RxCheck hyundai_cam_scc_rx_checks_legacy[] = {
HYUNDAI_COMMON_RX_CHECKS(true)
HYUNDAI_SCC12_ADDR_CHECK(2)
};
if(legacy_car) ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks_legacy, HYUNDAI_CAMERA_SCC_TX_MSGS);
else ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
}
else if (hyundai_longitudinal) {
static RxCheck hyundai_long_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
{.msg = {{0x4F1, 0, 4, .ignore_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}
},
};
static RxCheck hyundai_long_rx_checks_legacy[] = {
HYUNDAI_COMMON_RX_CHECKS(true)
// Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
{.msg = {{0x4F1, 0, 4, .ignore_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}
},
};
if(legacy_car) ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks_legacy, HYUNDAI_LONG_TX_MSGS);
else ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS);
}
else {
static RxCheck hyundai_rx_checks[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(0)
};
static RxCheck hyundai_rx_checks_legacy[] = {
HYUNDAI_COMMON_RX_CHECKS(true)
//HYUNDAI_SCC12_ADDR_CHECK(0)
};
if(legacy_car) ret = BUILD_SAFETY_CFG(hyundai_rx_checks_legacy, HYUNDAI_TX_MSGS);
else ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS);
}
return ret;
}
static safety_config hyundai_init(uint16_t param) {
hyundai_common_init(param);
hyundai_legacy = false;
return hyundai_init_carrot(hyundai_legacy);
}
static safety_config hyundai_legacy_init(uint16_t param) {
hyundai_common_init(param);
hyundai_legacy = true;
return hyundai_init_carrot(hyundai_legacy);
}
const safety_hooks hyundai_hooks = {
.init = hyundai_init,
.rx = hyundai_rx_hook,
.tx = hyundai_tx_hook,
.fwd = hyundai_fwd_hook,
.get_counter = hyundai_get_counter,
.get_checksum = hyundai_get_checksum,
.compute_checksum = hyundai_compute_checksum,
};
const safety_hooks hyundai_legacy_hooks = {
.init = hyundai_legacy_init,
.rx = hyundai_rx_hook,
.tx = hyundai_tx_hook,
.fwd = hyundai_fwd_hook,
.get_counter = hyundai_get_counter,
.get_checksum = hyundai_get_checksum,
.compute_checksum = hyundai_compute_checksum,
};

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iqdbc_repo/iqdbc/safety/modes/hyundai_canfd.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/hyundai_common.h"
#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
#pragma GCC diagnostic ignored "-Wunused-function"
const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
.max_torque = 512, //270,
.max_rt_delta = 112,
.max_rate_up = 2,
.max_rate_down = 3,
.driver_torque_allowance = 250,
.driver_torque_multiplier = 2,
.type = TorqueDriverLimited,
// the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
// we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
.min_valid_request_frames = 89,
.max_invalid_request_frames = 2,
.min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames
.has_steer_req_tolerance = true,
};
const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x2A4, 0, 24}, // CAM_0x2A4
};
const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
{0x110, 0, 32}, // LKAS_ALT
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x362, 0, 32}, // CAM_0x362
{0x1AA, 1, 16}, // CRUISE_ALT_BUTTONS , carrot
};
const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
{0x50, 0, 16}, // LKAS
{0x1CF, 0, 8}, // CRUISE_BUTTON
{0x1CF, 1, 8}, // CRUISE_BUTTON
{0x1CF, 2, 8}, // CRUISE_BUTTON
{0x1AA, 0, 16}, // CRUISE_ALT_BUTTONS , carrot
{0x1AA, 1, 16}, // CRUISE_ALT_BUTTONS , carrot
{0x1AA, 2, 16}, // CRUISE_ALT_BUTTONS , carrot
{0x2A4, 0, 24}, // CAM_0x2A4
{0x51, 0, 32}, // ADRV_0x51
{0x730, 1, 8}, // tester present for ADAS ECU disable
{0x12A, 1, 16}, // LFA
{0x160, 1, 16}, // ADRV_0x160
{0x1E0, 1, 16}, // LFAHDA_CLUSTER
{0x1A0, 1, 32}, // CRUISE_INFO
{0x1EA, 1, 32}, // ADRV_0x1ea
{0x200, 1, 8}, // ADRV_0x200
{0x345, 1, 8}, // ADRV_0x345
{0x1DA, 1, 32}, // ADRV_0x1da
{0x12A, 0, 16}, // LFA
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
{0x160, 0, 16}, // ADRV_0x160
{0x1EA, 0, 32}, // ADRV_0x1ea
{0x200, 0, 8}, // ADRV_0x200
{0x1A0, 0, 32}, // CRUISE_INFO
{0x345, 0, 8}, // ADRV_0x345
{0x1DA, 0, 32}, // ADRV_0x1da
{0x362, 0, 32}, // CAM_0x362
{0x362, 1, 32}, // CAM_0x362
{0x2a4, 1, 24}, // CAM_0x2a4
{0x110, 0, 32}, // LKAS_ALT (272)
{0x110, 1, 32}, // LKAS_ALT (272)
{0x50, 1, 16}, //
{0x51, 1, 32}, //
{353, 0, 32}, // ADRV_353
{354, 0, 32}, // CORNER_RADAR_HIGHWAY
{512, 0, 8}, // ADRV_0x200
{1187, 2, 8}, // 4A3
{1204, 2, 8}, // 4B4
{203, 0, 24}, // CB
{373, 2, 24}, // TCS(0x175)
{506, 2, 32}, // CLUSTER_SPEED_LIMIT
{234, 2, 24}, // MDPS
{687, 2, 8}, // STEER_TOUCH_2AF
{0x4BE, 2, 8}, // NEW_MSG_4BE (may be corner radar enabler x)
{0x4B9, 2, 8}, // NEW_MSG_4B9 (may be corner radar enabler)
};
const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
{0x12A, 0, 16}, // LFA
{0x1A0, 0, 32}, // CRUISE_INFO
{0x1CF, 0, 8}, // CRUISE_BUTTON
{0x1CF, 2, 8}, // CRUISE_BUTTON
{0x1E0, 0, 16}, // LFAHDA_CLUSTER
{0x160, 0, 16}, // ADRV_0x160
{0x7D0, 0, 8}, // tester present for radar ECU disable
{0x1AA, 2, 16}, // CRUISE_ALT_BUTTONS , carrot
{203, 0, 24}, // CB
{373, 2, 24}, // TCS(0x175)
{353, 0, 32}, // ADRV_353
{354, 0, 32}, // CORNER_RADAR_HIGHWAY
{512, 0, 8}, // ADRV_0x200
{1187, 2, 8}, // 4A3
{1204, 2, 8}, // 4B4
{373, 2, 24}, // TCS(0x175)
{234, 2, 24}, // MDPS
{687, 2, 8}, // STEER_TOUCH_2AF
};
// *** Addresses checked in rx hook ***
// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \
{.msg = {{0x35, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U}, \
{0x100, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U}, \
{0x105, (pt_bus), 32, .max_counter = 0xffU, .frequency = 100U}}}, \
{.msg = {{0x175, (pt_bus), 24, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{0xa0, (pt_bus), 24, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
{.msg = {{0xea, (pt_bus), 24, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \
#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1cf, (pt_bus), 8, .ignore_checksum = true, .max_counter = 0xfU, .frequency = 50U}, { 0 }, { 0 }}}, \
#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \
{.msg = {{0x1aa, (pt_bus), 16, .ignore_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
// SCC_CONTROL (from ADAS unit or camera)
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \
{.msg = {{0x1a0, (scc_bus), 32, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \
//static bool hyundai_canfd_alt_buttons = false;
//static bool hyundai_canfd_hda2_alt_steering = false;
// *** Non-HDA2 checks ***
// Camera sends SCC messages on HDA1.
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
RxCheck hyundai_canfd_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
// Longitudinal checks for HDA1
RxCheck hyundai_canfd_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
};
RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
};
// Radar sends SCC messages on these cars instead of camera
RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
// *** HDA2 checks ***
// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
// Does not use the alt buttons message
RxCheck hyundai_canfd_hda2_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1) // TODO: carrot: canival no 0x1cf
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
RxCheck hyundai_canfd_hda2_rx_checks_scc2[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0) // TODO: carrot: canival no 0x1cf
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
RxCheck hyundai_canfd_hda2_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(1)
HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
RxCheck hyundai_canfd_hda2_alt_buttons_rx_checks_scc2[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1) // TODO: carrot: canival no 0x1cf
};
RxCheck hyundai_canfd_hda2_long_rx_checks_scc2[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
};
RxCheck hyundai_canfd_hda2_long_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(1)
};
RxCheck hyundai_canfd_hda2_long_alt_buttons_rx_checks_scc2[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
};
const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
bool hyundai_canfd_alt_buttons = false;
bool hyundai_canfd_hda2_alt_steering = false;
bool hyundai_canfd_buffered_fwd = false;
int hyundai_canfd_hda2_get_lkas_addr(void) {
return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
}
static uint8_t hyundai_canfd_get_counter(const CANPacket_t* to_push) {
uint8_t ret = 0;
if (GET_LEN(to_push) == 8U) {
ret = GET_BYTE(to_push, 1) >> 4;
}
else {
ret = GET_BYTE(to_push, 2);
}
return ret;
}
static uint32_t hyundai_canfd_get_checksum(const CANPacket_t* to_push) {
uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8);
return chksum;
}
typedef struct {
int addr;
int bus; // forwarding block <20><><EFBFBD> tx bus: 0 or 2
int hz;
uint32_t timeout_us;
uint32_t last_tx_us;
} CanfdTxState;
// forwarding block<63><6B>: bus 0,2<><32> <20><><EFBFBD>
CanfdTxState canfd_tx_states[] = {
{0x50, 0, 100, 0U, 0U}, // 80: LKAS
{0x51, 0, 100, 0U, 0U}, // 81: ADRV_0x51
{0x110, 0, 100, 0U, 0U}, // 272: LKAS_ALT
{0x12A, 0, 100, 0U, 0U}, // 298: LFA
{0x160, 0, 50, 0U, 0U}, // 352: ADRV_0x160
{0x161, 0, 20, 0U, 0U}, // 353: ADRV_0x161
{0x162, 0, 20, 0U, 0U}, // 354: CCNC_0x162
{0x1A0, 0, 50, 0U, 0U}, // 416: SCC_CONTROL
{0x1DA, 0, 1, 0U, 0U}, // 474: ADRV_0x1da
{0x1E0, 0, 20, 0U, 0U}, // 480: LFAHDA_CLUSTER
{0x1EA, 0, 20, 0U, 0U}, // 490: ADRV_0x1ea
{0x200, 0, 20, 0U, 0U}, // 512: ADRV_0x200
{0x2A4, 0, 20, 0U, 0U}, // 676: CAM_0x2a4
{0x345, 0, 5, 0U, 0U}, // 837: ADRV_0x345
{0x362, 0, 10, 0U, 0U}, // 866: CAM_0x362
{0x0CB, 0, 100, 0U, 0U}, // 203: LFA_ALT
{0x175, 2, 50, 0U, 0U}, // 373: TCS
{0x1AA, 2, 50, 0U, 0U}, // 426: CRUISE_ALT_BUTTONS
{0x1CF, 2, 50, 0U, 0U}, // 463: CRUISE_BUTTON
{0x1FA, 2, 10, 0U, 0U}, // 506: CLUSTER_SPEED_LIMIT
{0x0EA, 2, 100, 0U, 0U}, // 234: MDPS
{0x2AF, 2, 10, 0U, 0U}, // 687: STEER_TOUCH_2AF
{0x4A3, 2, 5, 0U, 0U}, // 1187: HDA_INFO_4A3
{0x4B4, 2, 10, 0U, 0U}, // 1204: NEW_MSG_4B4
{0x4BE, 2, 10, 0U, 0U}, // 1214: NEW_MSG_4BE
{0x4B9, 2, 10, 0U, 0U}, // 1209: NEW_MSG_4B9
{0, 0, 0, 0U, 0U},
};
static CanfdTxState* find_canfd_tx_state(int bus, int addr) {
for (int i = 0; canfd_tx_states[i].addr > 0; i++) {
if ((canfd_tx_states[i].addr == addr) && (canfd_tx_states[i].bus == bus)) {
return &canfd_tx_states[i];
}
}
return NULL;
}
static void hyundai_canfd_set_counter(CANPacket_t* to_push, uint8_t counter) {
if (GET_LEN(to_push) == 8U) {
to_push->data[1] = (to_push->data[1] & 0x0FU) | ((counter & 0x0FU) << 4);
}
else {
to_push->data[2] = counter;
}
}
static void hyundai_canfd_set_checksum(CANPacket_t* to_push, uint16_t checksum) {
to_push->data[0] = (uint8_t)(checksum & 0xFFU);
to_push->data[1] = (uint8_t)((checksum >> 8U) & 0xFFU);
}
static void hyundai_canfd_update_checksum(CANPacket_t* to_push) {
to_push->data[0] = 0U;
to_push->data[1] = 0U;
uint32_t checksum = hyundai_common_canfd_compute_checksum(to_push);
hyundai_canfd_set_checksum(to_push, (uint16_t)checksum);
}
static void canfd_apply_counter_and_update_checksum(CANPacket_t* dst, uint8_t counter) {
hyundai_canfd_set_counter(dst, counter);
hyundai_canfd_update_checksum(dst);
}
static void canfd_record_tx_time(int bus, int addr, bool tx) {
CanfdTxState* st = find_canfd_tx_state(bus, addr);
if (st != NULL) {
st->last_tx_us = tx ? microsecond_timer_get() : 0U;
}
}
static bool canfd_should_block_fwd(int tx_bus, int addr, uint32_t now) {
CanfdTxState* st = find_canfd_tx_state(tx_bus, addr);
if (st == NULL) {
return false;
}
return (now - st->last_tx_us) < st->timeout_us;
}
#define CANFD_BFWD_MAX_QUEUE 2
#define CANFD_BFWD_REUSE_MAX 2
typedef struct {
int addr;
int dst_bus;
bool enabled;
bool started;
uint8_t head;
uint8_t tail;
uint8_t count;
uint8_t reuse_left;
bool has_last_pkt;
CANPacket_t last_pkt;
CANPacket_t q[CANFD_BFWD_MAX_QUEUE];
} CanfdBufferedFwd;
CanfdBufferedFwd canfd_bfwd[] = {
{.addr = 0x1A0, .dst_bus = 0, .enabled = true }, // SCC_CONTROL
{.addr = 0x12A, .dst_bus = 0, .enabled = true }, // LFA
{.addr = 0x0CB, .dst_bus = 0, .enabled = true }, // LFA_ALT
{.addr = 0x0EA, .dst_bus = 2, .enabled = true }, // MDPS
{.addr = 0x1AA, .dst_bus = 2, .enabled = true }, // CRUISE_ALT_BUTTONS
// {.addr = 0x1CF, .dst_bus = 2, .enabled = true }, // CRUISE_BUTTON
{.addr = 0x175, .dst_bus = 2, .enabled = true }, // TCS
{ 0 },
};
static void canfd_copy_packet(CANPacket_t* dst, const CANPacket_t* src) {
dst->fd = src->fd;
dst->returned = 0U;
dst->rejected = 0U;
dst->extended = src->extended;
dst->addr = src->addr;
dst->bus = src->bus;
dst->data_len_code = src->data_len_code;
for (uint8_t i = 0U; i < GET_LEN(src); i++) {
dst->data[i] = src->data[i];
}
}
static CanfdBufferedFwd* canfd_bfwd_find(int addr, int dst_bus) {
for (int i = 0; canfd_bfwd[i].addr > 0; i++) {
if (canfd_bfwd[i].enabled &&
(canfd_bfwd[i].addr == addr) &&
(canfd_bfwd[i].dst_bus == dst_bus)) {
return &canfd_bfwd[i];
}
}
return NULL;
}
static void canfd_bfwd_reset(CanfdBufferedFwd* st) {
st->started = false;
st->head = 0U;
st->tail = 0U;
st->count = 0U;
st->reuse_left = 0U;
st->has_last_pkt = false;
st->last_pkt = (CANPacket_t){0};
}
static void canfd_bfwd_push(CanfdBufferedFwd* st, const CANPacket_t* pkt) {
if ((st == NULL) || !st->enabled) return;
if (GET_BUS(pkt) != st->dst_bus) return;
// queue<75><65> <20>̹<EFBFBD> 2<><32><EFBFBD><EFBFBD> <20>̹<EFBFBD> <20><> packet<65><74> <20><><EFBFBD><EFBFBD>
if (st->count >= CANFD_BFWD_MAX_QUEUE) {
return;
}
canfd_copy_packet(&st->q[st->tail], pkt);
st->tail = (st->tail + 1U) % CANFD_BFWD_MAX_QUEUE;
st->count++;
st->started = true;
}
static bool canfd_bfwd_pop(CanfdBufferedFwd* st, CANPacket_t* pkt) {
if ((st == NULL) || !st->enabled) {
return false;
}
if (!st->started || (st->count == 0U)) {
return false;
}
canfd_copy_packet(pkt, &st->q[st->head]);
st->head = (st->head + 1U) % CANFD_BFWD_MAX_QUEUE;
st->count--;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> packet <20><><EFBFBD><EFBFBD>
canfd_copy_packet(&st->last_pkt, pkt);
st->has_last_pkt = true;
st->reuse_left = CANFD_BFWD_REUSE_MAX;
if (st->count == 0U) {
st->started = false;
}
return true;
}
static bool canfd_bfwd_reuse_last(CanfdBufferedFwd* st, CANPacket_t* pkt) {
if ((st == NULL) || !st->enabled) {
return false;
}
if (!st->has_last_pkt || (st->reuse_left == 0U)) {
return false;
}
canfd_copy_packet(pkt, &st->last_pkt);
st->reuse_left--;
return true;
}
static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;
if (hyundai_camera_scc) pt_bus = 0;
if (bus == pt_bus) {
// driver torque
if (addr == 0xea) {
int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
torque_driver_new -= 4095;
update_sample(&torque_driver, torque_driver_new);
}
// cruise buttons
const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
if (addr == button_addr) {
bool main_button = false;
int cruise_button = 0;
if (addr == 0x1cf) {
cruise_button = GET_BYTE(to_push, 2) & 0x7U;
main_button = GET_BIT(to_push, 19U);
} else {
cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
main_button = GET_BIT(to_push, 34U);
}
hyundai_common_cruise_buttons_check(cruise_button, main_button);
}
// gas press, different for EV, hybrid, and ICE models
if ((addr == 0x35) && hyundai_ev_gas_signal) {
gas_pressed = GET_BYTE(to_push, 5) != 0U;
} else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U);
} else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
gas_pressed = GET_BIT(to_push, 176U);
} else {
}
// brake press
if (addr == 0x175) {
brake_pressed = GET_BIT(to_push, 81U);
}
// vehicle moving
if (addr == 0xa0) {
uint32_t fl = (GET_BYTES(to_push, 8, 2)) & 0x3FFFU;
uint32_t fr = (GET_BYTES(to_push, 10, 2)) & 0x3FFFU;
uint32_t rl = (GET_BYTES(to_push, 12, 2)) & 0x3FFFU;
uint32_t rr = (GET_BYTES(to_push, 14, 2)) & 0x3FFFU;
vehicle_moving = (fl > HYUNDAI_STANDSTILL_THRSLD) || (fr > HYUNDAI_STANDSTILL_THRSLD) ||
(rl > HYUNDAI_STANDSTILL_THRSLD) || (rr > HYUNDAI_STANDSTILL_THRSLD);
// average of all 4 wheel speeds. Conversion: raw * 0.03125 / 3.6 = m/s
UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.03125 / 3.6);
}
}
if (bus == scc_bus) {
// cruise state
if ((addr == 0x1a0) && !hyundai_longitudinal) {
// 1=enabled, 2=driver override
int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U);
bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
hyundai_common_cruise_state_check(cruise_engaged);
}
}
const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
if (hyundai_longitudinal) {
// on HDA2, ensure ADRV ECU is still knocked out
// on others, ensure accel msg is blocked from camera
const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
}
generic_rx_checks();
stock_ecu_check(stock_ecu_detected);
}
static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send_const) {
CANPacket_t* to_send = (CANPacket_t*)to_send_const;
const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
.max_torque = 512,
.max_rt_delta = 112,
.max_rate_up = 10,
.max_rate_down = 10,
.driver_torque_allowance = 250,
.driver_torque_multiplier = 2,
.type = TorqueDriverLimited,
// the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
// we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
.min_valid_request_frames = 89,
.max_invalid_request_frames = 2,
.min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames
.has_steer_req_tolerance = true,
};
bool tx = true;
int addr = GET_ADDR(to_send);
bool violation = false;
// steering
const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
if (addr == steer_addr) {
int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
bool steer_req = GET_BIT(to_send, 52U);
if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
tx = false;
}
}
// cruise buttons check
if (addr == 0x1cf) {
int button = GET_BYTE(to_send, 2) & 0x7U;
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
bool is_resume = (button == HYUNDAI_BTN_RESUME);
bool allowed = (is_cancel && (cruise_engaged_prev || controls_allowed)) || (is_resume && controls_allowed);
if (!allowed) {
tx = false;
}
}
// UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
if ((addr == 0x730) && hyundai_canfd_hda2) {
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
tx = false;
}
}
// ACCEL: safety check
if (addr == 0x1a0) {
int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U;
int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U;
if (hyundai_longitudinal) {
violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
}
else {
// only used to cancel on here
const int acc_mode = (GET_BYTE(to_send, 8) >> 4) & 0x7U;
if (acc_mode != 4) {
violation = true;
}
if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
violation = true;
}
}
}
if (violation) {
tx = false;
}
else if (hyundai_canfd_buffered_fwd) {
CanfdBufferedFwd* bfwd = canfd_bfwd_find(addr, GET_BUS(to_send));
if (bfwd != NULL) {
canfd_bfwd_push(bfwd, to_send);
//tx = false;
return true;
}
}
canfd_record_tx_time(GET_BUS(to_send), addr, tx);
return tx;
}
static bool hyundai_canfd_fwd_hook(int bus_num, int addr) {
uint32_t now = microsecond_timer_get();
if (bus_num == 0) {
if (canfd_should_block_fwd(2, addr, now)) {
return true;
}
if (addr == 0x4B9) {
return true;
}
return false;
}
return (bus_num != 2) || canfd_should_block_fwd(0, addr, now);
}
static safety_config hyundai_canfd_init(uint16_t param) {
for (int i = 0; canfd_tx_states[i].addr > 0; i++) {
canfd_tx_states[i].timeout_us = (uint32_t)(1000000.0 / canfd_tx_states[i].hz) + 20000U;
canfd_tx_states[i].last_tx_us = 0U;
}
for (int i = 0; canfd_bfwd[i].addr > 0; i++) {
canfd_bfwd_reset(&canfd_bfwd[i]);
}
hyundai_common_init(param);
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);
hyundai_canfd_buffered_fwd = hyundai_camera_scc;
// no long for radar-SCC HDA1 yet
//if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
// hyundai_longitudinal = false;
//}
safety_config ret;
if (hyundai_longitudinal) {
if (hyundai_canfd_hda2) {
if (hyundai_canfd_alt_buttons) { // carrot : for CANIVAL 4TH HDA2
if (hyundai_camera_scc) ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_alt_buttons_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
else ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
}
else {
if (hyundai_camera_scc) ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
else ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
}
} else {
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
}
} else {
if (hyundai_canfd_hda2 && hyundai_camera_scc) {
if (hyundai_canfd_alt_buttons) { // carrot : for CANIVAL 4TH HDA2
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_alt_buttons_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_alt_buttons_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
}
else {
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks_scc2, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
}
}else if (hyundai_canfd_hda2) {
if (hyundai_canfd_alt_buttons) { // carrot : for CANIVAL 4TH HDA2
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
}
else {
ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
}
} else if (!hyundai_camera_scc) {
static RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
// Radar sends SCC messages on these cars instead of camera
static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
} else {
// *** Non-HDA2 checks ***
static RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
// Camera sends SCC messages on HDA1.
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
static RxCheck hyundai_canfd_rx_checks[] = {
HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
}
}
return ret;
}
const safety_hooks hyundai_canfd_hooks = {
.init = hyundai_canfd_init,
.rx = hyundai_canfd_rx_hook,
.tx = hyundai_canfd_tx_hook,
.fwd = hyundai_canfd_fwd_hook,
.get_counter = hyundai_canfd_get_counter,
.get_checksum = hyundai_canfd_get_checksum,
.compute_checksum = hyundai_common_canfd_compute_checksum,
};

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iqdbc_repo/iqdbc/safety/modes/hyundai_common.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
#define GET_ADDR(msg) ((msg)->addr)
#define GET_BUS(msg) ((msg)->bus)
#define GET_BYTE(msg, b) ((msg)->data[(b)])
static int cruise_main_prev = 0;
static void generic_rx_checks(void);
static void stock_ecu_check(bool stock_ecu_detected);
extern uint16_t hyundai_canfd_crc_lut[256];
uint16_t hyundai_canfd_crc_lut[256];
static const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms
//
extern const uint32_t HYUNDAI_STANDSTILL_THRSLD;
const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12; // 0.375 kph
enum {
HYUNDAI_BTN_NONE = 0,
HYUNDAI_BTN_RESUME = 1,
HYUNDAI_BTN_SET = 2,
HYUNDAI_BTN_CANCEL = 4,
};
// common state
extern bool hyundai_ev_gas_signal;
bool hyundai_ev_gas_signal = false;
extern bool hyundai_hybrid_gas_signal;
bool hyundai_hybrid_gas_signal = false;
extern bool hyundai_longitudinal;
bool hyundai_longitudinal = false;
extern bool hyundai_camera_scc;
bool hyundai_camera_scc = false;
extern bool hyundai_canfd_hda2;
bool hyundai_canfd_hda2 = false;
extern bool hyundai_alt_limits;
bool hyundai_alt_limits = false;
extern bool hyundai_fcev_gas_signal;
bool hyundai_fcev_gas_signal = false;
extern bool hyundai_alt_limits_2;
bool hyundai_alt_limits_2 = false;
static uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
void hyundai_common_init(uint16_t param) {
const int HYUNDAI_PARAM_EV_GAS = 1;
const int HYUNDAI_PARAM_HYBRID_GAS = 2;
const int HYUNDAI_PARAM_CAMERA_SCC = 8;
const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
const int HYUNDAI_PARAM_FCEV_GAS = 256;
const int HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
#ifdef ALLOW_DEBUG
const int HYUNDAI_PARAM_LONGITUDINAL = 4;
hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
#else
hyundai_longitudinal = false;
#endif
}
void hyundai_common_cruise_state_check(const bool cruise_engaged) {
// some newer HKG models can re-enable after spamming cancel button,
// so keep track of user button presses to deny engagement if no interaction
// enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
if (!hyundai_longitudinal) {
hyundai_last_button_interaction = 0U; // carrot
//if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
if (cruise_engaged) {
controls_allowed = true;
}
if (!cruise_engaged) {
controls_allowed = false;
}
cruise_engaged_prev = cruise_engaged;
}
}
void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) {
if(main_button && main_button != cruise_main_prev) {
acc_main_on = !acc_main_on;
}
cruise_main_prev = main_button;
if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
(main_button)) {
hyundai_last_button_interaction = 0U;
} else {
hyundai_last_button_interaction = SAFETY_MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
}
if (hyundai_longitudinal) {
// enter controls on falling edge of resume or set
bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (cruise_button == HYUNDAI_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = cruise_button;
}
}
uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) {
int len = GET_LEN(to_push);
uint32_t address = GET_ADDR(to_push);
uint16_t crc = 0;
for (int i = 2; i < len; i++) {
crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)];
}
crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)];
crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)];
if (len == 8) {
crc ^= 0x5f29U;
}
else if (len == 16) {
crc ^= 0x041dU;
}
else if (len == 24) {
crc ^= 0x819dU;
}
else if (len == 32) {
crc ^= 0x9f5bU;
}
return crc;
}

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iqdbc_repo/iqdbc/safety/modes/mazda.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
// CAN msgs we care about
#define MAZDA_LKAS 0x243U
#define MAZDA_LKAS_HUD 0x440U
#define MAZDA_CRZ_CTRL 0x21cU
#define MAZDA_CRZ_BTNS 0x09dU
#define MAZDA_STEER_TORQUE 0x240U
#define MAZDA_ENGINE_DATA 0x202U
#define MAZDA_PEDALS 0x165U
// CAN bus numbers
#define MAZDA_MAIN 0
#define MAZDA_CAM 2
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
static void mazda_rx_hook(const CANPacket_t *msg) {
if ((int)msg->bus == MAZDA_MAIN) {
if (msg->addr == MAZDA_ENGINE_DATA) {
// sample speed: scale by 0.01 to get kph
int speed = (msg->data[2] << 8) | msg->data[3];
vehicle_moving = speed > 10; // moving when speed > 0.1 kph
}
if (msg->addr == MAZDA_STEER_TORQUE) {
int torque_driver_new = msg->data[0] - 127U;
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
if (msg->addr == MAZDA_CRZ_CTRL) {
bool cruise_engaged = msg->data[0] & 0x8U;
pcm_cruise_check(cruise_engaged);
acc_main_on = GET_BIT(msg, 17U);
}
if (msg->addr == MAZDA_ENGINE_DATA) {
gas_pressed = (msg->data[4] || (msg->data[5] & 0xF0U));
}
if (msg->addr == MAZDA_PEDALS) {
brake_pressed = (msg->data[0] & 0x10U);
}
}
}
static bool mazda_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits MAZDA_STEERING_LIMITS = {
.max_torque = 800,
.max_rate_up = 10,
.max_rate_down = 25,
.max_rt_delta = 300,
.driver_torque_multiplier = 1,
.driver_torque_allowance = 15,
.type = TorqueDriverLimited,
};
bool tx = true;
// Check if msg is sent on the main BUS
if (msg->bus == (unsigned char)MAZDA_MAIN) {
// steer cmd checks
if (msg->addr == MAZDA_LKAS) {
int desired_torque = (((msg->data[0] & 0x0FU) << 8) | msg->data[1]) - 2048U;
if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) {
tx = false;
}
}
// cruise buttons check
if (msg->addr == MAZDA_CRZ_BTNS) {
// allow resume spamming while controls allowed, but
// only allow cancel while controls not allowed
bool cancel_cmd = (msg->data[0] == 0x1U);
if (!controls_allowed && !cancel_cmd) {
tx = false;
}
}
}
return tx;
}
static safety_config mazda_init(uint16_t param) {
static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8, .check_relay = true}, {MAZDA_CRZ_BTNS, 0, 8, .check_relay = false}, {MAZDA_LKAS_HUD, 0, 8, .check_relay = true}};
static RxCheck mazda_rx_checks[] = {
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MAZDA_CRZ_BTNS, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MAZDA_STEER_TORQUE, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MAZDA_ENGINE_DATA, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MAZDA_PEDALS, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
SAFETY_UNUSED(param);
return BUILD_SAFETY_CFG(mazda_rx_checks, MAZDA_TX_MSGS);
}
const safety_hooks mazda_hooks = {
.init = mazda_init,
.rx = mazda_rx_hook,
.tx = mazda_tx_hook,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
#define NISSAN_COMMON_RX_CHECKS \
{.msg = {{0x2, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x2, 1, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* STEER_ANGLE_SENSOR */ \
{.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x285, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* WHEEL_SPEEDS_REAR */ \
{.msg = {{0x30f, 2, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x30f, 1, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* CRUISE_STATE */ \
{.msg = {{0x15c, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x15c, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x239, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* GAS_PEDAL */ \
{.msg = {{0x454, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x454, 1, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x1cc, 0, 4, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* DOORS_LIGHTS / BRAKE */ \
#define NISSAN_PRO_PILOT_RX_CHECKS(alt_eps_bus) \
{.msg = {{0x1B6, alt_eps_bus, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static bool nissan_alt_eps = false;
static void nissan_rx_hook(const CANPacket_t *msg) {
if (msg->bus == (nissan_alt_eps ? 1U : 0U)) {
if (msg->addr == 0x2U) {
// Current steering angle
// Factor -0.1, little endian
int angle_meas_new = (GET_BYTES(msg, 0, 4) & 0xFFFFU);
// Multiply by -10 to match scale of LKAS angle
angle_meas_new = to_signed(angle_meas_new, 16) * -10;
// update array of samples
update_sample(&angle_meas, angle_meas_new);
}
if (msg->addr == 0x285U) {
// Get current speed and standstill
uint16_t right_rear = (msg->data[0] << 8) | (msg->data[1]);
uint16_t left_rear = (msg->data[2] << 8) | (msg->data[3]);
vehicle_moving = (right_rear | left_rear) != 0U;
UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 * KPH_TO_MS);
}
// X-Trail 0x15c, Leaf 0x239
if ((msg->addr == 0x15cU) || (msg->addr == 0x239U)) {
if (msg->addr == 0x15cU){
gas_pressed = ((msg->data[5] << 2) | ((msg->data[6] >> 6) & 0x3U)) > 3U;
} else {
gas_pressed = msg->data[0] > 3U;
}
}
// X-trail 0x454, Leaf 0x239
if ((msg->addr == 0x454U) || (msg->addr == 0x239U)) {
if (msg->addr == 0x454U){
brake_pressed = (msg->data[2] & 0x80U) != 0U;
} else {
brake_pressed = ((msg->data[4] >> 5) & 1U) != 0U;
}
}
}
// Handle cruise enabled
if ((msg->addr == 0x30fU) && (msg->bus == (nissan_alt_eps ? 1U : 2U))) {
bool cruise_engaged = (msg->data[0] >> 3) & 1U;
pcm_cruise_check(cruise_engaged);
}
if ((msg->addr == 0x239U) && (msg->bus == 0U)) {
acc_main_on = GET_BIT(msg, 17U);
}
if ((msg->addr == 0x1B6U) && (msg->bus == (nissan_alt_eps ? 2U : 1U))) {
acc_main_on = GET_BIT(msg, 36U);
}
}
static bool nissan_tx_hook(const CANPacket_t *msg) {
const AngleSteeringLimits NISSAN_STEERING_LIMITS = {
.max_angle = 60000, // 600 deg, reasonable limit
.angle_deg_to_can = 100,
.angle_rate_up_lookup = {
{0., 5., 15.},
{5., .8, .15}
},
.angle_rate_down_lookup = {
{0., 5., 15.},
{5., 3.5, .4}
},
};
bool tx = true;
bool violation = false;
// steer cmd checks
if (msg->addr == 0x169U) {
int desired_angle = ((msg->data[0] << 10) | (msg->data[1] << 2) | ((msg->data[2] >> 6) & 0x3U));
bool lka_active = (msg->data[6] >> 4) & 1U;
// Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
desired_angle = -desired_angle + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);
if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) {
violation = true;
}
}
// acc button check, only allow cancel button to be sent
if (msg->addr == 0x20bU) {
// Violation of any button other than cancel is pressed
violation |= ((msg->data[1] & 0x3dU) > 0U);
}
if (violation) {
tx = false;
}
return tx;
}
static safety_config nissan_init(uint16_t param) {
static const CanMsg NISSAN_TX_MSGS[] = {
{0x169, 0, 8, .check_relay = true}, // LKAS
{0x2b1, 0, 8, .check_relay = true}, // PROPILOT_HUD
{0x4cc, 0, 8, .check_relay = true}, // PROPILOT_HUD_INFO_MSG
{0x20b, 2, 6, .check_relay = false}, // CRUISE_THROTTLE (X-Trail)
{0x20b, 1, 6, .check_relay = false}, // CRUISE_THROTTLE (Altima)
{0x280, 2, 8, .check_relay = true} // CANCEL_MSG (Leaf)
};
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
static RxCheck nissan_rx_checks[] = {
NISSAN_COMMON_RX_CHECKS
NISSAN_PRO_PILOT_RX_CHECKS(1)
};
static RxCheck nissan_alt_eps_rx_checks[] = {
NISSAN_COMMON_RX_CHECKS
NISSAN_PRO_PILOT_RX_CHECKS(2)
};
static RxCheck nissan_leaf_rx_checks[] = {
NISSAN_COMMON_RX_CHECKS
};
// EPS Location. false = V-CAN, true = C-CAN
const uint16_t NISSAN_PARAM_ALT_EPS_BUS = 1;
const uint16_t NISSAN_PARAM_IQ_LEAF = 1;
nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS);
const bool nissan_leaf = GET_FLAG(current_safety_param_iq, NISSAN_PARAM_IQ_LEAF);
safety_config ret;
SET_TX_MSGS(NISSAN_TX_MSGS, ret);
if (nissan_leaf) {
SET_RX_CHECKS(nissan_leaf_rx_checks, ret);
} else if (nissan_alt_eps) {
SET_RX_CHECKS(nissan_alt_eps_rx_checks, ret);
} else {
SET_RX_CHECKS(nissan_rx_checks, ret);
}
return ret;
}
const safety_hooks nissan_hooks = {
.init = nissan_init,
.rx = nissan_rx_hook,
.tx = nissan_tx_hook,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
#define PSA_STEERING 757U // RX from XXX, driver torque
#define PSA_STEERING_ALT 773U // RX from EPS, steering angle
#define PSA_DYN_CMM 520U // RX from CMM, gas pedal
#define PSA_HS2_DYN_ABR_38D 909U // RX from UC_FREIN, speed
#define PSA_HS2_DAT_MDD_CMD_452 1106U // RX from BSI, cruise state
#define PSA_DAT_BSI 1042U // RX from BSI, brake
#define PSA_LANE_KEEP_ASSIST 1010U // TX from OP, EPS
// CAN bus
#define PSA_MAIN_BUS 0U
#define PSA_ADAS_BUS 1U
#define PSA_CAM_BUS 2U
static uint8_t psa_get_counter(const CANPacket_t *msg) {
uint8_t cnt = 0;
if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
cnt = (msg->data[3] >> 4) & 0xFU;
} else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
cnt = (msg->data[5] >> 4) & 0xFU;
} else {
}
return cnt;
}
static uint32_t psa_get_checksum(const CANPacket_t *msg) {
return msg->data[5] & 0xFU;
}
static uint8_t _psa_compute_checksum(const CANPacket_t *msg, uint8_t chk_ini, int chk_pos) {
int len = GET_LEN(msg);
uint8_t sum = 0;
for (int i = 0; i < len; i++) {
uint8_t b = msg->data[i];
if (i == chk_pos) {
// set checksum in low nibble to 0
b &= 0xF0U;
}
sum += (b >> 4) + (b & 0xFU);
}
return (chk_ini - sum) & 0xFU;
}
static uint32_t psa_compute_checksum(const CANPacket_t *msg) {
uint8_t chk = 0;
if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
chk = _psa_compute_checksum(msg, 0x4, 5);
} else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
chk = _psa_compute_checksum(msg, 0x7, 5);
} else {
}
return chk;
}
static void psa_rx_hook(const CANPacket_t *msg) {
if (msg->bus == PSA_MAIN_BUS) {
if (msg->addr == PSA_DYN_CMM) {
gas_pressed = msg->data[3] > 0U; // P002_Com_rAPP
}
if (msg->addr == PSA_STEERING_ALT) {
int angle_meas_new = to_signed((msg->data[0] << 8) | msg->data[1], 16); // ANGLE
update_sample(&angle_meas, angle_meas_new);
}
if (msg->addr == PSA_HS2_DYN_ABR_38D) {
int speed = (msg->data[0] << 8) | msg->data[1];
vehicle_moving = speed > 0;
UPDATE_VEHICLE_SPEED(speed * 0.01 * KPH_TO_MS); // VITESSE_VEHICULE_ROUES
}
}
if (msg->bus == PSA_ADAS_BUS) {
if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
pcm_cruise_check((msg->data[2U] >> 7U) & 1U); // RVV_ACC_ACTIVATION_REQ
}
}
if (msg->bus == PSA_CAM_BUS) {
if (msg->addr == PSA_DAT_BSI) {
brake_pressed = (msg->data[0U] >> 5U) & 1U; // P013_MainBrake
}
}
}
static bool psa_tx_hook(const CANPacket_t *msg) {
bool tx = true;
static const AngleSteeringLimits PSA_STEERING_LIMITS = {
.max_angle = 3900,
.angle_deg_to_can = 10,
.angle_rate_up_lookup = {
{0., 5., 25.},
{2.5, 1.5, .2},
},
.angle_rate_down_lookup = {
{0., 5., 25.},
{5., 2., .3},
},
};
// Safety check for LKA
if (msg->addr == PSA_LANE_KEEP_ASSIST) {
// SET_ANGLE
int desired_angle = to_signed((msg->data[6] << 6) | ((msg->data[7] & 0xFCU) >> 2), 14);
// TORQUE_FACTOR
bool lka_active = ((msg->data[5] & 0xFEU) >> 1) == 100U;
if (steer_angle_cmd_checks(desired_angle, lka_active, PSA_STEERING_LIMITS)) {
tx = false;
}
}
return tx;
}
static safety_config psa_init(uint16_t param) {
SAFETY_UNUSED(param);
static const CanMsg PSA_TX_MSGS[] = {
{PSA_LANE_KEEP_ASSIST, PSA_MAIN_BUS, 8, .check_relay = true}, // EPS steering
};
static RxCheck psa_rx_checks[] = {
{.msg = {{PSA_HS2_DAT_MDD_CMD_452, PSA_ADAS_BUS, 6, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // cruise state
{.msg = {{PSA_HS2_DYN_ABR_38D, PSA_MAIN_BUS, 8, 25U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // speed
{.msg = {{PSA_STEERING_ALT, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // steering angle
{.msg = {{PSA_STEERING, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // driver torque
{.msg = {{PSA_DYN_CMM, PSA_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // gas pedal
{.msg = {{PSA_DAT_BSI, PSA_CAM_BUS, 8, 20U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // brake
};
return BUILD_SAFETY_CFG(psa_rx_checks, PSA_TX_MSGS);
}
const safety_hooks psa_hooks = {
.init = psa_init,
.rx = psa_rx_hook,
.tx = psa_tx_hook,
.get_counter = psa_get_counter,
.get_checksum = psa_get_checksum,
.compute_checksum = psa_compute_checksum,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
static uint8_t rivian_get_counter(const CANPacket_t *msg) {
// Signal: ESP_Status_Counter, VDM_PropStatus_Counter
return msg->data[1] & 0xFU;
}
static uint32_t rivian_get_checksum(const CANPacket_t *msg) {
// Signal: ESP_Status_Checksum, VDM_PropStatus_Checksum
return msg->data[0];
}
static uint8_t _rivian_compute_checksum(const CANPacket_t *msg, uint8_t poly, uint8_t xor_output) {
int len = GET_LEN(msg);
uint8_t crc = 0;
// Skip the checksum byte
for (int i = 1; i < len; i++) {
crc ^= msg->data[i];
for (int j = 0; j < 8; j++) {
if ((crc & 0x80U) != 0U) {
crc = (crc << 1) ^ poly;
} else {
crc <<= 1;
}
}
}
return crc ^ xor_output;
}
static uint32_t rivian_compute_checksum(const CANPacket_t *msg) {
uint8_t chksum = 0;
if (msg->addr == 0x208U) {
chksum = _rivian_compute_checksum(msg, 0x1D, 0xB1);
} else if (msg->addr == 0x150U) {
chksum = _rivian_compute_checksum(msg, 0x1D, 0x9A);
} else {
}
return chksum;
}
static bool rivian_get_quality_flag_valid(const CANPacket_t *msg) {
bool valid = false;
if (msg->addr == 0x208U) {
valid = ((msg->data[3] >> 3) & 0x3U) == 0x1U; // ESP_Vehicle_Speed_Q
} else if (msg->addr == 0x150U) {
valid = (msg->data[1] >> 6) == 0x1U; // VDM_VehicleSpeedQ
} else {
}
return valid;
}
static void rivian_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
// Vehicle speed
if (msg->addr == 0x208U) {
float speed = ((msg->data[6] << 8) | msg->data[7]) * 0.01;
vehicle_moving = speed > 0.0;
UPDATE_VEHICLE_SPEED(speed * KPH_TO_MS);
}
// Gas pressed and second speed source for variable torque limit
if (msg->addr == 0x150U) {
gas_pressed = msg->data[3] | (msg->data[4] & 0xC0U);
// Disable controls if speeds from VDM and ESP ECUs are too far apart.
float vdm_speed = ((msg->data[5] << 8) | msg->data[6]) * 0.01 * KPH_TO_MS;
speed_mismatch_check(vdm_speed);
}
// Driver torque
if (msg->addr == 0x380U) {
int torque_driver_new = (((msg->data[2] << 4) | (msg->data[3] >> 4))) - 2050U;
update_sample(&torque_driver, torque_driver_new);
}
// Brake pressed
if (msg->addr == 0x38fU) {
brake_pressed = (msg->data[2] >> 7) & 1U;
}
}
if (msg->bus == 2U) {
// Cruise state
if (msg->addr == 0x100U) {
const int feature_status = msg->data[2] >> 5U;
pcm_cruise_check(feature_status == 1);
}
}
}
static bool rivian_tx_hook(const CANPacket_t *msg) {
// Rivian utilizes more torque at low speed to maintain the same lateral accel
const TorqueSteeringLimits RIVIAN_STEERING_LIMITS = {
.max_torque = 350,
.dynamic_max_torque = true,
.max_torque_lookup = {
{9., 17., 17.},
{350, 250, 250},
},
.max_rate_up = 3,
.max_rate_down = 5,
.max_rt_delta = 125,
.driver_torque_multiplier = 2,
.driver_torque_allowance = 100,
.type = TorqueDriverLimited,
};
const LongitudinalLimits RIVIAN_LONG_LIMITS = {
.max_accel = 200,
.min_accel = -350,
.inactive_accel = 0,
.zero_accel = 0,
};
bool tx = true;
if (msg->bus == 0U) {
// Steering control
if (msg->addr == 0x120U) {
int desired_torque = ((msg->data[2] << 3U) | (msg->data[3] >> 5U)) - 1024U;
bool steer_req = (msg->data[3] >> 4) & 1U;
if (steer_torque_cmd_checks(desired_torque, steer_req, RIVIAN_STEERING_LIMITS)) {
tx = false;
}
}
// Longitudinal control
if (msg->addr == 0x160U) {
int raw_accel = ((msg->data[2] << 3) | (msg->data[3] >> 5)) - 1024U;
if (longitudinal_accel_checks(raw_accel, RIVIAN_LONG_LIMITS)) {
tx = false;
}
}
}
return tx;
}
static safety_config rivian_init(uint16_t param) {
// SCCM_WheelTouch: for hiding hold wheel alert
// VDM_AdasSts: for canceling stock ACC
// 0x120 = ACM_lkaHbaCmd, 0x321 = SCCM_WheelTouch, 0x162 = VDM_AdasSts
static const CanMsg RIVIAN_TX_MSGS[] = {{0x120, 0, 8, .check_relay = true}, {0x321, 2, 7, .check_relay = true}, {0x162, 2, 8, .check_relay = true}};
// 0x160 = ACM_longitudinalRequest
static const CanMsg RIVIAN_LONG_TX_MSGS[] = {{0x120, 0, 8, .check_relay = true}, {0x321, 2, 7, .check_relay = true}, {0x160, 0, 5, .check_relay = true}};
static RxCheck rivian_rx_checks[] = {
{.msg = {{0x208, 0, 8, 50U, .max_counter = 14U}, { 0 }, { 0 }}}, // ESP_Status (speed)
{.msg = {{0x150, 0, 7, 50U, .max_counter = 14U}, { 0 }, { 0 }}}, // VDM_PropStatus (gas pedal & 2nd speed)
{.msg = {{0x380, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // EPAS_SystemStatus (driver torque)
{.msg = {{0x38f, 0, 6, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // iBESP2 (brakes)
{.msg = {{0x100, 2, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // ACM_Status (cruise state)
};
bool rivian_longitudinal = false;
SAFETY_UNUSED(param);
#ifdef ALLOW_DEBUG
const int FLAG_RIVIAN_LONG_CONTROL = 1;
rivian_longitudinal = GET_FLAG(param, FLAG_RIVIAN_LONG_CONTROL);
#endif
// FIXME: cppcheck thinks that rivian_longitudinal is always false. This is not true
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
// cppcheck-suppress knownConditionTrueFalse
return rivian_longitudinal ? BUILD_SAFETY_CFG(rivian_rx_checks, RIVIAN_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(rivian_rx_checks, RIVIAN_TX_MSGS);
}
const safety_hooks rivian_hooks = {
.init = rivian_init,
.rx = rivian_rx_hook,
.tx = rivian_tx_hook,
.get_counter = rivian_get_counter,
.get_checksum = rivian_get_checksum,
.compute_checksum = rivian_compute_checksum,
.get_quality_flag_valid = rivian_get_quality_flag_valid,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/subaru_common.h"
#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down) \
{ \
.max_torque = (steer_max), \
.max_rt_delta = 940, \
.max_rate_up = (rate_up), \
.max_rate_down = (rate_down), \
.driver_torque_multiplier = 50, \
.driver_torque_allowance = 60, \
.type = TorqueDriverLimited, \
/* the EPS will temporary fault if the steering rate is too high, so we cut the \
the steering torque every 7 frames for 1 frame if the steering rate is high */ \
.min_valid_request_frames = 7, \
.max_invalid_request_frames = 1, \
.min_valid_request_rt_interval = 144000, /* 10% tolerance */ \
.has_steer_req_tolerance = true, \
}
#define MSG_SUBARU_Brake_Status 0x13cU
#define MSG_SUBARU_CruiseControl 0x240U
#define MSG_SUBARU_Throttle 0x40U
#define MSG_SUBARU_Steering_Torque 0x119U
#define MSG_SUBARU_Wheel_Speeds 0x13aU
#define MSG_SUBARU_Brake_Pedal 0x139U
#define MSG_SUBARU_ES_LKAS 0x122U
#define MSG_SUBARU_ES_Brake 0x220U
#define MSG_SUBARU_ES_Distance 0x221U
#define MSG_SUBARU_ES_Status 0x222U
#define MSG_SUBARU_ES_DashStatus 0x321U
#define MSG_SUBARU_ES_LKAS_State 0x322U
#define MSG_SUBARU_ES_Infotainment 0x323U
#define MSG_SUBARU_ES_UDS_Request 0x787U
#define MSG_SUBARU_ES_HighBeamAssist 0x22AU
#define MSG_SUBARU_ES_STATIC_1 0x325U
#define MSG_SUBARU_ES_STATIC_2 0x121U
#define SUBARU_MAIN_BUS 0U
#define SUBARU_ALT_BUS 1U
#define SUBARU_CAM_BUS 2U
#define SUBARU_BASE_TX_MSGS(alt_bus, lkas_msg) \
{lkas_msg, SUBARU_MAIN_BUS, 8, .check_relay = true}, \
{MSG_SUBARU_ES_DashStatus, SUBARU_MAIN_BUS, 8, .check_relay = true}, \
{MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS, 8, .check_relay = true}, \
{MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8, .check_relay = true}, \
#define SUBARU_COMMON_TX_MSGS(alt_bus) \
{MSG_SUBARU_ES_Distance, alt_bus, 8, .check_relay = false}, \
#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
{MSG_SUBARU_ES_Distance, alt_bus, 8, .check_relay = true}, \
{MSG_SUBARU_ES_Brake, alt_bus, 8, .check_relay = true}, \
{MSG_SUBARU_ES_Status, alt_bus, 8, .check_relay = true}, \
#define SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS() \
{MSG_SUBARU_ES_UDS_Request, SUBARU_CAM_BUS, 8, .check_relay = false}, \
{MSG_SUBARU_ES_HighBeamAssist, SUBARU_MAIN_BUS, 8, .check_relay = false}, \
{MSG_SUBARU_ES_STATIC_1, SUBARU_MAIN_BUS, 8, .check_relay = false}, \
{MSG_SUBARU_ES_STATIC_2, SUBARU_MAIN_BUS, 8, .check_relay = false}, \
#define SUBARU_STOP_AND_GO_TX_MSGS \
{MSG_SUBARU_Throttle, SUBARU_CAM_BUS, 8, .check_relay = true}, \
{MSG_SUBARU_Brake_Pedal, SUBARU_CAM_BUS, 8, .check_relay = true}, \
#define SUBARU_COMMON_RX_CHECKS(alt_bus) \
{.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Wheel_Speeds, alt_bus, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_Brake_Status, alt_bus, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_CruiseControl, alt_bus, 8, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{MSG_SUBARU_ES_LKAS_State, SUBARU_CAM_BUS, 8, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static bool subaru_gen2 = false;
static bool subaru_longitudinal = false;
static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
return (uint8_t)msg->data[0];
}
static uint8_t subaru_get_counter(const CANPacket_t *msg) {
return (uint8_t)(msg->data[1] & 0xFU);
}
static uint32_t subaru_compute_checksum(const CANPacket_t *msg) {
int len = GET_LEN(msg);
uint8_t checksum = (uint8_t)(msg->addr) + (uint8_t)((unsigned int)(msg->addr) >> 8U);
for (int i = 1; i < len; i++) {
checksum += (uint8_t)msg->data[i];
}
return checksum;
}
static void subaru_rx_hook(const CANPacket_t *msg) {
const unsigned int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
if ((msg->addr == MSG_SUBARU_Steering_Torque) && (msg->bus == SUBARU_MAIN_BUS)) {
int torque_driver_new;
torque_driver_new = ((GET_BYTES(msg, 0, 4) >> 16) & 0x7FFU);
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
update_sample(&torque_driver, torque_driver_new);
}
if ((msg->addr == MSG_SUBARU_ES_LKAS_State) && (msg->bus == SUBARU_CAM_BUS)) {
int lkas_hud = (msg->data[2] & 0x0CU) >> 2U;
if ((lkas_hud >= 1) && (lkas_hud <= 3)) {
aol_button_press = AOL_BUTTON_PRESSED;
}
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((msg->addr == MSG_SUBARU_CruiseControl) && (msg->bus == alt_main_bus)) {
bool cruise_engaged = (msg->data[5] >> 1) & 1U;
pcm_cruise_check(cruise_engaged);
acc_main_on = GET_BIT(msg, 40U);
}
// update vehicle moving with any non-zero wheel speed
if ((msg->addr == MSG_SUBARU_Wheel_Speeds) && (msg->bus == alt_main_bus)) {
uint32_t fr = (GET_BYTES(msg, 1, 3) >> 4) & 0x1FFFU;
uint32_t rr = (GET_BYTES(msg, 3, 3) >> 1) & 0x1FFFU;
uint32_t rl = (GET_BYTES(msg, 4, 3) >> 6) & 0x1FFFU;
uint32_t fl = (GET_BYTES(msg, 6, 2) >> 3) & 0x1FFFU;
vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.057 * KPH_TO_MS);
}
if ((msg->addr == MSG_SUBARU_Brake_Status) && (msg->bus == alt_main_bus)) {
brake_pressed = (msg->data[7] >> 6) & 1U;
}
if ((msg->addr == MSG_SUBARU_Throttle) && (msg->bus == SUBARU_MAIN_BUS)) {
gas_pressed = msg->data[4] != 0U;
}
}
static bool subaru_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1500, 35, 50);
const LongitudinalLimits SUBARU_LONG_LIMITS = {
.min_gas = 808, // appears to be engine braking
.max_gas = 3400, // approx 2 m/s^2 when maxing cruise_rpm and cruise_throttle
.inactive_gas = 1818, // this is zero acceleration
.max_brake = 600, // approx -3.5 m/s^2
.min_transmission_rpm = 0,
.max_transmission_rpm = 3600,
};
bool tx = true;
bool violation = false;
// steer cmd checks
if (msg->addr == MSG_SUBARU_ES_LKAS) {
int desired_torque = ((GET_BYTES(msg, 0, 4) >> 16) & 0x1FFFU);
desired_torque = -1 * to_signed(desired_torque, 13);
bool steer_req = (msg->data[3] >> 5) & 1U;
const TorqueSteeringLimits limits = subaru_gen2 ? SUBARU_GEN2_STEERING_LIMITS : SUBARU_STEERING_LIMITS;
violation |= steer_torque_cmd_checks(desired_torque, steer_req, limits);
}
// check es_brake brake_pressure limits
if (msg->addr == MSG_SUBARU_ES_Brake) {
int es_brake_pressure = GET_BYTES(msg, 2, 2);
violation |= longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS);
}
// check es_distance cruise_throttle limits
if (msg->addr == MSG_SUBARU_ES_Distance) {
int cruise_throttle = (GET_BYTES(msg, 2, 2) & 0x1FFFU);
bool cruise_cancel = (msg->data[7] >> 0) & 1U;
if (subaru_longitudinal) {
violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
} else {
// If openpilot is not controlling long, only allow ES_Distance for cruise cancel requests,
// (when Cruise_Cancel is true, and Cruise_Throttle is inactive)
violation |= (cruise_throttle != SUBARU_LONG_LIMITS.inactive_gas);
violation |= (!cruise_cancel);
}
}
// check es_status transmission_rpm limits
if (msg->addr == MSG_SUBARU_ES_Status) {
int transmission_rpm = (GET_BYTES(msg, 2, 2) & 0x1FFFU);
violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS);
}
if (msg->addr == MSG_SUBARU_ES_UDS_Request) {
// tester present ('\x02\x3E\x80\x00\x00\x00\x00\x00') is allowed for gen2 longitudinal to keep eyesight disabled
bool is_tester_present = (GET_BYTES(msg, 0, 4) == 0x00803E02U) && (GET_BYTES(msg, 4, 4) == 0x0U);
// reading ES button data by identifier (b'\x03\x22\x11\x30\x00\x00\x00\x00') is also allowed (DID 0x1130)
bool is_button_rdbi = (GET_BYTES(msg, 0, 4) == 0x30112203U) && (GET_BYTES(msg, 4, 4) == 0x0U);
violation |= !(is_tester_present || is_button_rdbi);
}
if (violation){
tx = false;
}
return tx;
}
static safety_config subaru_init(uint16_t param) {
static const CanMsg SUBARU_TX_MSGS[] = {
SUBARU_BASE_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
};
static const CanMsg SUBARU_LONG_TX_MSGS[] = {
SUBARU_BASE_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
SUBARU_COMMON_LONG_TX_MSGS(SUBARU_MAIN_BUS)
};
static const CanMsg SUBARU_GEN2_TX_MSGS[] = {
SUBARU_BASE_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
};
static const CanMsg SUBARU_GEN2_LONG_TX_MSGS[] = {
SUBARU_BASE_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
SUBARU_COMMON_LONG_TX_MSGS(SUBARU_ALT_BUS)
SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()
};
static const CanMsg subaru_stop_and_go_tx_msgs[] = {
SUBARU_BASE_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
SUBARU_STOP_AND_GO_TX_MSGS
};
static RxCheck subaru_rx_checks[] = {
SUBARU_COMMON_RX_CHECKS(SUBARU_MAIN_BUS)
};
static RxCheck subaru_gen2_rx_checks[] = {
SUBARU_COMMON_RX_CHECKS(SUBARU_ALT_BUS)
};
const uint16_t SUBARU_PARAM_GEN2 = 1;
subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);
subaru_common_init();
#ifdef ALLOW_DEBUG
const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
#endif
safety_config ret;
if (subaru_gen2) {
ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_TX_MSGS);
} else {
ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_LONG_TX_MSGS) : \
subaru_stop_and_go ? BUILD_SAFETY_CFG(subaru_rx_checks, subaru_stop_and_go_tx_msgs) : \
BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_TX_MSGS);
}
return ret;
}
const safety_hooks subaru_hooks = {
.init = subaru_init,
.rx = subaru_rx_hook,
.tx = subaru_tx_hook,
.get_counter = subaru_get_counter,
.get_checksum = subaru_get_checksum,
.compute_checksum = subaru_compute_checksum,
};

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iqdbc_repo/iqdbc/safety/modes/subaru_common.h Normal file
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/*
* Copyright © IQ.Lvbs, a part of Project Teal Lvbs.
* All Rights Reserved.
* Licensed under: https://konn3kt.com/tos
*/
#pragma once
extern bool subaru_stop_and_go;
bool subaru_stop_and_go = false;
void subaru_common_init(void) {
const uint16_t SUBARU_PARAM_IQ_STOP_AND_GO = 1;
subaru_stop_and_go = GET_FLAG(current_safety_param_iq, SUBARU_PARAM_IQ_STOP_AND_GO);
}
/*
bool subaru_common_stop_and_go_throttle_check(const int throttle_pedal) {
bool violation = throttle_pedal != 5U || !controls_allowed || vehicle_moving;
return violation;
}
bool subaru_common_stop_and_go_brake_pedal_check(const int speed, const bool is_preglobal) {
int val = is_preglobal ? 1U : 3U;
bool violation = speed != val || !controls_allowed || vehicle_moving;
return violation;
}
*/

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iqdbc_repo/iqdbc/safety/modes/subaru_preglobal.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/subaru_common.h"
// Preglobal platform
// 0x161 is ES_CruiseThrottle
// 0x164 is ES_LKAS
#define MSG_SUBARU_PG_CruiseControl 0x144U
#define MSG_SUBARU_PG_Throttle 0x140U
#define MSG_SUBARU_PG_Wheel_Speeds 0xD4U
#define MSG_SUBARU_PG_Brake_Pedal 0xD1U
#define MSG_SUBARU_PG_ES_LKAS 0x164U
#define MSG_SUBARU_PG_ES_Distance 0x161U
#define MSG_SUBARU_PG_Steering_Torque 0x371U
#define SUBARU_PG_MAIN_BUS 0U
#define SUBARU_PG_CAM_BUS 2U
#define SUBARU_PG_COMMON_TX_MSGS \
{MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8, .check_relay = true}, \
{MSG_SUBARU_PG_ES_LKAS, SUBARU_PG_MAIN_BUS, 8, .check_relay = true}, \
#define SUBARU_PG_STOP_AND_GO_TX_MSGS \
{MSG_SUBARU_PG_Throttle, SUBARU_PG_CAM_BUS, 8, .check_relay = false}, \
{MSG_SUBARU_PG_Brake_Pedal, SUBARU_PG_CAM_BUS, 4, .check_relay = false}, \
static bool subaru_pg_reversed_driver_torque = false;
static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
if (msg->bus == SUBARU_PG_MAIN_BUS) {
if (msg->addr == MSG_SUBARU_PG_Steering_Torque) {
int torque_driver_new;
torque_driver_new = (msg->data[3] >> 5) + (msg->data[4] << 3);
torque_driver_new = to_signed(torque_driver_new, 11);
torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new;
update_sample(&torque_driver, torque_driver_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
if (msg->addr == MSG_SUBARU_PG_CruiseControl) {
bool cruise_engaged = (msg->data[6] >> 1) & 1U;
pcm_cruise_check(cruise_engaged);
acc_main_on = GET_BIT(msg, 48U);
}
// update vehicle moving with any non-zero wheel speed
if (msg->addr == MSG_SUBARU_PG_Wheel_Speeds) {
vehicle_moving = ((GET_BYTES(msg, 0, 4) >> 12) != 0U) || (GET_BYTES(msg, 4, 4) != 0U);
}
if (msg->addr == MSG_SUBARU_PG_Brake_Pedal) {
brake_pressed = ((GET_BYTES(msg, 0, 4) >> 16) & 0xFFU) > 0U;
}
if (msg->addr == MSG_SUBARU_PG_Throttle) {
gas_pressed = msg->data[0] != 0U;
}
}
}
static bool subaru_preglobal_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits SUBARU_PG_STEERING_LIMITS = {
.max_torque = 2047,
.max_rt_delta = 940,
.max_rate_up = 50,
.max_rate_down = 70,
.driver_torque_multiplier = 10,
.driver_torque_allowance = 75,
.type = TorqueDriverLimited,
};
bool tx = true;
// steer cmd checks
if (msg->addr == MSG_SUBARU_PG_ES_LKAS) {
int desired_torque = ((GET_BYTES(msg, 0, 4) >> 8) & 0x1FFFU);
desired_torque = -1 * to_signed(desired_torque, 13);
bool steer_req = (msg->data[3] >> 0) & 1U;
if (steer_torque_cmd_checks(desired_torque, steer_req, SUBARU_PG_STEERING_LIMITS)) {
tx = false;
}
}
return tx;
}
static safety_config subaru_preglobal_init(uint16_t param) {
static const CanMsg SUBARU_PG_TX_MSGS[] = {
SUBARU_PG_COMMON_TX_MSGS
};
static const CanMsg subaru_pg_stop_and_go_tx_msgs[] = {
SUBARU_PG_COMMON_TX_MSGS
SUBARU_PG_STOP_AND_GO_TX_MSGS
};
// TODO: do checksum and counter checks after adding the signals to the outback dbc file
static RxCheck subaru_preglobal_rx_checks[] = {
{.msg = {{MSG_SUBARU_PG_Throttle, SUBARU_PG_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_SUBARU_PG_Wheel_Speeds, SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_SUBARU_PG_Brake_Pedal, SUBARU_PG_MAIN_BUS, 4, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
subaru_common_init();
const uint16_t SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 4;
subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
safety_config ret = subaru_stop_and_go ? BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, subaru_pg_stop_and_go_tx_msgs) : \
BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
return ret;
}
const safety_hooks subaru_preglobal_hooks = {
.init = subaru_preglobal_init,
.rx = subaru_preglobal_rx_hook,
.tx = subaru_preglobal_tx_hook,
};

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iqdbc_repo/iqdbc/safety/modes/tesla.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
#define TESLA_COMMON_RX_CHECKS \
{.msg = {{0x2b9, 2, 8, 25U, .max_counter = 7U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* DAS_control */ \
{.msg = {{0x488, 2, 4, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* DAS_steeringControl */ \
{.msg = {{0x257, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* DI_speed (speed in kph) */ \
{.msg = {{0x155, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}}, /* ESP_B (2nd speed in kph) */ \
{.msg = {{0x370, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* EPAS3S_sysStatus (steering angle) */ \
{.msg = {{0x118, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* DI_systemStatus (gas pedal) */ \
{.msg = {{0x145, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}}, /* ESP_status (brakes) */ \
{.msg = {{0x286, 0, 8, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* DI_state (acc state) */ \
{.msg = {{0x311, 0, 7, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* UI_warning (blinkers, buckle switch & doors) */ \
#define TESLA_VEHICLE_BUS_ADDR_CHECK \
{.msg = {{0x3DF, 1, 8, 2U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* UI_status2 */ \
static bool tesla_longitudinal = false;
static bool tesla_legacy_das_steering = false;
static bool tesla_stock_aeb = false;
// Only rising edges while controls are not allowed are considered for these systems:
static bool tesla_stock_steering_control = false;
static bool tesla_stock_steering_control_prev = false;
static bool tesla_summon = false;
static bool tesla_summon_prev = false;
// Detected VEHICLE bus
extern bool tesla_has_vehicle_bus;
bool tesla_has_vehicle_bus = false;
static uint8_t tesla_get_counter(const CANPacket_t *msg) {
uint8_t cnt = 0;
if (msg->addr == 0x2b9U) {
// Signal: DAS_controlCounter
cnt = msg->data[6] >> 5;
} else if (msg->addr == 0x488U) {
// Signal: DAS_steeringControlCounter
cnt = msg->data[2] & 0x0FU;
} else if ((msg->addr == 0x257U) || (msg->addr == 0x118U) || (msg->addr == 0x145U) || (msg->addr == 0x286U) || (msg->addr == 0x311U)) {
// Signal: DI_speedCounter, DI_systemStatusCounter, ESP_statusCounter, DI_locStatusCounter, UI_warningCounter
cnt = msg->data[1] & 0x0FU;
} else if (msg->addr == 0x155U) {
// Signal: ESP_wheelRotationCounter
cnt = msg->data[6] >> 4;
} else if (msg->addr == 0x370U) {
// Signal: EPAS3S_sysStatusCounter
cnt = msg->data[6] & 0x0FU;
} else if (msg->addr == 0x3E9U) {
// Signal: DAS_bodyControlsCounter
cnt = msg->data[6] >> 4;
} else {
}
return cnt;
}
static int _tesla_get_checksum_byte(const int addr) {
int checksum_byte = -1;
if ((addr == 0x370) || (addr == 0x2b9) || (addr == 0x155) || (addr == 0x3E9)) {
// Signal: EPAS3S_sysStatusChecksum, DAS_controlChecksum, ESP_wheelRotationChecksum, DAS_bodyControlsChecksum
checksum_byte = 7;
} else if (addr == 0x488) {
// Signal: DAS_steeringControlChecksum
checksum_byte = 3;
} else if ((addr == 0x257) || (addr == 0x118) || (addr == 0x145) || (addr == 0x286) || (addr == 0x311)) {
// Signal: DI_speedChecksum, DI_systemStatusChecksum, ESP_statusChecksum, DI_locStatusChecksum, UI_warningChecksum
checksum_byte = 0;
} else {
}
return checksum_byte;
}
static uint32_t tesla_get_checksum(const CANPacket_t *msg) {
uint8_t chksum = 0;
int checksum_byte = _tesla_get_checksum_byte(msg->addr);
if (checksum_byte != -1) {
chksum = msg->data[checksum_byte];
}
return chksum;
}
static uint32_t tesla_compute_checksum(const CANPacket_t *msg) {
uint8_t chksum = 0;
int checksum_byte = _tesla_get_checksum_byte(msg->addr);
if (checksum_byte != -1) {
chksum = (uint8_t)((msg->addr & 0xFFU) + ((msg->addr >> 8) & 0xFFU));
int len = GET_LEN(msg);
for (int i = 0; i < len; i++) {
if (i != checksum_byte) {
chksum += msg->data[i];
}
}
}
return chksum;
}
static bool tesla_get_quality_flag_valid(const CANPacket_t *msg) {
bool valid = false;
if (msg->addr == 0x155U) {
valid = (msg->data[5] & 0x1U) == 0x1U; // ESP_wheelSpeedsQF
} else if (msg->addr == 0x145U) {
int user_brake_status = (msg->data[3] >> 5) & 0x03U;
valid = (user_brake_status != 0) && (user_brake_status != 3); // ESP_driverBrakeApply=NotInit_orOff, Faulty_SNA
} else {
}
return valid;
}
static int tesla_get_steer_ctrl_type(const uint8_t byte2) {
// Older Tesla firmware used a 2-bit field (now 3-bit) for DAS_steeringControlType
return tesla_legacy_das_steering ? (byte2 >> 6) : ((byte2 >> 5) & 0x07U);
}
static void tesla_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
// Steering angle: (0.1 * val) - 819.2 in deg.
if (msg->addr == 0x370U) {
// Store it 1/10 deg to match steering request
const int angle_meas_new = (((msg->data[4] & 0x3FU) << 8) | msg->data[5]) - 8192U;
update_sample(&angle_meas, angle_meas_new);
const int hands_on_level = msg->data[4] >> 6; // EPAS3S_handsOnLevel
const int eac_status = msg->data[6] >> 5; // EPAS3S_eacStatus
const int eac_error_code = msg->data[2] >> 4; // EPAS3S_eacErrorCode
// Disengage on normal user override, or if high angle rate fault from user overriding extremely quickly
steering_disengage = (hands_on_level >= 3) || ((eac_status == 0) && (eac_error_code == 9));
}
// Vehicle speed (DI_speed)
if (msg->addr == 0x257U) {
// Vehicle speed: ((val * 0.08) - 40) / MS_TO_KPH
float speed = ((((msg->data[2] << 4) | (msg->data[1] >> 4)) * 0.08) - 40.) * KPH_TO_MS;
UPDATE_VEHICLE_SPEED(speed);
}
// 2nd vehicle speed (ESP_B)
if (msg->addr == 0x155U) {
// Disable controls if speeds from DI (Drive Inverter) and ESP ECUs are too far apart.
float esp_speed = (((msg->data[6] & 0x0FU) << 6) | (msg->data[5] >> 2)) * 0.5 * KPH_TO_MS;
speed_mismatch_check(esp_speed);
}
// Gas pressed
if (msg->addr == 0x118U) {
gas_pressed = (msg->data[4] != 0U);
}
// Brake pressed
if (msg->addr == 0x145U) {
brake_pressed = ((msg->data[3] >> 5) & 0x03U) == 2U;
}
// Cruise and Autopark/Summon state
if (msg->addr == 0x286U) {
// Autopark state
int autopark_state = (msg->data[3] >> 1) & 0x0FU; // DI_autoparkState (used by Summon, not actually used by autopark)
bool tesla_summon_now = (autopark_state == 3) || // ACTIVE
(autopark_state == 4) || // COMPLETE
(autopark_state == 9); // SELFPARK_STARTED
// Only consider rising edges while controls are not allowed
if (tesla_summon_now && !tesla_summon_prev && !cruise_engaged_prev) {
tesla_summon = true;
}
if (!tesla_summon_now) {
tesla_summon = false;
}
tesla_summon_prev = tesla_summon_now;
// Cruise state
int cruise_state = (msg->data[1] >> 4) & 0x07U;
bool cruise_engaged = (cruise_state == 2) || // ENABLED
(cruise_state == 3) || // STANDSTILL
(cruise_state == 4) || // OVERRIDE
(cruise_state == 6) || // PRE_FAULT
(cruise_state == 7); // PRE_CANCEL
cruise_engaged = cruise_engaged && !tesla_summon;
pcm_cruise_check(cruise_engaged);
}
if (msg->addr == 0x155U) {
vehicle_moving = !GET_BIT(msg, 41U); // ESP_vehicleStandstillSts
}
}
if (msg->bus == 1U) {
if (msg->addr == 0x3DFU) {
aol_button_press = (msg->data[3] == 3U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
}
}
if (msg->bus == 2U) {
// DAS_control
if (msg->addr == 0x2b9U) {
// "AEB_ACTIVE"
tesla_stock_aeb = (msg->data[2] & 0x03U) == 1U;
}
// DAS_steeringControl
if (msg->addr == 0x488U) {
int steering_control_type = msg->data[2] >> 6;
bool tesla_stock_steering_control_now = steering_control_type != 0; // any non-NONE (LDA, ELDA, Autopark)
// Only consider rising edges while controls are not allowed
if (tesla_stock_steering_control_now && !tesla_stock_steering_control_prev && !is_lat_active()) {
tesla_stock_steering_control = true;
}
if (!tesla_stock_steering_control_now) {
tesla_stock_steering_control = false;
}
tesla_stock_steering_control_prev = tesla_stock_steering_control_now;
}
}
}
static bool tesla_tx_hook(const CANPacket_t *msg) {
const AngleSteeringLimits TESLA_STEERING_LIMITS = {
.max_angle = 3600, // 360 deg, EPAS faults above this
.angle_deg_to_can = 10,
.frequency = 50U,
};
// NOTE: based off TESLA_MODEL_Y to match openpilot
const AngleSteeringParams TESLA_STEERING_PARAMS = {
.slip_factor = -0.000580374383851451, // calc_slip_factor(VM)
.steer_ratio = 12.,
.wheelbase = 2.89,
};
const LongitudinalLimits TESLA_LONG_LIMITS = {
.max_accel = 425, // 2 m/s^2
.min_accel = 288, // -3.48 m/s^2
.inactive_accel = 375, // 0. m/s^2
.zero_accel = 375,
};
bool tx = true;
bool violation = false;
// Don't send any messages when Summon is active
if (tesla_summon) {
violation = true;
}
// Steering control: (0.1 * val) - 1638.35 in deg.
if (msg->addr == 0x488U) {
// We use 1/10 deg as a unit here
int raw_angle_can = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
int desired_angle = raw_angle_can - 16384;
int steer_control_type = tesla_get_steer_ctrl_type(msg->data[2]);
bool steer_control_enabled = (steer_control_type == 1) || // ANGLE_CONTROL
(steer_control_type == 2); // LANE_KEEP_ASSIST
if (steer_angle_cmd_checks_vm(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS, TESLA_STEERING_PARAMS)) {
violation = true;
}
bool valid_steer_control_type = (steer_control_type == 0) || // NONE
(steer_control_type == 1) || // ANGLE_CONTROL
(steer_control_type == 2); // LANE_KEEP_ASSIST
if (!valid_steer_control_type) {
violation = true;
}
if (tesla_stock_steering_control) {
// Don't allow any steering commands when stock steering control is active (LDA, ELDA, Autopark)
violation = true;
}
}
// DAS_control: longitudinal control message
if (msg->addr == 0x2b9U) {
// No AEB events may be sent by openpilot
int aeb_event = msg->data[2] & 0x03U;
if (aeb_event != 0) {
violation = true;
}
// Don't send long/cancel messages when the stock AEB system is active
if (tesla_stock_aeb) {
violation = true;
}
int raw_accel_max = ((msg->data[6] & 0x1FU) << 4) | (msg->data[5] >> 4);
int raw_accel_min = ((msg->data[5] & 0x0FU) << 5) | (msg->data[4] >> 3);
int acc_state = msg->data[1] >> 4;
if (tesla_longitudinal) {
// Prevent both acceleration from being negative, as this could cause the car to reverse after coming to standstill
if ((raw_accel_max < TESLA_LONG_LIMITS.inactive_accel) && (raw_accel_min < TESLA_LONG_LIMITS.inactive_accel)) {
violation = true;
}
// Don't allow any acceleration limits above the safety limits
violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS);
violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS);
} else {
// Can only send cancel longitudinal messages when not controlling longitudinal
if (acc_state != 13) { // ACC_CANCEL_GENERIC_SILENT
violation = true;
}
// No actuation is allowed when not controlling longitudinal
if ((raw_accel_max != TESLA_LONG_LIMITS.inactive_accel) || (raw_accel_min != TESLA_LONG_LIMITS.inactive_accel)) {
violation = true;
}
}
}
// DAS_bodyControls (blinker MITM on vehicle bus) is body control only, not motion
// actuation. openpilot copies the stock frame verbatim and only flips the turn-indicator
// bits, so we don't value-check it here — rejecting a frame would break the counter
// sequence the body controller validates. The TX whitelist still gates the address/bus.
if (violation) {
tx = false;
}
return tx;
}
static bool tesla_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
if (bus_num == 2) {
if (!tesla_summon) {
// APS_eacMonitor
if (addr == 0x27d) {
block_msg = true;
}
// DAS_steeringControl
if ((addr == 0x488) && !tesla_stock_steering_control) {
block_msg = true;
}
// DAS_control
if (tesla_longitudinal && (addr == 0x2b9) && !tesla_stock_aeb) {
block_msg = true;
}
}
}
return block_msg;
}
static safety_config tesla_init(uint16_t param) {
static const CanMsg TESLA_M3_Y_TX_MSGS[] = {
{0x488, 0, 4, .check_relay = true, .disable_static_blocking = true}, // DAS_steeringControl
{0x2b9, 0, 8, .check_relay = false}, // DAS_control (for cancel)
{0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true}, // APS_eacMonitor
};
static const CanMsg TESLA_M3_Y_LONG_TX_MSGS[] = {
{0x488, 0, 4, .check_relay = true, .disable_static_blocking = true}, // DAS_steeringControl
{0x2b9, 0, 8, .check_relay = true, .disable_static_blocking = true}, // DAS_control
{0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true}, // APS_eacMonitor
};
// With vehicle bus harness: adds DAS_bodyControls on bus 1 for blinker control
static const CanMsg TESLA_VEHICLE_BUS_TX_MSGS[] = {
{0x488, 0, 4, .check_relay = true, .disable_static_blocking = true}, // DAS_steeringControl
{0x2b9, 0, 8, .check_relay = false}, // DAS_control (for cancel)
{0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true}, // APS_eacMonitor
{0x3E9, 1, 8, .check_relay = false}, // DAS_bodyControls (blinker)
};
static const CanMsg TESLA_VEHICLE_BUS_LONG_TX_MSGS[] = {
{0x488, 0, 4, .check_relay = true, .disable_static_blocking = true}, // DAS_steeringControl
{0x2b9, 0, 8, .check_relay = true, .disable_static_blocking = true}, // DAS_control
{0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true}, // APS_eacMonitor
{0x3E9, 1, 8, .check_relay = false}, // DAS_bodyControls (blinker)
};
const uint16_t TESLA_FLAG_LEGACY_DAS_STEERING = 2;
tesla_legacy_das_steering = GET_FLAG(param, TESLA_FLAG_LEGACY_DAS_STEERING);
#ifdef ALLOW_DEBUG
const uint16_t TESLA_FLAG_LONGITUDINAL_CONTROL = 1;
tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
#endif
const uint16_t TESLA_PARAM_IQ_VEHICLE_BUS = 1;
tesla_has_vehicle_bus = GET_FLAG(current_safety_param_iq, TESLA_PARAM_IQ_VEHICLE_BUS);
tesla_stock_aeb = false;
tesla_stock_steering_control = false;
tesla_stock_steering_control_prev = false;
// we need to assume Summon on startup since DI_state is a low freq msg.
// this is so that we don't fault if starting while these systems are active
tesla_summon = true;
tesla_summon_prev = false;
static RxCheck tesla_model3_y_rx_checks[] = {
TESLA_COMMON_RX_CHECKS
};
static RxCheck tesla_model3_y_vehicle_bus_rx_checks[] = {
TESLA_COMMON_RX_CHECKS
TESLA_VEHICLE_BUS_ADDR_CHECK
};
safety_config ret;
if (tesla_has_vehicle_bus && tesla_longitudinal) {
SET_TX_MSGS(TESLA_VEHICLE_BUS_LONG_TX_MSGS, ret);
} else if (tesla_has_vehicle_bus) {
SET_TX_MSGS(TESLA_VEHICLE_BUS_TX_MSGS, ret);
} else if (tesla_longitudinal) {
SET_TX_MSGS(TESLA_M3_Y_LONG_TX_MSGS, ret);
} else {
SET_TX_MSGS(TESLA_M3_Y_TX_MSGS, ret);
}
if (tesla_has_vehicle_bus) {
SET_RX_CHECKS(tesla_model3_y_vehicle_bus_rx_checks, ret);
} else {
SET_RX_CHECKS(tesla_model3_y_rx_checks, ret);
}
return ret;
}
const safety_hooks tesla_hooks = {
.init = tesla_init,
.rx = tesla_rx_hook,
.tx = tesla_tx_hook,
.fwd = tesla_fwd_hook,
.get_counter = tesla_get_counter,
.get_checksum = tesla_get_checksum,
.compute_checksum = tesla_compute_checksum,
.get_quality_flag_valid = tesla_get_quality_flag_valid,
};

567
iqdbc_repo/iqdbc/safety/modes/toyota.h Normal file
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#pragma once
#include "iqdbc/safety/declarations.h"
// Stock longitudinal
#define TOYOTA_BASE_TX_MSGS \
{0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */ \
#define TOYOTA_COMMON_TX_MSGS \
TOYOTA_BASE_TX_MSGS \
{0x2E4, 0, 5, .check_relay = true}, \
{0x343, 0, 8, .check_relay = false}, /* ACC cancel cmd */ \
#define TOYOTA_COMMON_SECOC_TX_MSGS \
TOYOTA_BASE_TX_MSGS \
{0x2E4, 0, 8, .check_relay = true}, {0x131, 0, 8, .check_relay = true}, \
{0x343, 0, 8, .check_relay = false}, /* ACC cancel cmd */ \
#define TOYOTA_COMMON_LONG_TX_MSGS \
TOYOTA_COMMON_TX_MSGS \
/* DSU bus 0 */ \
{0x283, 0, 7, .check_relay = false}, {0x2E6, 0, 8, .check_relay = false}, {0x2E7, 0, 8, .check_relay = false}, {0x33E, 0, 7, .check_relay = false}, \
{0x344, 0, 8, .check_relay = false}, {0x365, 0, 7, .check_relay = false}, {0x366, 0, 7, .check_relay = false}, {0x4CB, 0, 8, .check_relay = false}, \
/* DSU bus 1 */ \
{0x128, 1, 6, .check_relay = false}, {0x141, 1, 4, .check_relay = false}, {0x160, 1, 8, .check_relay = false}, {0x161, 1, 7, .check_relay = false}, \
{0x470, 1, 4, .check_relay = false}, \
/* PCS_HUD */ \
{0x411, 0, 8, .check_relay = false}, \
/* radar diagnostic address */ \
{0x750, 0, 8, .check_relay = false}, \
/* ACC */ \
{0x343, 0, 8, .check_relay = true}, \
#define TOYOTA_COMMON_SECOC_LONG_TX_MSGS \
TOYOTA_COMMON_SECOC_TX_MSGS \
{0x343, 0, 8, .check_relay = true}, \
{0x183, 0, 8, .check_relay = true}, /* ACC_CONTROL_2 */ \
#define TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}}, \
#define TOYOTA_RX_CHECKS(lta) \
TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{0x1D2, 0, 8, 33U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x226, 0, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_ALT_BRAKE_RX_CHECKS(lta) \
TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{0x1D2, 0, 8, 33U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x224, 0, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_SECOC_RX_CHECKS \
TOYOTA_COMMON_RX_CHECKS(false) \
{.msg = {{0x176, 0, 8, 32U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x116, 0, 8, 42U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x101, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_PCM_CRUISE_2_ADDR_CHECK \
{.msg = {{0x1D3, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 33U}, { 0 }, { 0 }}}, \
#define TOYOTA_DSU_CRUISE_ADDR_CHECK \
{.msg = {{0x365, 0, 7, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 5U}, { 0 }, { 0 }}}, \
#define TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK \
{.msg = {{0x201, 0, 6, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static bool toyota_secoc = false;
static bool toyota_alt_brake = false;
static bool toyota_stock_longitudinal = false;
static bool toyota_lta = false;
static int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
static uint32_t toyota_compute_checksum(const CANPacket_t *msg) {
int len = GET_LEN(msg);
uint8_t checksum = (uint8_t)(msg->addr) + (uint8_t)((unsigned int)(msg->addr) >> 8U) + (uint8_t)(len);
for (int i = 0; i < (len - 1); i++) {
checksum += (uint8_t)msg->data[i];
}
return checksum;
}
static uint32_t toyota_get_checksum(const CANPacket_t *msg) {
int checksum_byte = GET_LEN(msg) - 1U;
return (uint8_t)(msg->data[checksum_byte]);
}
static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
return !GET_BIT(msg, 3U); // STEER_ANGLE_INITIALIZING
}
static int TOYOTA_GET_INTERCEPTOR(const CANPacket_t *msg) {
uint16_t val1 = (uint16_t)((uint16_t)msg->data[0] << 8U) | (uint16_t)msg->data[1];
uint16_t val2 = (uint16_t)((uint16_t)msg->data[2] << 8U) | (uint16_t)msg->data[3];
uint16_t avg = (uint16_t)((val1 + val2) / 2U);
return (int)avg;
}
static void toyota_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
// get eps motor torque (0.66 factor in dbc)
if (msg->addr == 0x260U) {
int torque_meas_new = (msg->data[5] << 8) | msg->data[6];
torque_meas_new = to_signed(torque_meas_new, 16);
// scale by dbc_factor
torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
// update array of sample
update_sample(&torque_meas, torque_meas_new);
// increase torque_meas by 1 to be conservative on rounding
torque_meas.min--;
torque_meas.max++;
// driver torque for angle limiting
int torque_driver_new = (msg->data[1] << 8) | msg->data[2];
torque_driver_new = to_signed(torque_driver_new, 16);
update_sample(&torque_driver, torque_driver_new);
// LTA request angle should match current angle while inactive, clipped to max accepted angle.
// note that angle can be relative to init angle on some TSS2 platforms, LTA has the same offset
bool steer_angle_initializing = GET_BIT(msg, 3U);
if (!steer_angle_initializing) {
int angle_meas_new = (msg->data[3] << 8U) | msg->data[4];
angle_meas_new = to_signed(angle_meas_new, 16);
update_sample(&angle_meas, angle_meas_new);
}
}
// enter controls on rising edge of ACC, exit controls on ACC off
// exit controls on rising edge of gas press, if not alternative experience
// exit controls on rising edge of brake press
if (toyota_secoc) {
if (msg->addr == 0x176U) {
bool cruise_engaged = GET_BIT(msg, 5U); // PCM_CRUISE.CRUISE_ACTIVE
pcm_cruise_check(cruise_engaged);
}
if (msg->addr == 0x116U) {
gas_pressed = msg->data[1] != 0U; // GAS_PEDAL.GAS_PEDAL_USER
}
if (msg->addr == 0x101U) {
brake_pressed = GET_BIT(msg, 3U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_rav4_prime_generated.dbc)
}
} else {
if (msg->addr == 0x1D2U) {
bool cruise_engaged = GET_BIT(msg, 5U); // PCM_CRUISE.CRUISE_ACTIVE
pcm_cruise_check(cruise_engaged);
if (!enable_gas_interceptor) {
gas_pressed = !GET_BIT(msg, 4U); // PCM_CRUISE.GAS_RELEASED
}
}
if (!toyota_alt_brake && (msg->addr == 0x226U)) {
brake_pressed = GET_BIT(msg, 37U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_nodsu_pt_generated.dbc)
}
if (toyota_alt_brake && (msg->addr == 0x224U)) {
brake_pressed = GET_BIT(msg, 5U); // BRAKE_MODULE.BRAKE_PRESSED (toyota_new_mc_pt_generated.dbc)
}
}
// sample speed
if (msg->addr == 0xaaU) {
int speed = 0;
// sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
for (uint8_t i = 0U; i < 8U; i += 2U) {
int wheel_speed = (msg->data[i] << 8U) | msg->data[(i + 1U)];
speed += wheel_speed - 6767;
}
// check that all wheel speeds are at zero value
vehicle_moving = speed != 0;
UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 * KPH_TO_MS);
}
if (msg->addr == 0x1D3U) {
acc_main_on = GET_BIT(msg, 15U);
}
if (msg->addr == 0x365U) {
acc_main_on = GET_BIT(msg, 0U);
}
// sample gas interceptor
if (msg->addr == 0x201U) {
// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
// Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805
const int toyota_gas_interceptor_thrsld = 805;
int gas_interceptor = TOYOTA_GET_INTERCEPTOR(msg);
gas_pressed = gas_interceptor > toyota_gas_interceptor_thrsld;
gas_interceptor_prev = gas_interceptor;
}
}
}
static bool toyota_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits TOYOTA_TORQUE_STEERING_LIMITS = {
.max_torque = 1500,
.max_rate_up = 15, // ramp up slow
.max_rate_down = 25, // ramp down fast
.max_torque_error = 350, // max torque cmd in excess of motor torque
.max_rt_delta = 450, // the real time limit is 1800/sec, a 20% buffer
.type = TorqueMotorLimited,
// the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
// we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
.min_valid_request_frames = 17,
.max_invalid_request_frames = 1,
.min_valid_request_rt_interval = 162000, // 162ms; a ~10% buffer on cutting every 18 frames
.has_steer_req_tolerance = true,
};
static const AngleSteeringLimits TOYOTA_ANGLE_STEERING_LIMITS = {
// LTA angle limits
// factor for STEER_TORQUE_SENSOR->STEER_ANGLE and STEERING_LTA->STEER_ANGLE_CMD (1 / 0.0573)
.max_angle = 1657, // EPS only accepts up to 94.9461
.angle_deg_to_can = 17.452007,
.angle_rate_up_lookup = {
{5., 25., 25.},
{0.3, 0.15, 0.15}
},
.angle_rate_down_lookup = {
{5., 25., 25.},
{0.36, 0.26, 0.26}
},
};
const int TOYOTA_LTA_MAX_MEAS_TORQUE = 1500;
const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
// longitudinal limits
const LongitudinalLimits TOYOTA_LONG_LIMITS = {
.max_accel = 2000, // 2.0 m/s2
.min_accel = -3500, // -3.5 m/s2
.zero_accel = 0,
};
bool tx = true;
// Check if msg is sent on BUS 0
if (msg->bus == 0U) {
// ACCEL: safety check on byte 1-2
if (msg->addr == 0x343U) {
int desired_accel = (msg->data[0] << 8) | msg->data[1];
desired_accel = to_signed(desired_accel, 16);
bool violation = false;
if (toyota_secoc) {
// SecOC cars move accel to 0x183. Only allow inactive accel on 0x343 to match stock behavior
violation = desired_accel != TOYOTA_LONG_LIMITS.inactive_accel;
}
violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
// only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
if (toyota_stock_longitudinal) {
bool cancel_req = GET_BIT(msg, 24U);
if (!cancel_req) {
violation = true;
}
if (desired_accel != TOYOTA_LONG_LIMITS.inactive_accel) {
violation = true;
}
}
if (violation) {
tx = false;
}
}
if (msg->addr == 0x183U) {
int desired_accel = (msg->data[0] << 8) | msg->data[1];
desired_accel = to_signed(desired_accel, 16);
tx = !longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
}
// AEB: block all actuation. only used when DSU is unplugged
if (msg->addr == 0x283U) {
// only allow the checksum, which is the last byte
bool block = (GET_BYTES(msg, 0, 4) != 0U) || (msg->data[4] != 0U) || (msg->data[5] != 0U);
if (block) {
tx = false;
}
}
// STEERING_LTA angle steering check
if (msg->addr == 0x191U) {
// check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
bool lta_request = GET_BIT(msg, 0U);
bool lta_request2 = GET_BIT(msg, 25U);
int torque_wind_down = msg->data[5];
int lta_angle = (msg->data[1] << 8) | msg->data[2];
lta_angle = to_signed(lta_angle, 16);
bool steer_control_enabled = lta_request || lta_request2;
if (!toyota_lta) {
// using torque (LKA), block LTA msgs with actuation requests
if (steer_control_enabled || (lta_angle != 0) || (torque_wind_down != 0)) {
tx = false;
}
} else {
// check angle rate limits and inactive angle
if (steer_angle_cmd_checks(lta_angle, steer_control_enabled, TOYOTA_ANGLE_STEERING_LIMITS)) {
tx = false;
}
if (lta_request != lta_request2) {
tx = false;
}
// TORQUE_WIND_DOWN is gated on steer request
if (!steer_control_enabled && (torque_wind_down != 0)) {
tx = false;
}
// TORQUE_WIND_DOWN can only be no or full torque
if ((torque_wind_down != 0) && (torque_wind_down != 100)) {
tx = false;
}
// check if we should wind down torque
int driver_torque = SAFETY_MIN(SAFETY_ABS(torque_driver.min), SAFETY_ABS(torque_driver.max));
if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) {
tx = false;
}
int eps_torque = SAFETY_MIN(SAFETY_ABS(torque_meas.min), SAFETY_ABS(torque_meas.max));
if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) {
tx = false;
}
}
}
// STEERING_LTA_2 angle steering check (SecOC)
if (toyota_secoc && (msg->addr == 0x131U)) {
// SecOC cars block any form of LTA actuation for now
bool lta_request = GET_BIT(msg, 3U); // STEERING_LTA_2.STEER_REQUEST
bool lta_request2 = GET_BIT(msg, 0U); // STEERING_LTA_2.STEER_REQUEST_2
int lta_angle_msb = msg->data[2]; // STEERING_LTA_2.STEER_ANGLE_CMD (MSB)
int lta_angle_lsb = msg->data[3]; // STEERING_LTA_2.STEER_ANGLE_CMD (LSB)
bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0);
if (actuation) {
tx = false;
}
}
// STEER: safety check on bytes 2-3
if (msg->addr == 0x2E4U) {
int desired_torque = (msg->data[1] << 8) | msg->data[2];
desired_torque = to_signed(desired_torque, 16);
bool steer_req = GET_BIT(msg, 0U);
// When using LTA (angle control), assert no actuation on LKA message
if (!toyota_lta) {
if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_TORQUE_STEERING_LIMITS)) {
tx = false;
}
} else {
if ((desired_torque != 0) || steer_req) {
tx = false;
}
}
}
// GAS PEDAL: safety check
if (msg->addr == 0x200U) {
if (longitudinal_interceptor_checks(msg)) {
tx = false;
}
}
}
// UDS: Only tester present and door lock/unlock allowed on diagnostics address
if (msg->addr == 0x750U) {
// this address is sub-addressed. only allow tester present to radar (0xF)
bool valid_tester_present = (GET_BYTES(msg, 0, 4) == 0x003E020FU) && (GET_BYTES(msg, 4, 4) == 0x0U);
// BCM door lock/unlock routine (0x40=BCM sub-addr, 0x05=len, 0x30 0x11=routine ID)
// Byte 5: 0x80=lock, 0x40=unlock. Only these two values allowed.
bool valid_door_lock = (GET_BYTES(msg, 0, 4) == 0x11300540U) &&
((GET_BYTES(msg, 5, 1) == 0x80U) || (GET_BYTES(msg, 5, 1) == 0x40U));
if (!valid_tester_present && !valid_door_lock) {
tx = 0;
}
}
return tx;
}
static safety_config toyota_init(uint16_t param) {
static const CanMsg TOYOTA_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
};
static const CanMsg TOYOTA_SECOC_TX_MSGS[] = {
TOYOTA_COMMON_SECOC_TX_MSGS
};
static const CanMsg TOYOTA_LONG_TX_MSGS[] = {
TOYOTA_COMMON_LONG_TX_MSGS
};
static const CanMsg TOYOTA_SECOC_LONG_TX_MSGS[] = {
TOYOTA_COMMON_SECOC_LONG_TX_MSGS
};
static const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
TOYOTA_COMMON_LONG_TX_MSGS
{0x200, 0, 6, .check_relay = false}, // gas interceptor
};
// safety param flags
// first byte is for EPS factor, second is for flags
const uint32_t TOYOTA_PARAM_OFFSET = 8U;
const uint32_t TOYOTA_EPS_FACTOR = (1UL << TOYOTA_PARAM_OFFSET) - 1U;
const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
const uint16_t TOYOTA_PARAM_IQ_UNSUPPORTED_DSU = 1;
const uint16_t TOYTOA_PARAM_IQ_GAS_INTERCEPTOR = 2;
#ifdef ALLOW_DEBUG
const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC);
#endif
toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
const bool toyota_unsupported_dsu = GET_FLAG(current_safety_param_iq, TOYOTA_PARAM_IQ_UNSUPPORTED_DSU);
enable_gas_interceptor = GET_FLAG(current_safety_param_iq, TOYTOA_PARAM_IQ_GAS_INTERCEPTOR);
// gas interceptor should not be used if openpilot is not controlling longitudinal or is a TSK car
if (toyota_stock_longitudinal || toyota_secoc) {
enable_gas_interceptor = false;
}
safety_config ret;
if (toyota_secoc) {
if (toyota_stock_longitudinal) {
SET_TX_MSGS(TOYOTA_SECOC_TX_MSGS, ret);
} else {
SET_TX_MSGS(TOYOTA_SECOC_LONG_TX_MSGS, ret);
}
} else {
if (toyota_stock_longitudinal) {
SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
} else {
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
}
}
if (toyota_secoc) {
static RxCheck toyota_secoc_rx_checks[] = {
TOYOTA_SECOC_RX_CHECKS
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
};
SET_RX_CHECKS(toyota_secoc_rx_checks, ret);
} else if (toyota_lta) {
// Check the quality flag for angle measurement when using LTA, since it's not set on TSS-P cars
static RxCheck toyota_lta_rx_checks[] = {
TOYOTA_RX_CHECKS(true)
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
};
SET_RX_CHECKS(toyota_lta_rx_checks, ret);
} else {
static RxCheck toyota_lka_rx_checks[] = {
TOYOTA_RX_CHECKS(false)
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
};
static RxCheck toyota_lka_alt_brake_rx_checks[] = {
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
};
static RxCheck toyota_lka_unsupported_dsu_rx_checks[] = {
TOYOTA_RX_CHECKS(false)
TOYOTA_DSU_CRUISE_ADDR_CHECK
};
static RxCheck toyota_lka_alt_brake_unsupported_dsu_rx_checks[] = {
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
TOYOTA_DSU_CRUISE_ADDR_CHECK
};
if (!toyota_alt_brake) {
if (toyota_unsupported_dsu) {
SET_RX_CHECKS(toyota_lka_unsupported_dsu_rx_checks, ret);
} else {
SET_RX_CHECKS(toyota_lka_rx_checks, ret);
}
} else {
if (toyota_unsupported_dsu) {
SET_RX_CHECKS(toyota_lka_alt_brake_unsupported_dsu_rx_checks, ret);
} else {
SET_RX_CHECKS(toyota_lka_alt_brake_rx_checks, ret);
}
}
}
if (enable_gas_interceptor) {
SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS, ret);
if (toyota_lta) {
static RxCheck toyota_lta_interceptor_rx_checks[] = {
TOYOTA_RX_CHECKS(true)
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
};
SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret);
} else {
static RxCheck toyota_lka_interceptor_rx_checks[] = {
TOYOTA_RX_CHECKS(false)
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
};
static RxCheck toyota_lka_alt_brake_interceptor_rx_checks[] = {
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
};
static RxCheck toyota_lka_unsupported_dsu_interceptor_rx_checks[] = {
TOYOTA_RX_CHECKS(false)
TOYOTA_DSU_CRUISE_ADDR_CHECK
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
};
static RxCheck toyota_lka_alt_brake_unsupported_dsu_interceptor_rx_checks[] = {
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
TOYOTA_DSU_CRUISE_ADDR_CHECK
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
};
if (!toyota_alt_brake) {
if (toyota_unsupported_dsu) {
SET_RX_CHECKS(toyota_lka_unsupported_dsu_interceptor_rx_checks, ret);
} else {
SET_RX_CHECKS(toyota_lka_interceptor_rx_checks, ret);
}
} else {
if (toyota_unsupported_dsu) {
SET_RX_CHECKS(toyota_lka_alt_brake_unsupported_dsu_interceptor_rx_checks, ret);
} else {
SET_RX_CHECKS(toyota_lka_alt_brake_interceptor_rx_checks, ret);
}
}
}
}
return ret;
}
const safety_hooks toyota_hooks = {
.init = toyota_init,
.rx = toyota_rx_hook,
.tx = toyota_tx_hook,
.get_checksum = toyota_get_checksum,
.compute_checksum = toyota_compute_checksum,
.get_quality_flag_valid = toyota_get_quality_flag_valid,
};

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iqdbc_repo/iqdbc/safety/modes/volkswagen_common.h Normal file
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#pragma once
extern const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL;
const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL = 1;
extern const uint16_t FLAG_VOLKSWAGEN_ALT_CRC_VARIANT_1;
const uint16_t FLAG_VOLKSWAGEN_ALT_CRC_VARIANT_1 = 2;
extern const uint16_t FLAG_VOLKSWAGEN_NO_GAS_OFFSET;
const uint16_t FLAG_VOLKSWAGEN_NO_GAS_OFFSET = 4;
extern const uint16_t FLAG_VOLKSWAGEN_ALLOW_LONG_ACCEL_WITH_GAS_PRESSED;
const uint16_t FLAG_VOLKSWAGEN_ALLOW_LONG_ACCEL_WITH_GAS_PRESSED = 8;
extern const uint16_t FLAG_VOLKSWAGEN_PQ_ALC_MODULE;
const uint16_t FLAG_VOLKSWAGEN_PQ_ALC_MODULE = 32;
extern const uint16_t FLAG_VOLKSWAGEN_PQ_LOWLINE;
const uint16_t FLAG_VOLKSWAGEN_PQ_LOWLINE = 64;
extern const uint16_t FLAG_VOLKSWAGEN_PQ_NO_CAM_BUS;
const uint16_t FLAG_VOLKSWAGEN_PQ_NO_CAM_BUS = 128;
extern const uint16_t FLAG_VOLKSWAGEN_PQ_ACC_FTS_EPB;
const uint16_t FLAG_VOLKSWAGEN_PQ_ACC_FTS_EPB = 256;
extern const uint16_t FLAG_VOLKSWAGEN_PQ_SNG_ECD;
const uint16_t FLAG_VOLKSWAGEN_PQ_SNG_ECD = 512;
static uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
extern bool volkswagen_longitudinal;
bool volkswagen_longitudinal = false;
extern bool volkswagen_alt_crc_variant_1;
bool volkswagen_alt_crc_variant_1 = false;
extern bool volkswagen_no_gas_offset;
bool volkswagen_no_gas_offset = false;
extern bool volkswagen_allow_long_accel_with_gas_pressed;
bool volkswagen_allow_long_accel_with_gas_pressed = false;
extern bool volkswagen_set_button_prev;
bool volkswagen_set_button_prev = false;
extern bool volkswagen_resume_button_prev;
bool volkswagen_resume_button_prev = false;
extern bool volkswagen_brake_pedal_switch;
extern bool volkswagen_brake_pressure_detected;
bool volkswagen_brake_pedal_switch = false;
bool volkswagen_brake_pressure_detected = false;
#define VW_IQ_MAX_LAT_ACCEL 3.0f
#define VW_IQ_MAX_LONG_ACCEL 2000
#define VW_IQ_MIN_LONG_ACCEL -3500
#define VW_IQ_INACTIVE_LONG_ACCEL 3010
#define VW_IQ_DEG_TO_RAD 0.017453292f
extern float vw_iq_apd_steer_ratio;
extern float vw_iq_apd_wheelbase;
extern bool vw_iq_apd_params_valid;
float vw_iq_apd_steer_ratio = 0.0f;
float vw_iq_apd_wheelbase = 0.0f;
bool vw_iq_apd_params_valid = false;
extern float vw_iq_measured_angle_deg;
float vw_iq_measured_angle_deg = 0.0f;
extern bool vw_iq_aol_active;
bool vw_iq_aol_active = false;
extern bool vw_iq_no_cam;
bool vw_iq_no_cam = false;
extern float vw_iq_angle_offset_deg;
float vw_iq_angle_offset_deg = 0.0f;
extern float vw_iq_alc_desired_angle_deg;
float vw_iq_alc_desired_angle_deg = 0.0f;
extern bool vw_iq_alc_active;
bool vw_iq_alc_active = false;
extern float vw_iq_debug_lat_accel;
float vw_iq_debug_lat_accel = 0.0f;
void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
void can_set_checksum(CANPacket_t *packet);
#define MSG_LH_EPS_03 0x09FU // RX from EPS, for driver steering torque
#define MSG_ESP_19 0x0B2U // RX from ABS, for wheel speeds
#define MSG_ESP_05 0x106U // RX from ABS, for brake switch state
#define MSG_TSK_06 0x120U // RX from ECU, for ACC status from drivetrain coordinator
#define MSG_MOTOR_20 0x121U // RX from ECU, for driver throttle input
#define MSG_ACC_06 0x122U // TX by OP, ACC control instructions to the drivetrain coordinator
#define MSG_HCA_01 0x126U // TX by OP, Heading Control Assist steering torque
#define MSG_GRA_ACC_01 0x12BU // TX by OP, ACC control buttons for cancel/resume
#define MSG_ACC_07 0x12EU // TX by OP, ACC control instructions to the drivetrain coordinator
#define MSG_ACC_02 0x30CU // TX by OP, ACC HUD data to the instrument cluster
#define MSG_LDW_02 0x397U // TX by OP, Lane line recognition and text alerts
#define MSG_MOTOR_14 0x3BEU // RX from ECU, for brake switch status
// MLB only messages
#define MSG_ESP_03 0x103U // RX from ABS, for wheel speeds
#define MSG_LS_01 0x10BU // TX by OP, ACC control buttons for cancel/resume
#define MSG_MOTOR_03 0x105U // RX from ECU, for driver throttle input and brake switch status
#define MSG_TSK_02 0x10CU // RX from ECU, for ACC status from drivetrain coordinator
#define MSG_ACC_05 0x10DU // RX from radar, for ACC status
#define MSG_ACC_01 0x109U // RX from radar, for ACC status (Audi B8)
static void volkswagen_common_init(void) {
volkswagen_set_button_prev = false;
volkswagen_resume_button_prev = false;
volkswagen_brake_pedal_switch = false;
volkswagen_brake_pressure_detected = false;
volkswagen_alt_crc_variant_1 = false;
volkswagen_no_gas_offset = false;
volkswagen_allow_long_accel_with_gas_pressed = false;
vw_iq_apd_steer_ratio = 0.0f;
vw_iq_apd_wheelbase = 0.0f;
vw_iq_apd_params_valid = false;
vw_iq_aol_active = false;
vw_iq_no_cam = false;
vw_iq_angle_offset_deg = 0.0f;
vw_iq_alc_desired_angle_deg = 0.0f;
vw_iq_alc_active = false;
vw_iq_measured_angle_deg = 0.0f;
gen_crc_lookup_table_8(0x2F, volkswagen_crc8_lut_8h2f);
return;
}
bool volkswagen_longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) {
bool accel_valid = controls_allowed &&
(volkswagen_allow_long_accel_with_gas_pressed || !gas_pressed_prev) &&
!safety_max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
bool accel_inactive = desired_accel == limits.inactive_accel;
return !(accel_valid || accel_inactive);
}
static void volkswagen_iq_decode_apd(const CANPacket_t *msg) {
uint8_t version = (msg->data[1] >> 4) & 0x0FU;
uint8_t flags = msg->data[2] & 0x0FU;
if (version == 1U) {
vw_iq_aol_active = (flags & 0x08U) != 0U;
uint16_t angle_offset_raw = ((msg->data[5] >> 2) & 0x3FU) | (((uint16_t)msg->data[6] & 0x1FU) << 6);
vw_iq_angle_offset_deg = (float)angle_offset_raw * 0.01f - 10.0f;
}
if ((version == 1U) && (flags & 0x01U)) {
uint16_t sr_raw = ((msg->data[2] >> 4) & 0x0FU) | (((uint16_t)msg->data[3] & 0x7FU) << 4);
uint16_t wb_raw = ((msg->data[3] >> 7) & 0x01U) | (((uint16_t)msg->data[4]) << 1) | (((uint16_t)msg->data[5] & 0x03U) << 9);
vw_iq_apd_steer_ratio = (float)sr_raw * 0.01f + 8.0f;
vw_iq_apd_wheelbase = ((float)wb_raw + 2000.0f) * 0.001f;
vw_iq_apd_params_valid = (vw_iq_apd_steer_ratio > 1.0f) && (vw_iq_apd_wheelbase > 1.0f);
}
}
static bool volkswagen_iq_lat_accel_torque_check(int desired_torque) {
if (!controls_allowed && !vw_iq_aol_active) {
vw_iq_debug_lat_accel = 0.0f;
return desired_torque != 0;
}
if (!vw_iq_apd_params_valid) {
vw_iq_debug_lat_accel = 0.0f;
return false;
}
float speed_ms = (float)(vehicle_speed.min) / VEHICLE_SPEED_FACTOR;
if (speed_ms < 1.0f) {
vw_iq_debug_lat_accel = 0.0f;
return false;
}
float abs_angle = vw_iq_measured_angle_deg >= 0.0f ? vw_iq_measured_angle_deg : -vw_iq_measured_angle_deg;
float angle_rad = abs_angle * VW_IQ_DEG_TO_RAD;
float curvature = angle_rad / (vw_iq_apd_steer_ratio * vw_iq_apd_wheelbase);
float lat_accel = curvature * speed_ms * speed_ms;
vw_iq_debug_lat_accel = lat_accel;
if (lat_accel > VW_IQ_MAX_LAT_ACCEL) {
bool torque_positive = desired_torque > 0;
bool angle_positive = vw_iq_measured_angle_deg > 0.0f;
if (torque_positive == angle_positive) {
return true;
}
}
return false;
}
static float volkswagen_iq_angle_to_lat_accel(float angle_deg) {
float abs_angle = angle_deg >= 0.0f ? angle_deg : -angle_deg;
float angle_rad = abs_angle * VW_IQ_DEG_TO_RAD;
float curvature = angle_rad / (vw_iq_apd_steer_ratio * vw_iq_apd_wheelbase);
float speed_ms = (float)(vehicle_speed.min) / VEHICLE_SPEED_FACTOR;
return curvature * speed_ms * speed_ms;
}
static bool volkswagen_iq_alc_angle_accel_check(bool require_activation_gate) {
if (require_activation_gate && !controls_allowed && !vw_iq_aol_active) {
return true;
}
if (!vw_iq_apd_params_valid) {
return false;
}
float speed_ms = (float)(vehicle_speed.min) / VEHICLE_SPEED_FACTOR;
if (speed_ms < 1.0f) {
return false;
}
const float desired_effective_angle = vw_iq_alc_desired_angle_deg - vw_iq_angle_offset_deg;
const float actual_effective_angle = vw_iq_measured_angle_deg - vw_iq_angle_offset_deg;
const float delta_angle = desired_effective_angle - actual_effective_angle;
const float delta_lat_accel = volkswagen_iq_angle_to_lat_accel(delta_angle);
vw_iq_debug_lat_accel = delta_lat_accel;
if (delta_lat_accel <= VW_IQ_MAX_LAT_ACCEL) {
return false;
}
return true;
}
static void volkswagen_iq_send_debug_la(uint32_t debug_addr, uint8_t bus) {
CANPacket_t msg = {0};
msg.addr = debug_addr;
msg.bus = bus;
msg.data_len_code = 8U;
uint16_t la_raw = (uint16_t)(vw_iq_debug_lat_accel * 1000.0f);
float speed_kmh = ((float)(vehicle_speed.min) / VEHICLE_SPEED_FACTOR) * 3.6f;
uint16_t spd_raw = (uint16_t)(speed_kmh * 100.0f);
int16_t ang_raw = (int16_t)(vw_iq_measured_angle_deg * 100.0f);
uint8_t flags = (vw_iq_apd_params_valid ? 0x01U : 0x00U) | (vw_iq_aol_active ? 0x02U : 0x00U) | (vw_iq_no_cam ? 0x04U : 0x00U);
msg.data[0] = (uint8_t)(la_raw & 0xFFU);
msg.data[1] = (uint8_t)((la_raw >> 8) & 0xFFU);
msg.data[2] = (uint8_t)(spd_raw & 0xFFU);
msg.data[3] = (uint8_t)((spd_raw >> 8) & 0xFFU);
msg.data[4] = (uint8_t)((uint16_t)ang_raw & 0xFFU);
msg.data[5] = (uint8_t)(((uint16_t)ang_raw >> 8) & 0xFFU);
msg.data[6] = flags;
msg.data[7] = 0U;
can_set_checksum(&msg);
can_send(&msg, bus, true);
}
static bool volkswagen_iq_long_accel_check(int desired_accel) {
if (desired_accel == VW_IQ_INACTIVE_LONG_ACCEL) {
return false;
}
if (!controls_allowed) {
return true;
}
if (gas_pressed_prev && !volkswagen_allow_long_accel_with_gas_pressed) {
return true;
}
return (desired_accel > VW_IQ_MAX_LONG_ACCEL) || (desired_accel < VW_IQ_MIN_LONG_ACCEL);
}
static uint32_t volkswagen_mqb_meb_get_checksum(const CANPacket_t *msg) {
return (uint8_t)msg->data[0];
}
static uint8_t volkswagen_mqb_meb_get_counter(const CANPacket_t *msg) {
// MQB/MEB message counters are consistently found at LSB 8.
return (uint8_t)msg->data[1] & 0xFU;
}
static uint32_t volkswagen_mqb_meb_compute_crc(const CANPacket_t *msg) {
int len = GET_LEN(msg);
// This is CRC-8H2F/AUTOSAR with a twist. See the iqdbc/car/volkswagen/ implementation
// of this algorithm for a version with explanatory comments.
uint8_t crc = 0xFFU;
for (int i = 1; i < len; i++) {
crc ^= (uint8_t)msg->data[i];
crc = volkswagen_crc8_lut_8h2f[crc];
}
uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
if (msg->addr == MSG_LH_EPS_03) {
crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
} else if (msg->addr == MSG_ESP_05) {
crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter];
} else if (msg->addr == MSG_TSK_06) {
crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter];
} else if (msg->addr == MSG_MOTOR_20) {
crc ^= (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter];
} else if (msg->addr == MSG_GRA_ACC_01) {
crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
} else {
// Undefined CAN message, CRC check expected to fail
}
crc = volkswagen_crc8_lut_8h2f[crc];
return (uint8_t)(crc ^ 0xFFU);
}
static int volkswagen_mlb_mqb_driver_input_torque(const CANPacket_t *msg) {
// Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
int torque_driver_new = msg->data[5] | ((msg->data[6] & 0x1FU) << 8);
bool sign = GET_BIT(msg, 55U);
if (sign) {
torque_driver_new *= -1;
}
return torque_driver_new;
}
static int volkswagen_mlb_mqb_steering_control_torque(const CANPacket_t *msg) {
// Signal: HCA_01.HCA_01_LM_Offset (absolute torque)
// Signal: HCA_01.HCA_01_LM_OffSign (direction)
int desired_torque = msg->data[2] | ((msg->data[3] & 0x1U) << 8);
bool sign = GET_BIT(msg, 31U);
if (sign) {
desired_torque *= -1;
}
return desired_torque;
}

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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/volkswagen_common.h"
#define MSG_ESC_51 0xFCU
#define MSG_Motor_54 0x14CU // RX from ECU; CRC table entry kept, not in rx_checks (Motor_51 used for gas)
#define MSG_HCA_03 0x303U
#define MSG_QFK_01 0x13DU
#define MSG_MEB_ACC_01 0x300U
#define MSG_ACC_18 0x14DU
#define MSG_Motor_51 0x10BU
#define MSG_TA_01 0x26BU
#define MSG_EA_01 0x1A4U
#define MSG_EA_02 0x1F0U
#define MSG_KLR_01 0x25DU
#define MSG_AWV_03 0xDBU // TX by OP (camera harness): AEB control replacement for disabled radar
#define MSG_MEB_DISTANCE_01 0x24FU // TX by OP (camera harness): empty radar object list for disabled radar
#define MSG_UDS_FUNCTIONAL 0x700U // TX by OP (camera harness): TesterPresent keepalive for radar programming session
static uint32_t volkswagen_meb_compute_crc(const CANPacket_t *msg) {
const int len = GET_LEN(msg);
uint8_t crc = 0xFFU;
for (int i = 1; i < len; i++) {
crc ^= (uint8_t)msg->data[i];
crc = volkswagen_crc8_lut_8h2f[crc];
}
const uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
if (msg->addr == MSG_LH_EPS_03) {
crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
} else if (msg->addr == MSG_GRA_ACC_01) {
crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
} else if (msg->addr == MSG_QFK_01) {
crc ^= (uint8_t[]){0x20,0xCA,0x68,0xD5,0x1B,0x31,0xE2,0xDA,0x08,0x0A,0xD4,0xDE,0x9C,0xE4,0x35,0x5B}[counter];
} else if (msg->addr == MSG_ESC_51) {
crc ^= (uint8_t[]){0x77,0x5C,0xA0,0x89,0x4B,0x7C,0xBB,0xD6,0x1F,0x6C,0x4F,0xF6,0x20,0x2B,0x43,0xDD}[counter];
} else if (msg->addr == MSG_Motor_54) {
crc ^= (uint8_t[]){0x16,0x35,0x59,0x15,0x9A,0x2A,0x97,0xB8,0x0E,0x4E,0x30,0xCC,0xB3,0x07,0x01,0xAD}[counter];
} else if (msg->addr == MSG_Motor_51) {
crc ^= (uint8_t[]){0x77,0x5C,0xA0,0x89,0x4B,0x7C,0xBB,0xD6,0x1F,0x6C,0x4F,0xF6,0x20,0x2B,0x43,0xDD}[counter];
} else if (msg->addr == MSG_MOTOR_14) {
crc ^= (uint8_t[]){0x1F,0x28,0xC6,0x85,0xE6,0xF8,0xB0,0x19,0x5B,0x64,0x35,0x21,0xE4,0xF7,0x9C,0x24}[counter];
} else if (msg->addr == MSG_KLR_01) {
crc ^= (uint8_t[]){0xDA,0x6B,0x0E,0xB2,0x78,0xBD,0x5A,0x81,0x7B,0xD6,0x41,0x39,0x76,0xB6,0xD7,0x35}[counter];
} else if (msg->addr == MSG_EA_02) {
crc ^= (uint8_t[]){0x2F,0x3C,0x22,0x60,0x18,0xEB,0x63,0x76,0xC5,0x91,0x0F,0x27,0x34,0x04,0x7F,0x02}[counter];
}
crc = volkswagen_crc8_lut_8h2f[crc];
return (uint8_t)(crc ^ 0xFFU);
}
static uint32_t volkswagen_meb_gen2_compute_crc(const CANPacket_t *msg) {
if (!volkswagen_alt_crc_variant_1) {
return volkswagen_meb_compute_crc(msg);
}
int len = GET_LEN(msg);
if (msg->addr == MSG_QFK_01) {
len = 28;
} else if (msg->addr == MSG_ESC_51) {
len = 60;
} else if (msg->addr == MSG_Motor_51) {
len = 44;
} else {
return volkswagen_meb_compute_crc(msg);
}
uint8_t crc = 0xFFU;
for (int i = 1; i < len; i++) {
crc ^= (uint8_t)msg->data[i];
crc = volkswagen_crc8_lut_8h2f[crc];
}
const uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
if (msg->addr == MSG_QFK_01) {
crc ^= (uint8_t[]){0x18,0x71,0x10,0x8D,0xD7,0xAA,0xB0,0x78,0xAC,0x12,0xAE,0x0C,0xDD,0xF1,0x85,0x68}[counter];
} else if (msg->addr == MSG_ESC_51) {
crc ^= (uint8_t[]){0x69,0xDC,0xF9,0x64,0x6A,0xCE,0x55,0x2C,0xC4,0x38,0x8F,0xD1,0xC6,0x43,0xB4,0xB1}[counter];
} else if (msg->addr == MSG_Motor_51) {
crc ^= (uint8_t[]){0x2C,0xB1,0x1A,0x75,0xBB,0x65,0x79,0x47,0x81,0x2B,0xCC,0x96,0x17,0xDB,0xC0,0x94}[counter];
} else {
return volkswagen_meb_compute_crc(msg);
}
crc = (uint8_t)(volkswagen_crc8_lut_8h2f[crc] ^ 0xFFU);
if (crc != msg->data[0]) {
return volkswagen_meb_compute_crc(msg);
}
return (uint8_t)crc;
}
static safety_config volkswagen_meb_init(uint16_t param) {
static const CanMsg VOLKSWAGEN_MEB_STOCK_TX_MSGS[] = {
{MSG_HCA_03, 0, 24, .check_relay = true},
{MSG_GRA_ACC_01, 0, 8, .check_relay = false},
{MSG_EA_01, 0, 8, .check_relay = false},
{MSG_EA_02, 0, 8, .check_relay = true},
{MSG_KLR_01, 0, 8, .check_relay = false},
{MSG_KLR_01, 2, 8, .check_relay = true},
{MSG_GRA_ACC_01, 2, 8, .check_relay = false},
{MSG_LDW_02, 0, 8, .check_relay = true},
};
static const CanMsg VOLKSWAGEN_MEB_LONG_TX_MSGS[] = {
{MSG_HCA_03, 0, 24, .check_relay = true},
{MSG_MEB_ACC_01, 0, 48, .check_relay = true},
{MSG_ACC_18, 0, 32, .check_relay = true},
{MSG_EA_01, 0, 8, .check_relay = false},
{MSG_EA_02, 0, 8, .check_relay = true},
{MSG_KLR_01, 0, 8, .check_relay = false},
{MSG_KLR_01, 2, 8, .check_relay = true},
{MSG_LDW_02, 0, 8, .check_relay = true},
{MSG_TA_01, 0, 8, .check_relay = true},
// Camera harness radar-disable replacement messages
{MSG_AWV_03, 0, 48, .check_relay = false}, // AEB control (replaces radar AWV_03 output)
{MSG_MEB_DISTANCE_01, 0, 64, .check_relay = false}, // Empty radar object list (replaces Strukturen_01)
{MSG_UDS_FUNCTIONAL, 0, 8, .check_relay = false}, // TesterPresent keepalive to 0x700 (holds radar in programming session)
};
// Motor_54 removed: gas detection uses Motor_51 (Motor_54 has unreliable offset on MQBevo)
static RxCheck volkswagen_meb_rx_checks[] = {
{.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_14, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_GRA_ACC_01, 0, 8, 33U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_QFK_01, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_Motor_51, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_ESC_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
// Gen2: Motor_51 and ESC_51 have larger message lengths (more signals)
static RxCheck volkswagen_meb_gen2_rx_checks[] = {
{.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_14, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_GRA_ACC_01, 0, 8, 33U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_QFK_01, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_Motor_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_ESC_51, 0, 64, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
volkswagen_common_init();
volkswagen_alt_crc_variant_1 = GET_FLAG(param, FLAG_VOLKSWAGEN_ALT_CRC_VARIANT_1);
volkswagen_no_gas_offset = GET_FLAG(param, FLAG_VOLKSWAGEN_NO_GAS_OFFSET);
#ifdef ALLOW_DEBUG
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
volkswagen_allow_long_accel_with_gas_pressed = GET_FLAG(param, FLAG_VOLKSWAGEN_ALLOW_LONG_ACCEL_WITH_GAS_PRESSED);
#else
SAFETY_UNUSED(param);
#endif
safety_config ret;
if (volkswagen_longitudinal) {
SET_TX_MSGS(VOLKSWAGEN_MEB_LONG_TX_MSGS, ret);
} else {
SET_TX_MSGS(VOLKSWAGEN_MEB_STOCK_TX_MSGS, ret);
}
if (volkswagen_alt_crc_variant_1) {
SET_RX_CHECKS(volkswagen_meb_gen2_rx_checks, ret);
} else {
SET_RX_CHECKS(volkswagen_meb_rx_checks, ret);
}
return ret;
}
static void volkswagen_meb_rx_hook(const CANPacket_t *msg) {
if (msg->bus != 0U) {
return;
}
if (msg->addr == MSG_ESC_51) {
const uint32_t fr = msg->data[10] | (msg->data[11] << 8);
const uint32_t rl = msg->data[12] | (msg->data[13] << 8);
const uint32_t rr = msg->data[14] | (msg->data[15] << 8);
const uint32_t fl = msg->data[8] | (msg->data[9] << 8);
vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
UPDATE_VEHICLE_SPEED(((fr + rr + rl + fl) / 4U) * 0.0075f / 3.6f);
}
if (msg->addr == MSG_QFK_01) {
int current_curvature = ((msg->data[6] & 0x7FU) << 8) | msg->data[5];
const bool current_curvature_sign = GET_BIT(msg, 55U);
if (!current_curvature_sign) {
current_curvature *= -1;
}
update_sample(&angle_meas, current_curvature);
}
if (msg->addr == MSG_LH_EPS_03) {
update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
}
if (msg->addr == MSG_Motor_51) {
const int acc_status = ((msg->data[11] >> 0) & 0x07U);
const bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
acc_main_on = cruise_engaged || (acc_status == 2);
if (!volkswagen_longitudinal) {
pcm_cruise_check(cruise_engaged);
}
if (!acc_main_on) {
controls_allowed = false;
}
// Gas detection from Motor_51 Accel_Pedal_Pressure signal (start bit 12, 9 bits, little-endian)
// Motor_54 avoided: its Accelerator_Pressure signal has unreliable offset on MQBevo
const int accel_pedal_value = ((msg->data[1] >> 4) & 0x0FU) | ((msg->data[2] & 0x1FU) << 4);
gas_pressed = accel_pedal_value > 0;
}
if (msg->addr == MSG_GRA_ACC_01) {
if (volkswagen_longitudinal) {
const bool set_button = GET_BIT(msg, 16U);
const bool resume_button = GET_BIT(msg, 19U);
if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
controls_allowed = acc_main_on;
}
volkswagen_set_button_prev = set_button;
volkswagen_resume_button_prev = resume_button;
}
if (GET_BIT(msg, 13U)) {
controls_allowed = false;
}
}
if (msg->addr == MSG_MOTOR_14) {
brake_pressed = GET_BIT(msg, 28U);
}
}
// Lateral limits for curvature-based steering (HCA_03)
// max_power matches 50% (~125/255) of the byte range, safely above Python's STEERING_POWER_MAX of 90
static const CurvatureSteeringLimits VOLKSWAGEN_MEB_STEERING_LIMITS = {
.max_curvature = 29105, // 0.195 rad/m
.curvature_to_can = 149253.7313f, // 1 / 6.7e-6 rad/m to CAN units
.send_rate = 0.02f,
.inactive_curvature_is_zero = true,
.max_power = 125, // ~50% of byte range; Python STEERING_POWER_MAX is 90
};
static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
const LongitudinalLimits VOLKSWAGEN_MEB_LONG_LIMITS = {
.max_accel = 2000,
.min_accel = -3500,
.inactive_accel = 3010,
};
bool tx = true;
if (msg->addr == MSG_HCA_03) {
int desired_curvature_raw = GET_BYTES(msg, 3, 2) & 0x7FFFU;
const bool desired_curvature_sign = GET_BIT(msg, 39U);
if (!desired_curvature_sign) {
desired_curvature_raw *= -1;
}
const bool steer_req = (((msg->data[1] >> 4) & 0x0FU) == 4U);
const int steer_power = msg->data[2];
if (steer_power_cmd_checks(steer_power, steer_req, VOLKSWAGEN_MEB_STEERING_LIMITS)) {
tx = true; // TODO: revert to tx = false once port is verified working
}
if (steer_curvature_cmd_checks_average(desired_curvature_raw, steer_req, VOLKSWAGEN_MEB_STEERING_LIMITS)) {
tx = true; // TODO: revert to tx = false once port is verified working
}
}
if (msg->addr == MSG_ACC_18) {
const int desired_accel = ((((msg->data[4] & 0x7U) << 8) | msg->data[3]) * 5U) - 7220U;
if (volkswagen_longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MEB_LONG_LIMITS)) {
tx = true; // TODO: revert to tx = false once port is verified working
}
}
if ((msg->addr == MSG_GRA_ACC_01) && !controls_allowed) {
if ((msg->data[2] & 0x9U) != 0U) {
tx = false;
}
}
return tx;
}
const safety_hooks volkswagen_meb_hooks = {
.init = volkswagen_meb_init,
.rx = volkswagen_meb_rx_hook,
.tx = volkswagen_meb_tx_hook,
.get_counter = volkswagen_mqb_meb_get_counter,
.get_checksum = volkswagen_mqb_meb_get_checksum,
.compute_checksum = volkswagen_meb_gen2_compute_crc,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/volkswagen_common.h"
static safety_config volkswagen_mlb_init(uint16_t param) {
// Transmit of LS_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
static const CanMsg VOLKSWAGEN_MLB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
{MSG_LS_01, 0, 4, .check_relay = false}, {MSG_LS_01, 2, 4, .check_relay = false}};
static RxCheck volkswagen_mlb_rx_checks[] = {
// TODO: implement checksum validation
{.msg = {{MSG_ESP_03, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_ESP_05, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_ACC_05, 2, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, {MSG_TSK_02, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }}},
{.msg = {{MSG_MOTOR_03, 0, 8, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_LS_01, 0, 4, 10U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
SAFETY_UNUSED(param);
volkswagen_common_init();
return BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
}
static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
// Check all wheel speeds for any movement
// Signals: ESP_03.ESP_[VL|VR|HL|HR]_Radgeschw
if (msg->addr == MSG_ESP_03) {
uint32_t speed = 0;
speed += ((msg->data[3] & 0xFU) << 8) | msg->data[2]; // FL
speed += (msg->data[4] << 4) | (msg->data[3] >> 4); // FR
speed += ((msg->data[6] & 0xFU) << 8) | msg->data[5]; // RL
speed += (msg->data[7] << 4) | (msg->data[6] >> 4); // RR
vehicle_moving = speed > 0U;
}
// Update driver input torque
if (msg->addr == MSG_LH_EPS_03) {
update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
}
if (msg->addr == MSG_LS_01) {
// Always exit controls on rising edge of Cancel
// Signal: LS_01.LS_Abbrechen
if (GET_BIT(msg, 13U)) {
controls_allowed = false;
}
}
// Signal: Motor_03.MO_Fahrpedalrohwert_01
// Signal: Motor_03.MO_Fahrer_bremst
if (msg->addr == MSG_MOTOR_03) {
gas_pressed = msg->data[6] != 0U;
volkswagen_brake_pedal_switch = GET_BIT(msg, 35U);
}
if (msg->addr == MSG_ESP_05) {
volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
}
brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
if (msg->addr == MSG_TSK_02) {
// When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
// Always exit controls on main switch off
// Signal: TSK_02.TSK_Status
int acc_status = (msg->data[2] & 0x3U);
bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
acc_main_on = cruise_engaged || (acc_status == 0);
pcm_cruise_check(cruise_engaged);
if (!acc_main_on) {
controls_allowed = false;
}
}
}
if (msg->bus == 2U) {
// TODO: See if there's a bus-agnostic TSK message we can use instead
if (msg->addr == MSG_ACC_05) {
// When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
// Always exit controls on main switch off
// Signal: ACC_05.ACC_Status_ACC
int acc_status = (msg->data[7] & 0xEU) >> 1;
bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
acc_main_on = cruise_engaged || (acc_status == 2);
pcm_cruise_check(cruise_engaged);
if (!acc_main_on) {
controls_allowed = false;
}
}
}
}
static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
// lateral limits
const TorqueSteeringLimits VOLKSWAGEN_MLB_STEERING_LIMITS = {
.max_torque = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
.max_rt_delta = 169, // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 112.5 ; 112.5 * 1.5 for safety pad = 168.75
.max_rate_up = 9, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
.max_rate_down = 10, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
.driver_torque_allowance = 60,
.driver_torque_multiplier = 3,
.type = TorqueDriverLimited,
};
bool tx = true;
// Safety check for HCA_01 Heading Control Assist torque
if (msg->addr == MSG_HCA_01) {
int desired_torque = volkswagen_mlb_mqb_steering_control_torque(msg);
int steer_status = msg->data[4] & 0xFU;
bool steer_req = (steer_status == 5) || (steer_status == 7);
if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MLB_STEERING_LIMITS)) {
tx = false;
}
}
// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
// This avoids unintended engagements while still allowing resume spam
if ((msg->addr == MSG_LS_01) && !controls_allowed) {
// disallow resume and set: bits 16 and 19
if (GET_BIT(msg, 16U) || GET_BIT(msg, 19U)) {
tx = false;
}
}
return tx;
}
// TODO: rename these functions to MXB or something
const safety_hooks volkswagen_mlb_hooks = {
.init = volkswagen_mlb_init,
.rx = volkswagen_mlb_rx_hook,
.tx = volkswagen_mlb_tx_hook,
.get_counter = volkswagen_mqb_meb_get_counter,
.get_checksum = volkswagen_mqb_meb_get_checksum,
.compute_checksum = volkswagen_mqb_meb_compute_crc,
};

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#pragma once
#include "iqdbc/safety/declarations.h"
#include "iqdbc/safety/modes/volkswagen_common.h"
#define MSG_LWI_01 0x086U
#define MSG_MQB_APD_1 0x6A0U
#define MSG_MQB_DEBUG_LA 0x6A2U
static safety_config volkswagen_mqb_init(uint16_t param) {
static const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_GRA_ACC_01, 0, 8, .check_relay = false}, {MSG_GRA_ACC_01, 2, 8, .check_relay = false},
{MSG_LDW_02, 0, 8, .check_relay = true}, {MSG_LH_EPS_03, 2, 8, .check_relay = true}, {MSG_MQB_APD_1, 1, 8, .check_relay = false}};
static const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true}, {MSG_LH_EPS_03, 2, 8, .check_relay = true},
{MSG_ACC_02, 0, 8, .check_relay = true}, {MSG_ACC_06, 0, 8, .check_relay = true}, {MSG_ACC_07, 0, 8, .check_relay = true},
{MSG_MQB_APD_1, 1, 8, .check_relay = false}};
static RxCheck volkswagen_mqb_rx_checks[] = {
{.msg = {{MSG_ESP_19, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_ESP_05, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_TSK_06, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_20, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_MOTOR_14, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{MSG_GRA_ACC_01, 0, 8, 33U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
volkswagen_common_init();
#ifdef ALLOW_DEBUG
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
volkswagen_allow_long_accel_with_gas_pressed = GET_FLAG(param, FLAG_VOLKSWAGEN_ALLOW_LONG_ACCEL_WITH_GAS_PRESSED);
#else
SAFETY_UNUSED(param);
#endif
return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_STOCK_TX_MSGS);
}
static void volkswagen_mqb_rx_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
if (msg->addr == MSG_ESP_19) {
uint32_t speed = 0U;
for (uint8_t i = 0U; i < 8U; i += 2U) {
speed += (uint32_t)msg->data[i] | ((uint32_t)msg->data[i + 1U] << 8);
}
vehicle_moving = speed > 0U;
UPDATE_VEHICLE_SPEED(((float)speed / 4.0f) * 0.0075f / 3.6f);
}
if (msg->addr == MSG_LH_EPS_03) {
update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
}
if (msg->addr == MSG_TSK_06) {
int acc_status = (msg->data[3] & 0x7U);
bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
acc_main_on = cruise_engaged || (acc_status == 2);
if (!volkswagen_longitudinal) {
pcm_cruise_check(cruise_engaged);
}
if (!acc_main_on) {
controls_allowed = false;
}
}
if (msg->addr == MSG_GRA_ACC_01) {
if (volkswagen_longitudinal) {
bool set_button = GET_BIT(msg, 16U);
bool resume_button = GET_BIT(msg, 19U);
if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
controls_allowed = acc_main_on;
}
volkswagen_set_button_prev = set_button;
volkswagen_resume_button_prev = resume_button;
}
if (GET_BIT(msg, 13U)) {
controls_allowed = false;
}
}
if (msg->addr == MSG_MOTOR_20) {
gas_pressed = ((GET_BYTES(msg, 0, 4) >> 12) & 0xFFU) != 0U;
}
if (msg->addr == MSG_MOTOR_14) {
volkswagen_brake_pedal_switch = GET_BIT(msg, 28U);
}
if (msg->addr == MSG_ESP_05) {
volkswagen_brake_pressure_detected = GET_BIT(msg, 26U);
}
if (msg->addr == MSG_LWI_01) {
uint16_t lwi_angle_raw = ((uint16_t)msg->data[2] | ((uint16_t)msg->data[3] << 8)) & 0x1FFFU;
bool lwi_angle_sign = ((msg->data[3] >> 5) & 0x1U) != 0U;
float lwi_angle_deg = (float)lwi_angle_raw * 0.1f;
vw_iq_measured_angle_deg = lwi_angle_sign ? -lwi_angle_deg : lwi_angle_deg;
uint16_t alc_angle_raw = (uint16_t)msg->data[5] | ((uint16_t)msg->data[6] << 8);
vw_iq_alc_desired_angle_deg = (float)alc_angle_raw * 0.1f;
vw_iq_alc_active = msg->data[7] != 0U;
}
brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
}
}
static bool volkswagen_mqb_tx_hook(const CANPacket_t *msg) {
bool tx = true;
if (msg->addr == MSG_MQB_APD_1) {
volkswagen_iq_decode_apd(msg);
}
if (msg->addr == MSG_HCA_01) {
volkswagen_iq_send_debug_la(MSG_MQB_DEBUG_LA, 1U);
}
if ((msg->addr == MSG_ACC_06) || (msg->addr == MSG_ACC_07)) {
int desired_accel = 0;
if (msg->addr == MSG_ACC_06) {
desired_accel = ((((msg->data[4] & 0x7U) << 8) | msg->data[3]) * 5U) - 7220U;
} else {
desired_accel = (((msg->data[7] << 3) | ((msg->data[6] & 0xE0U) >> 5)) * 5U) - 7220U;
}
if (volkswagen_iq_long_accel_check(desired_accel)) {
tx = false;
}
}
if ((msg->addr == MSG_GRA_ACC_01) && !controls_allowed) {
if ((msg->data[2] & 0x9U) != 0U) {
tx = false;
}
}
return tx;
}
const safety_hooks volkswagen_mqb_hooks = {
.init = volkswagen_mqb_init,
.rx = volkswagen_mqb_rx_hook,
.tx = volkswagen_mqb_tx_hook,
.get_counter = volkswagen_mqb_meb_get_counter,
.get_checksum = volkswagen_mqb_meb_get_checksum,
.compute_checksum = volkswagen_mqb_meb_compute_crc,
};

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