forked from IQ.Lvbs/IQ.Pilot
IQ.Pilot Release Commit @ 0798119
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IQ.Lvbs history cleanup
283
iqdbc_repo/iqdbc/safety/modes/chrysler.h
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283
iqdbc_repo/iqdbc/safety/modes/chrysler.h
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#pragma once
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#include "iqdbc/safety/declarations.h"
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// Chrysler Pacifica/Jeep addresses
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#define CHRYSLER_EPS_2 0x220 // EPS driver input torque
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#define CHRYSLER_ESP_1 0x140 // Brake pedal and vehicle speed
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#define CHRYSLER_ESP_8 0x11C // Brake pedal and vehicle speed
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#define CHRYSLER_ECM_5 0x22F // Throttle position sensor
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#define CHRYSLER_DAS_3 0x1F4 // ACC engagement states from DASM
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#define CHRYSLER_DAS_6 0x2A6 // LKAS HUD and auto headlight control from DASM
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#define CHRYSLER_LKAS_COMMAND 0x292 // LKAS controls from DASM
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#define CHRYSLER_CRUISE_BUTTONS 0x23B // Cruise control buttons
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#define CHRYSLER_LKAS_HEARTBIT 0x2D9 // LKAS HEARTBIT from DASM
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#define CHRYSLER_TRACTION_BUTTON 0x330 // Traction control button
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#define CHRYSLER_Center_Stack_2 0x000 // Placeholder, does not exist
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// RAM DT addresses
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#define CHRYSLER_RAM_DT_EPS_2 0x31
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#define CHRYSLER_RAM_DT_ESP_1 0x83
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#define CHRYSLER_RAM_DT_ESP_8 0x79
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#define CHRYSLER_RAM_DT_ECM_5 0x9D
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#define CHRYSLER_RAM_DT_DAS_3 0x99
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#define CHRYSLER_RAM_DT_DAS_6 0xFA
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#define CHRYSLER_RAM_DT_LKAS_COMMAND 0xA6
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#define CHRYSLER_RAM_DT_CRUISE_BUTTONS 0xB1
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#define CHRYSLER_RAM_DT_LKAS_HEARTBIT 0x00 // Placeholder, does not exist
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#define CHRYSLER_RAM_DT_TRACTION_BUTTON 0x00 // Placeholder, does not exist
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#define CHRYSLER_RAM_DT_Center_Stack_2 0x28A
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// RAM HD addresses
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#define CHRYSLER_RAM_HD_EPS_2 0x220
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#define CHRYSLER_RAM_HD_ESP_1 0x140
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#define CHRYSLER_RAM_HD_ESP_8 0x11C
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#define CHRYSLER_RAM_HD_ECM_5 0x22F
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#define CHRYSLER_RAM_HD_DAS_3 0x1F4
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#define CHRYSLER_RAM_HD_DAS_6 0x275
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#define CHRYSLER_RAM_HD_LKAS_COMMAND 0x276
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#define CHRYSLER_RAM_HD_CRUISE_BUTTONS 0x23A
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#define CHRYSLER_RAM_HD_LKAS_HEARTBIT 0x00 // Placeholder, does not exist
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#define CHRYSLER_RAM_HD_TRACTION_BUTTON 0x00 // Placeholder, does not exist
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#define CHRYSLER_RAM_HD_Center_Stack_2 0x28A
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typedef enum {
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CHRYSLER_RAM_DT,
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CHRYSLER_RAM_HD,
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CHRYSLER_PACIFICA, // plus Jeep
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} ChryslerPlatform;
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static ChryslerPlatform chrysler_platform;
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#define CHRYSLER_ADDR(name) ((uint32_t)((chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_##name : \
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((chrysler_platform == CHRYSLER_RAM_HD) ? CHRYSLER_RAM_HD_##name : CHRYSLER_##name)))
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static uint32_t chrysler_get_checksum(const CANPacket_t *msg) {
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int checksum_byte = GET_LEN(msg) - 1U;
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return (uint8_t)(msg->data[checksum_byte]);
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}
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static uint32_t chrysler_compute_checksum(const CANPacket_t *msg) {
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// TODO: clean this up
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// http://illmatics.com/Remote%20Car%20Hacking.pdf
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uint8_t checksum = 0xFFU;
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int len = GET_LEN(msg);
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for (int j = 0; j < (len - 1); j++) {
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uint8_t shift = 0x80U;
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uint8_t curr = (uint8_t)msg->data[j];
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for (int i=0; i<8; i++) {
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uint8_t bit_sum = curr & shift;
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uint8_t temp_chk = checksum & 0x80U;
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if (bit_sum != 0U) {
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bit_sum = 0x1C;
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if (temp_chk != 0U) {
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bit_sum = 1;
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}
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checksum = checksum << 1;
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temp_chk = checksum | 1U;
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bit_sum ^= temp_chk;
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} else {
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if (temp_chk != 0U) {
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bit_sum = 0x1D;
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}
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checksum = checksum << 1;
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bit_sum ^= checksum;
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}
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checksum = bit_sum;
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shift = shift >> 1;
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}
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}
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return (uint8_t)(~checksum);
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}
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static uint8_t chrysler_get_counter(const CANPacket_t *msg) {
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return (uint8_t)(msg->data[6] >> 4);
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}
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static void chrysler_rx_hook(const CANPacket_t *msg) {
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// Measured EPS torque
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if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(EPS_2))) {
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int torque_meas_new = ((msg->data[4] & 0x7U) << 8) + msg->data[5] - 1024U;
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update_sample(&torque_meas, torque_meas_new);
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}
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// enter controls on rising edge of ACC, exit controls on ACC off
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const unsigned int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0U : 2U;
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if ((msg->bus == das_3_bus) && (msg->addr == CHRYSLER_ADDR(DAS_3))) {
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bool cruise_engaged = GET_BIT(msg, 21U);
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pcm_cruise_check(cruise_engaged);
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acc_main_on = GET_BIT(msg, 20U);
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}
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// TODO: use the same message for both
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// update vehicle moving
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if ((chrysler_platform != CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ESP_8))) {
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vehicle_moving = ((msg->data[4] << 8) + msg->data[5]) != 0U;
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}
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if ((chrysler_platform == CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == 514U)) {
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int speed_l = (msg->data[0] << 4) + (msg->data[1] >> 4);
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int speed_r = (msg->data[2] << 4) + (msg->data[3] >> 4);
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vehicle_moving = (speed_l != 0) || (speed_r != 0);
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}
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// exit controls on rising edge of gas press
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if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ECM_5))) {
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gas_pressed = msg->data[0U] != 0U;
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}
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// exit controls on rising edge of brake press
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if ((msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(ESP_1))) {
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brake_pressed = ((msg->data[0U] & 0xFU) >> 2U) == 1U;
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}
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if ((chrysler_platform == CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == CHRYSLER_ADDR(TRACTION_BUTTON))) {
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aol_button_press = GET_BIT(msg, 53U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
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}
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if ((chrysler_platform != CHRYSLER_PACIFICA) && (msg->bus == 0U)) {
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if (msg->addr == CHRYSLER_ADDR(Center_Stack_2)) {
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aol_button_press = GET_BIT(msg, 57U) ? AOL_BUTTON_PRESSED : AOL_BUTTON_NOT_PRESSED;
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}
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}
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}
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static bool chrysler_tx_hook(const CANPacket_t *msg) {
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const TorqueSteeringLimits CHRYSLER_STEERING_LIMITS = {
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.max_torque = 261,
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.max_rt_delta = 112,
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.max_rate_up = 3,
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.max_rate_down = 3,
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.max_torque_error = 80,
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.type = TorqueMotorLimited,
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};
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const TorqueSteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
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.max_torque = 350,
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.max_rt_delta = 112,
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.max_rate_up = 6,
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.max_rate_down = 6,
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.max_torque_error = 80,
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.type = TorqueMotorLimited,
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};
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const TorqueSteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
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.max_torque = 361,
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.max_rt_delta = 182,
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.max_rate_up = 14,
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.max_rate_down = 14,
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.max_torque_error = 80,
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.type = TorqueMotorLimited,
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};
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bool tx = true;
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// STEERING
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if (msg->addr == CHRYSLER_ADDR(LKAS_COMMAND)) {
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int start_byte = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 1;
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int desired_torque = ((msg->data[start_byte] & 0x7U) << 8) | msg->data[start_byte + 1];
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desired_torque -= 1024;
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const TorqueSteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
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(chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;
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bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? GET_BIT(msg, 4U) : (msg->data[3] & 0x7U) == 2U;
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if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
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tx = false;
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}
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}
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// FORCE CANCEL: only the cancel button press is allowed
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if (msg->addr == CHRYSLER_ADDR(CRUISE_BUTTONS)) {
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const bool is_cancel = msg->data[0] == 1U;
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const bool is_accel = msg->data[0] == 0x04U;
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const bool is_decel = msg->data[0] == 0x08U;
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const bool is_resume = msg->data[0] == 0x10U;
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const bool allowed = is_cancel || ((is_resume || is_accel || is_decel) && controls_allowed);
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if (!allowed) {
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tx = false;
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}
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}
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return tx;
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}
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static safety_config chrysler_init(uint16_t param) {
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const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
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static RxCheck chrysler_ram_dt_rx_checks[] = {
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{.msg = {{CHRYSLER_RAM_DT_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_DT_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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};
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static RxCheck chrysler_rx_checks[] = {
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{.msg = {{CHRYSLER_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{514, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_DAS_3, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_TRACTION_BUTTON, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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};
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static const CanMsg CHRYSLER_TX_MSGS[] = {
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{CHRYSLER_CRUISE_BUTTONS, 0, 3, .check_relay = false},
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{CHRYSLER_LKAS_COMMAND, 0, 6, .check_relay = true},
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{CHRYSLER_DAS_6, 0, 8, .check_relay = true},
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{CHRYSLER_LKAS_HEARTBIT, 0, 5, .check_relay = true},
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};
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static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
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{CHRYSLER_RAM_DT_CRUISE_BUTTONS, 2, 3, .check_relay = false},
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{CHRYSLER_RAM_DT_LKAS_COMMAND, 0, 8, .check_relay = true},
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{CHRYSLER_RAM_DT_DAS_6, 0, 8, .check_relay = true},
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};
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#ifdef ALLOW_DEBUG
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static RxCheck chrysler_ram_hd_rx_checks[] = {
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{.msg = {{CHRYSLER_RAM_HD_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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{.msg = {{CHRYSLER_RAM_HD_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
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};
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static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
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{CHRYSLER_RAM_HD_CRUISE_BUTTONS, 2, 3, .check_relay = false},
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{CHRYSLER_RAM_HD_LKAS_COMMAND, 0, 8, .check_relay = true},
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{CHRYSLER_RAM_HD_DAS_6, 0, 8, .check_relay = true},
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};
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const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
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bool enable_ram_hd = GET_FLAG(param, CHRYSLER_PARAM_RAM_HD);
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#endif
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safety_config ret;
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bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
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if (enable_ram_dt) {
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chrysler_platform = CHRYSLER_RAM_DT;
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ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
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#ifdef ALLOW_DEBUG
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} else if (enable_ram_hd) {
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chrysler_platform = CHRYSLER_RAM_HD;
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ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS);
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#endif
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} else {
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chrysler_platform = CHRYSLER_PACIFICA;
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ret = BUILD_SAFETY_CFG(chrysler_rx_checks, CHRYSLER_TX_MSGS);
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}
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return ret;
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}
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const safety_hooks chrysler_hooks = {
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.init = chrysler_init,
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.rx = chrysler_rx_hook,
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.tx = chrysler_tx_hook,
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.get_counter = chrysler_get_counter,
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.get_checksum = chrysler_get_checksum,
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.compute_checksum = chrysler_compute_checksum,
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};
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