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