Volkswagen safety updates: Phase 3 (commaai#462)

* Torque limit bump, change signal for ACC state tracking

Author: jyoung8607

board/safety/safety_volkswagen.h

@@ -1,5 +1,5 @@
 // Safety-relevant steering constants for Volkswagen
-const int VOLKSWAGEN_MAX_STEER = 250;               // 2.5 Nm (EPS side max of 3.0Nm with fault if violated)
+const int VOLKSWAGEN_MAX_STEER = 300;               // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
 const int VOLKSWAGEN_MAX_RT_DELTA = 75;             // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
 const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000;     // 250ms between real time checks
 const int VOLKSWAGEN_MAX_RATE_UP = 4;               // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
@@ -11,8 +11,8 @@ const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;
 #define MSG_ESP_19      0x0B2   // RX from ABS, for wheel speeds
 #define MSG_EPS_01      0x09F   // RX from EPS, for driver steering torque
 #define MSG_ESP_05      0x106   // RX from ABS, for brake switch state
+#define MSG_TSK_06      0x120   // RX from ECU, for ACC status from drivetrain coordinator
 #define MSG_MOTOR_20    0x121   // RX from ECU, for driver throttle input
-#define MSG_ACC_06      0x122   // RX from ACC radar, for status and engagement
 #define MSG_HCA_01      0x126   // TX by OP, Heading Control Assist steering torque
 #define MSG_GRA_ACC_01  0x12B   // TX by OP, ACC control buttons for cancel/resume
 #define MSG_LDW_02      0x397   // TX by OP, Lane line recognition and text alerts
@@ -25,8 +25,8 @@ AddrCheckStruct volkswagen_mqb_rx_checks[] = {
   {.addr = {MSG_ESP_19},   .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
   {.addr = {MSG_EPS_01},   .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 10000U},
   {.addr = {MSG_ESP_05},   .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {MSG_TSK_06},   .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U},
   {.addr = {MSG_MOTOR_20}, .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U},
-  {.addr = {MSG_ACC_06},   .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U},
 };
 const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);
 
@@ -72,12 +72,12 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
     case MSG_ESP_05:
       crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
       break;
+    case MSG_TSK_06:
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
     case MSG_MOTOR_20:
       crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
       break;
-    case MSG_ACC_06:
-      crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
-      break;
     default: // Undefined CAN message, CRC check expected to fail
       break;
   }
@@ -128,10 +128,10 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       update_sample(&volkswagen_torque_driver, torque_driver_new);
     }
 
-    // Update ACC status from radar for controls-allowed state
-    // Signal: ACC_06.ACC_Status_ACC
-    if ((bus == 0) && (addr == MSG_ACC_06)) {
-      int acc_status = (GET_BYTE(to_push, 7) & 0x70) >> 4;
+    // Update ACC status from drivetrain coordinator for controls-allowed state
+    // Signal: TSK_06.TSK_Status
+    if ((bus == 0) && (addr == MSG_TSK_06)) {
+      int acc_status = (GET_BYTE(to_push, 3) & 0x7);
       controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
     }
 

tests/safety/test_volkswagen_mqb.py

@@ -9,7 +9,7 @@
 
 MAX_RATE_UP = 4
 MAX_RATE_DOWN = 10
-MAX_STEER = 250
+MAX_STEER = 300
 MAX_RT_DELTA = 75
 RT_INTERVAL = 250000
 
@@ -19,8 +19,8 @@
 MSG_ESP_19 = 0xB2       # RX from ABS, for wheel speeds
 MSG_EPS_01 = 0x9F       # RX from EPS, for driver steering torque
 MSG_ESP_05 = 0x106      # RX from ABS, for brake light state
+MSG_TSK_06 = 0x120      # RX from ECU, for ACC status from drivetrain coordinator
 MSG_MOTOR_20 = 0x121    # RX from ECU, for driver throttle input
-MSG_ACC_06 = 0x122      # RX from ACC radar, for status and engagement
 MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
 MSG_GRA_ACC_01 = 0x12B  # TX by OP, ACC control buttons for cancel/resume
 MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
@@ -48,10 +48,10 @@ def volkswagen_mqb_crc(msg, addr, len_msg):
     magic_pad = b'\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5'[counter]
   elif addr == MSG_ESP_05:
     magic_pad = b'\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07'[counter]
+  elif addr == MSG_TSK_06:
+    magic_pad = b'\xC4\xE2\x4F\xE4\xF8\x2F\x56\x81\x9F\xE5\x83\x44\x05\x3F\x97\xDF'[counter]
   elif addr == MSG_MOTOR_20:
     magic_pad = b'\xE9\x65\xAE\x6B\x7B\x35\xE5\x5F\x4E\xC7\x86\xA2\xBB\xDD\xEB\xB4'[counter]
-  elif addr == MSG_ACC_06:
-    magic_pad = b'\x37\x7D\xF3\xA9\x18\x46\x6D\x4D\x3D\x71\x92\x9C\xE5\x32\x10\xB9'[counter]
   elif addr == MSG_HCA_01:
     magic_pad = b'\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA'[counter]
   elif addr == MSG_GRA_ACC_01:
@@ -63,8 +63,8 @@ def volkswagen_mqb_crc(msg, addr, len_msg):
 class TestVolkswagenMqbSafety(unittest.TestCase):
   cnt_eps_01 = 0
   cnt_esp_05 = 0
+  cnt_tsk_06 = 0
   cnt_motor_20 = 0
-  cnt_acc_06 = 0
   cnt_hca_01 = 0
   cnt_gra_acc_01 = 0
 
@@ -120,12 +120,12 @@ def _hca_01_msg(self, torque):
     return to_send
 
   # ACC engagement status
-  def _acc_06_msg(self, status):
-    to_send = make_msg(0, MSG_ACC_06)
-    to_send[0].RDHR = (status & 0x7) << 28
-    to_send[0].RDLR |= (self.cnt_acc_06 % 16) << 8
-    to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_ACC_06, 8)
-    self.__class__.cnt_acc_06 += 1
+  def _tsk_06_msg(self, status):
+    to_send = make_msg(0, MSG_TSK_06)
+    to_send[0].RDLR = (status & 0x7) << 24
+    to_send[0].RDLR |= (self.cnt_tsk_06 % 16) << 8
+    to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_TSK_06, 8)
+    self.__class__.cnt_tsk_06 += 1
     return to_send
 
   # Driver throttle input
@@ -162,12 +162,12 @@ def test_default_controls_not_allowed(self):
 
   def test_enable_control_allowed_from_cruise(self):
     self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._acc_06_msg(3))
+    self.safety.safety_rx_hook(self._tsk_06_msg(3))
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_disable_control_allowed_from_cruise(self):
     self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._acc_06_msg(1))
+    self.safety.safety_rx_hook(self._tsk_06_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_sample_speed(self):
@@ -351,16 +351,16 @@ def test_rx_hook(self):
     # TODO: Would be ideal to check ESP_19 as well, but it has no checksum
     # or counter, and I'm not sure if we can easily validate Panda's simple
     # temporal reception-rate check here.
-    for msg in [MSG_EPS_01, MSG_ESP_05, MSG_MOTOR_20, MSG_ACC_06]:
+    for msg in [MSG_EPS_01, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]:
       self.safety.set_controls_allowed(1)
       if msg == MSG_EPS_01:
         to_push = self._eps_01_msg(0)
       if msg == MSG_ESP_05:
         to_push = self._esp_05_msg(False)
+      if msg == MSG_TSK_06:
+        to_push = self._tsk_06_msg(3)
       if msg == MSG_MOTOR_20:
         to_push = self._motor_20_msg(0)
-      if msg == MSG_ACC_06:
-        to_push = self._acc_06_msg(3)
       self.assertTrue(self.safety.safety_rx_hook(to_push))
       to_push[0].RDHR ^= 0xFF
       self.assertFalse(self.safety.safety_rx_hook(to_push))
@@ -371,28 +371,28 @@ def test_rx_hook(self):
     for i in range(MAX_WRONG_COUNTERS + 1):
       self.__class__.cnt_eps_01 += 1
       self.__class__.cnt_esp_05 += 1
+      self.__class__.cnt_tsk_06 += 1
       self.__class__.cnt_motor_20 += 1
-      self.__class__.cnt_acc_06 += 1
       if i < MAX_WRONG_COUNTERS:
         self.safety.set_controls_allowed(1)
         self.safety.safety_rx_hook(self._eps_01_msg(0))
         self.safety.safety_rx_hook(self._esp_05_msg(False))
+        self.safety.safety_rx_hook(self._tsk_06_msg(3))
         self.safety.safety_rx_hook(self._motor_20_msg(0))
-        self.safety.safety_rx_hook(self._acc_06_msg(3))
       else:
         self.assertFalse(self.safety.safety_rx_hook(self._eps_01_msg(0)))
         self.assertFalse(self.safety.safety_rx_hook(self._esp_05_msg(False)))
+        self.assertFalse(self.safety.safety_rx_hook(self._tsk_06_msg(3)))
         self.assertFalse(self.safety.safety_rx_hook(self._motor_20_msg(0)))
-        self.assertFalse(self.safety.safety_rx_hook(self._acc_06_msg(3)))
         self.assertFalse(self.safety.get_controls_allowed())
 
     # restore counters for future tests with a couple of good messages
     for i in range(2):
       self.safety.set_controls_allowed(1)
       self.safety.safety_rx_hook(self._eps_01_msg(0))
       self.safety.safety_rx_hook(self._esp_05_msg(False))
+      self.safety.safety_rx_hook(self._tsk_06_msg(3))
       self.safety.safety_rx_hook(self._motor_20_msg(0))
-      self.safety.safety_rx_hook(self._acc_06_msg(3))
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_fwd_hook(self):

tests/safety_replay/test_safety_replay.py

@@ -18,7 +18,7 @@
   ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
   ("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
   ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
-  ("b0c9d2329ad1606b|2019-11-17--17-06-13.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF
+  ("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF
   ("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN, 0), # NISSAN.XTRAIL
 ]