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Update Tesla Model 3/Y code to what's on master
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@mattwebbio
mattwebbio committed Nov 3, 2024
1 parent b78aefa commit a21eac5
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Showing 14 changed files with 224 additions and 453 deletions.
8 changes: 4 additions & 4 deletions opendbc/tesla_model3_party.dbc
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
VERSION ""


NS_ :
NS_ :
NS_DESC_
CM_
BA_DEF_
Expand Down Expand Up @@ -186,7 +186,9 @@ BO_ 646 DI_state: 7 ETH
SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] "" X

BO_ 785 UI_warning: 7 XXX
SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX
SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX
SG_ leftBlinkerOn : 22|1@0+ (1,0) [0|1] "" XXX
SG_ rightBlinkerOn : 23|1@0+ (1,0) [0|1] "" XXX
SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX

BO_ 923 DAS_status: 8 PARTY
Expand Down Expand Up @@ -327,5 +329,3 @@ VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WA
VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ;



13 changes: 8 additions & 5 deletions panda/board/drivers/can_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -200,18 +200,21 @@ void ignition_can_hook(CANPacket_t *to_push) {
if (bus == 0) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);

// GM exception
if ((addr == 0x1F1) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
ignition_can_cnt = 0U;
}

// Tesla exception
if ((addr == 0x348) && (len == 8)) {
// GTW_status
ignition_can = (GET_BYTE(to_push, 0) & 0x1U) != 0U;
// Tesla Model 3 exception
if ((addr == 0x118) && (len == 8)) {
// DI_state
int gear = GET_BYTE(to_push, 2) >> 5;
ignition_can = (gear == 2) || // DI_GEAR_R
(gear == 3) || // DI_GEAR_N
(gear == 4); // DI_GEAR_D
ignition_can_cnt = 0U;
}

Expand Down
144 changes: 44 additions & 100 deletions panda/board/safety/safety_tesla.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,98 +16,59 @@ const LongitudinalLimits TESLA_LONG_LIMITS = {
.inactive_accel = 375, // 0. m/s^2
};


const int TESLA_FLAG_POWERTRAIN = 1;
const int TESLA_FLAG_MODEL3_Y = 1;
const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
const int TESLA_FLAG_RAVEN = 4;

const CanMsg TESLA_TX_MSGS[] = {
const CanMsg TESLA_M3_Y_TX_MSGS[] = {
{0x488, 0, 4}, // DAS_steeringControl
{0x45, 0, 8}, // STW_ACTN_RQ
{0x45, 2, 8}, // STW_ACTN_RQ
{0x2b9, 0, 8}, // DAS_control
};

const CanMsg TESLA_PT_TX_MSGS[] = {
{0x2bf, 0, 8}, // DAS_control
};

RxCheck tesla_rx_checks[] = {
{.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
{.msg = {{0x370, 0, 8, .frequency = 25U}, { 0 }, { 0 }}}, // EPAS_sysStatus
{.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
{.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
{.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
{.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
{.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState
};

RxCheck tesla_raven_rx_checks[] = {
RxCheck tesla_model3_y_rx_checks[] = {
{.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
{.msg = {{0x131, 2, 8, .frequency = 100U}, { 0 }, { 0 }}}, // EPAS3P_sysStatus
{.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
{.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
{.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
{.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
{.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState
};

RxCheck tesla_pt_rx_checks[] = {
{.msg = {{0x106, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
{.msg = {{0x116, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
{.msg = {{0x1f8, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
{.msg = {{0x2bf, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
{.msg = {{0x256, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
{.msg = {{0x155, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // ESP_wheelRotation (speed in kph)
{.msg = {{0x370, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // EPAS3S_internalSAS (steering angle)
{.msg = {{0x118, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_systemStatus (gas pedal)
{.msg = {{0x39d, 0, 5, .frequency = 25U}, { 0 }, { 0 }}}, // IBST_status (brakes)
{.msg = {{0x286, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state (acc state)
{.msg = {{0x311, 0, 7, .frequency = 10U}, { 0 }, { 0 }}}, // UI_warning (buckle switch & doors)
};

bool tesla_longitudinal = false;
bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus?
bool tesla_raven = false;

bool tesla_stock_aeb = false;

static void tesla_rx_hook(const CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);

if (!tesla_powertrain) {
if((!tesla_raven && (addr == 0x370) && (bus == 0)) || (tesla_raven && (addr == 0x131) && (bus == 2))) {
// Steering angle: (0.1 * val) - 819.2 in deg.
// Store it 1/10 deg to match steering request
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
update_sample(&angle_meas, angle_meas_new);
}
if((addr == 0x370) && (bus == 0)) {
// Steering angle: (0.1 * val) - 819.2 in deg.
// Store it 1/10 deg to match steering request
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
update_sample(&angle_meas, angle_meas_new);
}

if(bus == 0) {
if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
if(addr == 0x155){
// Vehicle speed: (val * 0.5) * KPH_TO_MPS
float speed = ((((GET_BYTE(to_push, 6) & 0x0FU) << 6) | (GET_BYTE(to_push, 5) >> 2)) * 0.5) * 0.277778;
vehicle_moving = ABS(speed) > 0.1;
UPDATE_VEHICLE_SPEED(speed);
}

if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
// Gas pressed
gas_pressed = (GET_BYTE(to_push, 6) != 0U);
// Gas pressed
if(addr == 0x118){
gas_pressed = (GET_BYTE(to_push, 4) != 0U);
}

if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
// Brake pressed
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0CU) >> 2) != 1U);
// Brake pressed
if(addr == 0x39d){
brake_pressed = (GET_BYTE(to_push, 2) & 0x03U) == 2U;
}

if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
// Cruise state
int cruise_state = (GET_BYTE(to_push, 1) >> 4);

acc_main_on = (cruise_state == 1) || // STANDBY
(cruise_state == 2) || // ENABLED
(cruise_state == 3) || // STANDSTILL
(cruise_state == 4) || // OVERRIDE
(cruise_state == 6) || // PRE_FAULT
(cruise_state == 7); // PRE_CANCEL

// Cruise state
if(addr == 0x286) {
int cruise_state = ((GET_BYTE(to_push, 1) << 1 ) >> 5);
bool cruise_engaged = (cruise_state == 2) || // ENABLED
(cruise_state == 3) || // STANDSTILL
(cruise_state == 4) || // OVERRIDE
Expand All @@ -118,20 +79,14 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
}

if (bus == 2) {
int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
if (tesla_longitudinal && (addr == das_control_addr)) {
if (tesla_longitudinal && (addr == 0x2b9)) {
// "AEB_ACTIVE"
tesla_stock_aeb = ((GET_BYTE(to_push, 2) & 0x03U) == 1U);
}
}

if (tesla_powertrain) {
// 0x2bf: DAS_control should not be received on bus 0
generic_rx_checks((addr == 0x2bf) && (bus == 0));
} else {
// 0x488: DAS_steeringControl should not be received on bus 0
generic_rx_checks((addr == 0x488) && (bus == 0));
}
generic_rx_checks((addr == 0x488) && (bus == 0));
generic_rx_checks((addr == 0x2b9) && (bus == 0));

}

Expand All @@ -141,7 +96,7 @@ static bool tesla_tx_hook(const CANPacket_t *to_send) {
int addr = GET_ADDR(to_send);
bool violation = false;

if(!tesla_powertrain && (addr == 0x488)) {
if(addr == 0x488) {
// Steering control: (0.1 * val) - 1638.35 in deg.
// We use 1/10 deg as a unit here
int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7FU) << 8) | GET_BYTE(to_send, 1));
Expand All @@ -155,15 +110,8 @@ static bool tesla_tx_hook(const CANPacket_t *to_send) {
}
}

if (!tesla_powertrain && (addr == 0x45)) {
// No button other than cancel can be sent by us
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU);
if (control_lever_status != 1) {
violation = true;
}
}

if(addr == (tesla_powertrain ? 0x2bf : 0x2b9)) {
if(addr == 0x2b9) {
int acc_state = ((GET_BYTE(to_send, 1) & 0xF0U) >> 4);
// DAS_control: longitudinal control message
if (tesla_longitudinal) {
// No AEB events may be sent by openpilot
Expand All @@ -182,6 +130,14 @@ static bool tesla_tx_hook(const CANPacket_t *to_send) {
int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3);
violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS);
violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS);

// 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;
}

} else if(!tesla_longitudinal && acc_state == 13) {
// Allow to cancel if not using openpilot longitudinal
} else {
violation = true;
}
Expand All @@ -198,20 +154,17 @@ static int tesla_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1;

if(bus_num == 0) {
// Chassis/PT to autopilot
// Party to autopilot
bus_fwd = 2;
}

if(bus_num == 2) {
// Autopilot to chassis/PT
int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);

bool block_msg = false;
if (!tesla_powertrain && (addr == 0x488)) {
if (addr == 0x488) {
block_msg = true;
}

if (tesla_longitudinal && (addr == das_control_addr) && !tesla_stock_aeb) {
if (tesla_longitudinal && (addr == 0x2b9) && !tesla_stock_aeb) {
block_msg = true;
}

Expand All @@ -224,20 +177,11 @@ static int tesla_fwd_hook(int bus_num, int addr) {
}

static safety_config tesla_init(uint16_t param) {
tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
tesla_raven = GET_FLAG(param, TESLA_FLAG_RAVEN);

tesla_stock_aeb = false;

safety_config ret;
if (tesla_powertrain) {
ret = BUILD_SAFETY_CFG(tesla_pt_rx_checks, TESLA_PT_TX_MSGS);
} else if (tesla_raven) {
ret = BUILD_SAFETY_CFG(tesla_raven_rx_checks, TESLA_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(tesla_rx_checks, TESLA_TX_MSGS);
}
ret = BUILD_SAFETY_CFG(tesla_model3_y_rx_checks, TESLA_M3_Y_TX_MSGS);
return ret;
}

Expand Down
3 changes: 1 addition & 2 deletions panda/python/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -211,9 +211,8 @@ class Panda:
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
FLAG_HYUNDAI_LFA_BTN = 256

FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_MODEL3_Y = 1
FLAG_TESLA_LONG_CONTROL = 2
FLAG_TESLA_RAVEN = 4

FLAG_VOLKSWAGEN_LONG_CONTROL = 1

Expand Down
2 changes: 1 addition & 1 deletion release/release_files.py
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Original file line number Diff line number Diff line change
Expand Up @@ -124,7 +124,7 @@
"opendbc/tesla_can.dbc",
"opendbc/tesla_radar_bosch_generated.dbc",
"opendbc/tesla_radar_continental_generated.dbc",
"opendbc/tesla_powertrain.dbc",
"opendbc/tesla_model3_party.dbc",
]


Expand Down
5 changes: 2 additions & 3 deletions selfdrive/car/fingerprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -275,9 +275,8 @@ def all_legacy_fingerprint_cars():
"SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
"SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
"SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
'TESLA AP3 MODEL3': TESLA.TESLA_AP3_MODEL3,
'TESLA AP3 MODELY': TESLA.TESLA_AP3_MODELY,
"TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
"TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
"TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
Expand Down
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