GCC Code Coverage Report

Directory: ./
File: safety/safety_mazda.h
Date: 2025-02-27 09:09:49
Exec Total Coverage
Lines: 43 43 100.0%
Functions: 4 4 100.0%
Branches: 36 38 94.7%
Line Branch Exec Source
1 #pragma once
2
3 #include "safety_declarations.h"
4
5 // CAN msgs we care about
6 #define MAZDA_LKAS 0x243
7 #define MAZDA_LKAS_HUD 0x440
8 #define MAZDA_CRZ_CTRL 0x21c
9 #define MAZDA_CRZ_BTNS 0x09d
10 #define MAZDA_STEER_TORQUE 0x240
11 #define MAZDA_ENGINE_DATA 0x202
12 #define MAZDA_PEDALS 0x165
13
14 // CAN bus numbers
15 #define MAZDA_MAIN 0
16 #define MAZDA_CAM 2
17
18 // track msgs coming from OP so that we know what CAM msgs to drop and what to forward
19 8928 static void mazda_rx_hook(const CANPacket_t *to_push) {
20
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 8928 if ((int)GET_BUS(to_push) == MAZDA_MAIN) {
21 3296 int addr = GET_ADDR(to_push);
22
23
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 3296 if (addr == MAZDA_ENGINE_DATA) {
24 // sample speed: scale by 0.01 to get kph
25 18 int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
26 18 vehicle_moving = speed > 10; // moving when speed > 0.1 kph
27 }
28
29
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 3296 if (addr == MAZDA_STEER_TORQUE) {
30 445 int torque_driver_new = GET_BYTE(to_push, 0) - 127U;
31 // update array of samples
32 445 update_sample(&torque_driver, torque_driver_new);
33 }
34
35 // enter controls on rising edge of ACC, exit controls on ACC off
36
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 3296 if (addr == MAZDA_CRZ_CTRL) {
37 8 bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
38 8 pcm_cruise_check(cruise_engaged);
39 }
40
41
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 3296 if (addr == MAZDA_ENGINE_DATA) {
42
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 18 gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0U));
43 }
44
45
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 3296 if (addr == MAZDA_PEDALS) {
46 13 brake_pressed = (GET_BYTE(to_push, 0) & 0x10U);
47 }
48
49 3296 generic_rx_checks((addr == MAZDA_LKAS));
50 }
51 8928 }
52
53 6087 static bool mazda_tx_hook(const CANPacket_t *to_send) {
54 const SteeringLimits MAZDA_STEERING_LIMITS = {
55 .max_steer = 800,
56 .max_rate_up = 10,
57 .max_rate_down = 25,
58 .max_rt_delta = 300,
59 .max_rt_interval = 250000,
60 .driver_torque_multiplier = 1,
61 .driver_torque_allowance = 15,
62 .type = TorqueDriverLimited,
63 };
64
65 6087 bool tx = true;
66 6087 int bus = GET_BUS(to_send);
67 // Check if msg is sent on the main BUS
68
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 6087 if (bus == MAZDA_MAIN) {
69 6087 int addr = GET_ADDR(to_send);
70
71 // steer cmd checks
72
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 6087 if (addr == MAZDA_LKAS) {
73 6081 int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - 2048U;
74
75
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 6081 if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) {
76 3235 tx = false;
77 }
78 }
79
80 // cruise buttons check
81
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 6087 if (addr == MAZDA_CRZ_BTNS) {
82 // allow resume spamming while controls allowed, but
83 // only allow cancel while contrls not allowed
84 5 bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
85
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 5 if (!controls_allowed && !cancel_cmd) {
86 2 tx = false;
87 }
88 }
89 }
90
91 6087 return tx;
92 }
93
94 8448 static int mazda_fwd_hook(int bus, int addr) {
95 8448 int bus_fwd = -1;
96
97
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 8448 if (bus == MAZDA_MAIN) {
98 2816 bus_fwd = MAZDA_CAM;
99
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 5632 } else if (bus == MAZDA_CAM) {
100
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 2816 bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
101
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 2816 if (!block) {
102 2814 bus_fwd = MAZDA_MAIN;
103 }
104 } else {
105 // don't fwd
106 }
107
108 8448 return bus_fwd;
109 }
110
111 30 static safety_config mazda_init(uint16_t param) {
112 static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
113
114 static RxCheck mazda_rx_checks[] = {
115 {.msg = {{MAZDA_CRZ_CTRL, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
116 {.msg = {{MAZDA_CRZ_BTNS, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
117 {.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}},
118 {.msg = {{MAZDA_ENGINE_DATA, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
119 {.msg = {{MAZDA_PEDALS, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
120 };
121
122 UNUSED(param);
123 30 return BUILD_SAFETY_CFG(mazda_rx_checks, MAZDA_TX_MSGS);
124 }
125
126 const safety_hooks mazda_hooks = {
127 .init = mazda_init,
128 .rx = mazda_rx_hook,
129 .tx = mazda_tx_hook,
130 .fwd = mazda_fwd_hook,
131 };
132