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Panda safety: minor generalization of the function max_limit_check

master
Riccardo 2018-06-20 18:34:31 -07:00
parent 6b316011b3
commit 1a94543a22
4 changed files with 8 additions and 9 deletions
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6
board/safety.h
View File

@ -12,7 +12,7 @@ int safety_ignition_hook();
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
int to_signed(int d, int bits);
void update_sample(struct sample_t *sample, int sample_new);
int max_limit_check(int val, const int MAX);
int max_limit_check(int val, const int MAX, const int MIN);
int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
@ -149,8 +149,8 @@ void update_sample(struct sample_t *sample, int sample_new) {
}
}
int max_limit_check(int val, const int MAX) {
return (val > MAX) | (val < -MAX);
int max_limit_check(int val, const int MAX, const int MIN) {
return (val > MAX) || (val < MIN);
}
// check that commanded value isn't too far from measured

2
board/safety/safety_cadillac.h
View File

@ -70,7 +70,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (controls_allowed) {
// *** global torque limit check ***
violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER);
violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER);
// *** torque rate limit check ***
int desired_torque_last = cadillac_desired_torque_last[idx];

2
board/safety/safety_gm.h
View File

@ -163,7 +163,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (current_controls_allowed) {
// *** global torque limit check ***
violation |= max_limit_check(desired_torque, GM_MAX_STEER);
violation |= max_limit_check(desired_torque, GM_MAX_STEER, -GM_MAX_STEER);
// *** torque rate limit check ***
violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver,

7
board/safety/safety_toyota.h
View File

@ -71,9 +71,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
desired_accel = to_signed(desired_accel, 16);
if (controls_allowed && actuation_limits) {
if ((desired_accel > MAX_ACCEL) || (desired_accel < MIN_ACCEL)) {
return 0;
}
int violation = max_limit_check(desired_accel, MAX_ACCEL, MIN_ACCEL);
if (violation) return 0;
} else if (!controls_allowed && (desired_accel != 0)) {
return 0;
}
@ -91,7 +90,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (controls_allowed && actuation_limits) {
// *** global torque limit check ***
violation |= max_limit_check(desired_torque, MAX_TORQUE);
violation |= max_limit_check(desired_torque, MAX_TORQUE, -MAX_TORQUE);
// *** torque rate limit check ***
violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);