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Toyota Safety: cleaner var types

master
George Hotz 2018-06-16 18:08:22 -07:00
parent 8638650d21
commit 9a268f333e
1 changed files with 16 additions and 14 deletions
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30
board/safety/safety_toyota.h
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@ -1,30 +1,30 @@
struct sample_t torque_meas; // last 3 motor torques produced by the eps
// global torque limit
const int32_t MAX_TORQUE = 1500; // max torque cmd allowed ever
const int MAX_TORQUE = 1500; // max torque cmd allowed ever
// rate based torque limit + stay within actually applied
// packet is sent at 100hz, so this limit is 1000/sec
const int32_t MAX_RATE_UP = 10; // ramp up slow
const int32_t MAX_RATE_DOWN = 25; // ramp down fast
const int32_t MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
const int MAX_RATE_UP = 10; // ramp up slow
const int MAX_RATE_DOWN = 25; // ramp down fast
const int MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec
const int32_t MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
const int32_t RT_INTERVAL = 250000; // 250ms between real time checks
const int MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
const int RT_INTERVAL = 250000; // 250ms between real time checks
// longitudinal limits
const int16_t MAX_ACCEL = 1500; // 1.5 m/s2
const int16_t MIN_ACCEL = -3000; // 3.0 m/s2
const int MAX_ACCEL = 1500; // 1.5 m/s2
const int MIN_ACCEL = -3000; // 3.0 m/s2
// global actuation limit state
int actuation_limits = 1; // by default steer limits are imposed
int16_t dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
int dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
// state of torque limits
int16_t desired_torque_last = 0; // last desired steer torque
int16_t rt_torque_last = 0; // last desired torque for real time check
int desired_torque_last = 0; // last desired steer torque
int rt_torque_last = 0; // last desired torque for real time check
uint32_t ts_last = 0;
int cruise_engaged_last = 0; // cruise state
@ -68,7 +68,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// ACCEL: safety check on byte 1-2
if ((to_send->RIR>>21) == 0x343) {
int16_t desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
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;
@ -80,8 +81,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// STEER: safety check on bytes 2-3
if ((to_send->RIR>>21) == 0x2E4) {
int16_t desired_torque = (to_send->RDLR & 0xFF00) | ((to_send->RDLR >> 16) & 0xFF);
int16_t violation = 0;
int desired_torque = (to_send->RDLR & 0xFF00) | ((to_send->RDLR >> 16) & 0xFF);
desired_torque = to_signed(desired_torque, 16);
int violation = 0;
uint32_t ts = TIM2->CNT;