Pedal: use avg between tracks (#253)
parent
c597dcc897
commit
e49d0dbbd6
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@ -62,7 +62,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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// length check because bosch hardware also uses this id (0x201 w/ len = 8)
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if ((addr == 0x201) && (len == 6)) {
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gas_interceptor_detected = 1;
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int gas_interceptor = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
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int gas_interceptor = GET_INTERCEPTOR(to_push);
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if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
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(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
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long_controls_allowed) {
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@ -69,7 +69,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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// exit controls on rising edge of interceptor gas press
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if (addr == 0x201) {
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gas_interceptor_detected = 1;
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int gas_interceptor = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
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int gas_interceptor = GET_INTERCEPTOR(to_push);
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if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
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(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
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long_controls_allowed) {
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@ -50,3 +50,6 @@ int gas_interceptor_prev = 0;
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// This is set by USB command 0xdf
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bool long_controls_allowed = 1;
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// avg between 2 tracks
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#define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)
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@ -5,6 +5,8 @@ import libpandasafety_py
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MAX_BRAKE = 255
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INTERCEPTOR_THRESHOLD = 328
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class TestHondaSafety(unittest.TestCase):
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@classmethod
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def setUp(cls):
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@ -66,7 +68,9 @@ class TestHondaSafety(unittest.TestCase):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = addr << 21
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to_send[0].RDTR = 6
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to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
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gas2 = gas * 2
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to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
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((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
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return to_send
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@ -176,16 +180,15 @@ class TestHondaSafety(unittest.TestCase):
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def test_disengage_on_gas_interceptor(self):
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for long_controls_allowed in [0, 1]:
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self.safety.set_long_controls_allowed(long_controls_allowed)
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_controls_allowed(1)
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self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
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if long_controls_allowed:
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self.assertFalse(self.safety.get_controls_allowed())
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else:
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_gas_interceptor_detected(False)
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for g in range(0, 0x1000):
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self.safety.set_long_controls_allowed(long_controls_allowed)
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_controls_allowed(True)
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self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
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remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
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self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_gas_interceptor_detected(False)
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self.safety.set_long_controls_allowed(True)
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def test_allow_engage_with_gas_interceptor_pressed(self):
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@ -15,6 +15,8 @@ RT_INTERVAL = 250000
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MAX_TORQUE_ERROR = 350
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INTERCEPTOR_THRESHOLD = 475
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def twos_comp(val, bits):
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if val >= 0:
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return val
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@ -81,7 +83,9 @@ class TestToyotaSafety(unittest.TestCase):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = addr << 21
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to_send[0].RDTR = 6
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to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
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gas2 = gas * 2
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to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
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((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
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return to_send
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@ -145,16 +149,15 @@ class TestToyotaSafety(unittest.TestCase):
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def test_disengage_on_gas_interceptor(self):
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for long_controls_allowed in [0, 1]:
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self.safety.set_long_controls_allowed(long_controls_allowed)
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_controls_allowed(True)
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self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
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if long_controls_allowed:
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self.assertFalse(self.safety.get_controls_allowed())
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else:
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_gas_interceptor_detected(False)
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for g in range(0, 0x1000):
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self.safety.set_long_controls_allowed(long_controls_allowed)
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_controls_allowed(True)
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self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
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remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
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self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
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self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
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self.safety.set_gas_interceptor_detected(False)
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self.safety.set_long_controls_allowed(True)
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def test_allow_engage_with_gas_interceptor_pressed(self):
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