From 14051f9ce3c9cbaf7044c81c9902dd0f1cea3980 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 13 Feb 2023 14:13:40 -0800
Subject: [PATCH] Chrysler: revert rate limit increase (#1240)

* Revert "Chrysler: add flag for alternate steer limits (#1238)"

This reverts commit d15250cb1454292c6f1217c79642b9ffd93e7595.

* Revert "Chrysler: increase torque rate limits (#985)"

This reverts commit ae051c94a393550ab8d70c594fc9dfb49bc9aed8.
---
 board/safety/safety_chrysler.h | 19 +------------------
 python/__init__.py             |  1 -
 tests/safety/test_chrysler.py  |  7 +++++--
 3 files changed, 6 insertions(+), 21 deletions(-)

diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index d5103f30..7c444bc0 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -1,16 +1,4 @@
 const SteeringLimits CHRYSLER_STEERING_LIMITS = {
-  .max_steer = 261,
-  .max_rt_delta = 112,
-  .max_rt_interval = 250000,
-  .max_rate_up = 6,
-  .max_rate_down = 6,
-  .max_torque_error = 80,
-  .type = TorqueMotorLimited,
-};
-
-// temporary alternate limits until all Pacifica platform models
-// are moved to the new tuning with a higher rate
-const SteeringLimits CHRYSLER_LR_STEERING_LIMITS = {
   .max_steer = 261,
   .max_rt_delta = 112,
   .max_rt_interval = 250000,
@@ -138,9 +126,6 @@ addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN}
 
 const uint32_t CHRYSLER_PARAM_RAM_DT = 1U;  // set for Ram DT platform
 const uint32_t CHRYSLER_PARAM_RAM_HD = 2U;  // set for Ram DT platform
-const uint32_t CHRYSLER_PARAM_LOWER_RATE = 4U;
-
-bool chrysler_lower_steer_rate = false;
 
 enum {
   CHRYSLER_RAM_DT,
@@ -260,7 +245,7 @@ static int chrysler_tx_hook(CANPacket_t *to_send) {
     int desired_torque = ((GET_BYTE(to_send, start_byte) & 0x7U) << 8) | GET_BYTE(to_send, start_byte + 1);
     desired_torque -= 1024;
 
-    const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? (chrysler_lower_steer_rate ? CHRYSLER_LR_STEERING_LIMITS : CHRYSLER_STEERING_LIMITS) :
+    const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
                                   (chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;
     if (steer_torque_cmd_checks(desired_torque, -1, limits)) {
       tx = 0;
@@ -315,8 +300,6 @@ static const addr_checks* chrysler_init(uint16_t param) {
     chrysler_rx_checks = (addr_checks){chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
   }
 
-  chrysler_lower_steer_rate = GET_FLAG(param, CHRYSLER_PARAM_LOWER_RATE);
-
   return &chrysler_rx_checks;
 }
 
diff --git a/python/__init__.py b/python/__init__.py
index a192da89..178cb27c 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -217,7 +217,6 @@ class Panda:
 
   FLAG_CHRYSLER_RAM_DT = 1
   FLAG_CHRYSLER_RAM_HD = 2
-  FLAG_CHRYSLER_LOWER_RATE = 4
 
   FLAG_SUBARU_GEN2 = 1
 
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index 3cd07ad8..afeca294 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -14,8 +14,8 @@ class TestChryslerSafety(common.PandaSafetyTest, common.MotorTorqueSteeringSafet
   FWD_BLACKLISTED_ADDRS = {2: [658, 678]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
-  MAX_RATE_UP = 6
-  MAX_RATE_DOWN = 6
+  MAX_RATE_UP = 3
+  MAX_RATE_DOWN = 3
   MAX_TORQUE = 261
   MAX_RT_DELTA = 112
   RT_INTERVAL = 250000
@@ -77,6 +77,9 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
   RELAY_MALFUNCTION_ADDR = 166
   FWD_BLACKLISTED_ADDRS = {2: [166, 250]}
 
+  MAX_RATE_UP = 6
+  MAX_RATE_DOWN = 6
+
   DAS_BUS = 2
 
   def setUp(self):