* read in mV and make threshold board-dependent
* refactor and add SBU voltages to health
* refactor relay driving
* more refactoring and readout lock
* avoid race condition
* fix misra
* continuous detection
* 1Hz is fine
* another race condition
* use harness detection to trigger bootkick
* update orientation detection test
* more in-depth harness tests
* fix ignition
* fix
* raise threshold
* ford curvature rate limits draft
* make common angle tests work with curvature
* comment
* no need for this
* extra line
* fix test
* generic curvature test class
* more reasonable limits
* adjust limits
* draft
* works
* works
* clean up
* add vehicle speed
* works
* clean up
* clean up
* more clean up
* more clean up
* lower
* double
* add updated bp
* remove
* can clean that up
* draft
* this works!
* think that's the correct placement
* try this
* closer
* use min
* add/sub one to not falsely trip
* remove old angle error safety
* i'm not sure if clamp is more readable
* fix that
* fix
* stash
* fix these tests
* ternary
* floats are a pain
* draft, works kinda
* even better
* round that
* need tolerance
* this should work (adding tol=1 wouldn't let us have multiple rate limits)
* test works
* clamp breaks if low is higher than high :(((
down from 150 blocked msgs to 7!
* no blocked msgs!!!
* test a whole bunch
* stash
* stash
* clean up test
* clean up test to be more like torque (+ speeds)
* clean up
* cmt
* test up
* up and down are good
* rename and remove
* this is tested
* uncomment
* this is tested by ensuring we move towards error at a minimum rate
* not used any more
* revert common
* clean up test_ford a bit more
* some clean up (combine variables where it makes sense)
* yeah can't use clamp since min isn't always < max, min(max(.. handles this
* clean up
* revert that
* comments
* cmt
* another
* that's old
* misra!
* Update board/safety/safety_ford.h
* Update board/safety/safety_ford.h
* add todo, fix test case
* more clear, matches panda
* add comment
* Update tests/safety/test_ford.py
* more fine speed increments
* rm comment
* better names
* this is expected behavior (tested by common checks)
* CURVATURE_ERROR_LIMIT_SPEED
* better name?
* pretty clean!
* same for up
* only used in one place now
* these are now clear
* common term
* make vehicle_speed a sample_t
* need to use values[0]
* speed is a float
* Revert "speed is a float"
This reverts commit 01af02f1d35026d983cc2ba6d9ba364c87c800ee.
* Revert "need to use values[0]"
This reverts commit 8f6d68345a92f7285d07ca071285e903ed7871bb.
* Revert "make vehicle_speed a sample_t"
This reverts commit ecd8dc86b6b97cc8bff7da697353a8d90c358b12.
* safety fixes for new speed sample
* test fixes for new speed sample
* fix misra and make intermediate variable
* this isn't needed
* convert vehicle_speed into sample_t, change no behavior
* draft
* round
* test
* clean up
* round
* round all
* use min
* remove round macro from this PR
* reset speed measurement
* debug
* bbd
* rm
* revert
* test above and below
* need this now
* misra pt 1
* misra pt 2
* misra pt 3
* i don't understand this one, not different from other cases
* fix test
* test
* revert that
* draft
* test the sample_t works properly for safety modes that use it (angle only)
* can combine these tests
* test decimals
* global
* misra
comment
* suggestions
* fix
* use new helper
* test angle meas readback (ensures speed and yaw rate are used properly)
* revert
* rm
* tuple
* temp
* clean up
* stash
* Revert "stash"
This reverts commit cab96b3e2b46d7b43ef539b96e0f6d3918d21e55.
* use global
* test negative
* name
* make explicit, there was no bug only because the if statement is identical to above
* debug
* Revert "debug"
This reverts commit 2ec83677c3749f805681c4874b746696767f7634.
* Revert "make explicit, there was no bug only because the if statement is identical to above"
This reverts commit fcb2a106b9694727ca4b5a9acf4eda3312fc4271.
* fixes
* remove
* allow 1 second
* remove
* clean up
* call every can msg
* safety_tick_rx_invalid like test_models
* order
* skip end
* try that
* reset min torque meas too
* add test that fails
* cmt
* cmt
* clean up test
* don't be random
* above test tests this pretty much
* test angle too
* fix
* also test driver torque
* whoops
* whoops
* draft clean up
* always check
* add angle to name
* ford sends curvature when not steering and bit is 0.
it's not torque, curvature of 0 will still apply torque
* need this to be generic
* formatting
* rm
* test that we can send curvature=0 if enabled=False while control_allowed=True (let's say EPS faults, OP doesn't want to actuate)
* revert ford tests to master
* this <i>should</i> preserve behavior
* this is fine to remove
* and this should also be covered
* yeet
* change opt name, combine checks, much better!
* one more
* modes
* Add comment
* misra has a bug :(
* ugh
* make this clear
* ?
* order
* fix
* comments
* test that we can send curvature=0 if enabled=False while control_allowed=True (let's say EPS faults, OP doesn't want to actuate)
* draft
* only check error if apply bit is 1
* subtest
* no subtest
* fix safety and tests
* tests say this works
* clean up
* subtests are sloww
* Revert "subtests are sloww"
This reverts commit 560c6745c8dddfcce87113e36e3661274fbb239b.
* fix test from merge
* add comment
* add comment
* add another comment
* spacing
* set ford vehicle speed
* parse yaw rate signals
* misra
* misra
* misra
* misra
* draft
* update module
* already checked
* and set it properly
* some stuff
* draft
* clean up (will fail tests because we don't send yaw rate yet)
* could do something like this
* this is better and less prone to bugs
* match simple op limiting, debugging
* set checksum for messages in tests
* clean up
* fix that
* one m/s fudge
* fix sign of yaw rate
* interpolate detects size
* forgot OP flips the curvature sign. it matches yaw on can
* all my debugging crap
* make replay work for ford
* fix panda blocking messages (array is fixed size so size-1 is 0 rate at high speed)
* uncomment safety test limits
* revert
* round for zero blocked msgs
* fix limits
* meas safety checks that down rate is >=, not <
* test pass
* lots of comments and draft what one meas torque check would look like
* fix that
* add curvature meas
* add debugging stuff
* Revert "add debugging stuff"
This reverts commit 449783fc625954868a1cfca48a655cac7b074cc1.
* messy but at least one test passes now
* draft
* add max_steer
* some safety clean up
* and that
* start with a test that works
* another test that works (sort of, we need more strict panda safety without false positives)
* no max curvature check (not safety related), allow any rate limits
* add new function
* also need to consider max val here, since OP will send up to that
* and now use the function
* lower to 10
* compilation fixes
* clean up (no rate limiting)
* remove that too
* curvature diff test
* more clean up
* debug
* ?
* better names
* more official
* use _curvature_meas_msg_array here
* bit faster
* no i don't
* revert that
* why not just use angle_meas?
* bb ll
* bb deb
* clean up debug vals
* more
* revert replay drive debugging changes
* Update board/safety.h
* rm line
* only need to round the final thing
* not needed, under 10 ms
* make a class variable
* fix a misra?
* another misra?
better
* ?
* 12.1
* need to explicitly convert
* add one to not false trigger the violation (float rounding)
* not really needed
* rm line
* cmt
* use clamp
* rename
* in struct
* comment
* use max_limit_check
* draft clean up
* Revert "draft clean up"
This reverts commit d1a0e8acd1d0eb2bd7b75618c7df14e15c16e134.
* make a global
make a global
* this is fine
* Add second speed
* 2.5 m/s is 9 kph, 4 kph is the max in the field
* add quality signal
* qf signal name
* comment
* checksum matches except it goes to zero when turning the car off despite counter still active
* update comments
* now test it
* spacing
* Update board/safety/safety_ford.h
* zzzz
* not needed
* whoops
* test vehicle state mismatch
* add to safety_helpers
* probably misra
* we might want to check it in both speed signals in case one doesn't exist on a car
* Revert "we might want to check it in both speed signals in case one doesn't exist on a car"
This reverts commit 3338931409327f9c0eaa6fbd0daa9a57ef229b46.
* fix formatting
* 2 m/s (7 kph)
* set controls_allowed directly like other safety models
remove vehicle_state_mismatch
* obv
* Add second speed
* 2.5 m/s is 9 kph, 4 kph is the max in the field
* add quality signal
* qf signal name
* comment
* checksum matches except it goes to zero when turning the car off despite counter still active
* update comments
* now test it
* spacing
* Update board/safety/safety_ford.h
* zzzz
* not needed
* whoops
* test vehicle state mismatch
* add to safety_helpers
* probably misra
* we might want to check it in both speed signals in case one doesn't exist on a car
* Revert "we might want to check it in both speed signals in case one doesn't exist on a car"
This reverts commit 3338931409327f9c0eaa6fbd0daa9a57ef229b46.
* fix formatting
* 2 m/s (7 kph)
* revert mismatch stuff
* make explicit, there was no bug only because the if statement is identical to above
* debug
* Revert "debug"
This reverts commit 2ec83677c3749f805681c4874b746696767f7634.
* Revert "make explicit, there was no bug only because the if statement is identical to above"
This reverts commit fcb2a106b9694727ca4b5a9acf4eda3312fc4271.
* fixes
* clean that up
* and this
* cleanup and fix
* dos must stall
* clean those up
* fix misra
* more test
* fix import
* cleanup
---------
Co-authored-by: Comma Device <device@comma.ai>
