From 0f21b19bb3769e7c8ab8760d321aeaac23c70b0a Mon Sep 17 00:00:00 2001
From: rbiasini <riccardo.biasini@gmail.com>
Date: Sun, 8 Mar 2020 23:48:00 -0700
Subject: [PATCH] Cleanup pedal nomenclature (#467)

* consolidate gas and brake nomenclature

* fixes in code and tests
---
 board/safety/safety_chrysler.h      | 14 +++++-----
 board/safety/safety_ford.h          | 16 +++++------
 board/safety/safety_gm.h            | 19 +++++--------
 board/safety/safety_honda.h         | 16 +++++------
 board/safety/safety_hyundai.h       | 14 +++++-----
 board/safety/safety_nissan.h        | 14 +++++-----
 board/safety/safety_subaru.h        | 14 +++++-----
 board/safety/safety_tesla.h         |  2 --
 board/safety/safety_toyota.h        | 14 +++++-----
 board/safety/safety_volkswagen.h    | 12 ++++-----
 board/safety_declarations.h         |  2 ++
 tests/safety/libpandasafety_py.py   |  8 ++----
 tests/safety/test.c                 | 41 +++++++----------------------
 tests/safety/test_honda.py          |  8 +++---
 tests/safety/test_nissan.py         |  4 ---
 tests/safety/test_toyota.py         |  2 +-
 tests/safety/test_volkswagen_mqb.py |  6 ++---
 17 files changed, 78 insertions(+), 128 deletions(-)

diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 881b9f223..0bcffd636 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -21,8 +21,6 @@ const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_r
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
-bool chrysler_gas_prev = false;
-bool chrysler_brake_prev = false;
 int chrysler_speed = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
@@ -108,20 +106,20 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of gas press
     if (addr == 308) {
-      bool gas = (GET_BYTE(to_push, 5) & 0x7F) != 0;
-      if (gas && !chrysler_gas_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+      bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
+      if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
         controls_allowed = 0;
       }
-      chrysler_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // exit controls on rising edge of brake press
     if (addr == 320) {
-      bool brake = (GET_BYTE(to_push, 0) & 0x7) == 5;
-      if (brake && (!chrysler_brake_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
+      bool brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
+      if (brake_pressed && (!brake_pressed_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
         controls_allowed = 0;
       }
-      chrysler_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // check if stock camera ECU is on bus 0
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 97e0f57a2..067ed1cad 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -7,8 +7,6 @@
 //      brake rising edge
 //      brake > 0mph
 
-int ford_brake_prev = 0;
-int ford_gas_prev = 0;
 bool ford_moving = false;
 
 static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -39,20 +37,20 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 0x165) {
-    int brake = GET_BYTE(to_push, 0) & 0x20;
-    if (brake && (!(ford_brake_prev) || ford_moving)) {
+    int brake_pressed = GET_BYTE(to_push, 0) & 0x20;
+    if (brake_pressed && (!brake_pressed_prev || ford_moving)) {
       controls_allowed = 0;
     }
-    ford_brake_prev = brake;
+    brake_pressed_prev = brake_pressed;
   }
 
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
-    int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
-    if (gas && !(ford_gas_prev)) {
+    bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
+    if (gas_pressed && !gas_pressed_prev) {
       controls_allowed = 0;
     }
-    ford_gas_prev = gas;
+    gas_pressed_prev = gas_pressed;
   }
 
   if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
@@ -74,7 +72,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
+  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && ford_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   if (relay_malfunction) {
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 8c3accdf0..8672cc267 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -33,8 +33,6 @@ AddrCheckStruct gm_rx_checks[] = {
 };
 const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);
 
-int gm_brake_prev = 0;
-int gm_gas_prev = 0;
 bool gm_moving = false;
 int gm_rt_torque_last = 0;
 int gm_desired_torque_last = 0;
@@ -81,25 +79,22 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of brake press or on brake press when
     // speed > 0
     if (addr == 241) {
-      int brake = GET_BYTE(to_push, 1);
       // Brake pedal's potentiometer returns near-zero reading
       // even when pedal is not pressed
-      if (brake < 10) {
-        brake = 0;
-      }
-      if (brake && (!gm_brake_prev || gm_moving)) {
+      bool brake_pressed = GET_BYTE(to_push, 1) >= 10;
+      if (brake_pressed && (!brake_pressed_prev || gm_moving)) {
          controls_allowed = 0;
       }
-      gm_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press
     if (addr == 417) {
-      int gas = GET_BYTE(to_push, 6);
-      if (gas && !gm_gas_prev) {
+      bool gas_pressed = GET_BYTE(to_push, 6) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      gm_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // exit controls on regen paddle
@@ -143,7 +138,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
+  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   // BRAKE: safety check
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 6ce179ff4..ecac14890 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -28,8 +28,6 @@ AddrCheckStruct honda_bh_rx_checks[] = {
 const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);
 
 int honda_brake = 0;
-int honda_gas_prev = 0;
-bool honda_brake_pressed_prev = false;
 bool honda_moving = false;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
@@ -112,10 +110,10 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
     if (is_user_brake_msg) {
       bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
-      if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
+      if (brake_pressed && (!brake_pressed_prev || honda_moving)) {
         controls_allowed = 0;
       }
-      honda_brake_pressed_prev = brake_pressed;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
@@ -133,11 +131,11 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press if no interceptor
     if (!gas_interceptor_detected) {
       if (addr == 0x17C) {
-        int gas = GET_BYTE(to_push, 0);
-        if (gas && !honda_gas_prev) {
+        bool gas_pressed = GET_BYTE(to_push, 0) != 0;
+        if (gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
-        honda_gas_prev = gas;
+        gas_pressed_prev = gas_pressed;
       }
     }
     if ((bus == 2) && (addr == 0x1FA)) {
@@ -194,8 +192,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (honda_brake_pressed_prev && honda_moving);
+  int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
+                      (brake_pressed_prev && honda_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 518650852..1b5b656ff 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -22,8 +22,6 @@ int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
 int hyundai_cruise_engaged_last = 0;
 int hyundai_speed = 0;
-bool hyundai_gas_last = false;
-bool hyundai_brake_last = false;
 uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured
 
@@ -56,11 +54,11 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of gas press
     if (addr == 608) {
-      bool gas = (GET_BYTE(to_push, 7) >> 6) != 0;
-      if (gas && ! hyundai_gas_last) {
+      bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      hyundai_gas_last = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // sample subaru wheel speed, averaging opposite corners
@@ -72,11 +70,11 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of brake press
     if (addr == 916) {
-      bool brake = (GET_BYTE(to_push, 6) >> 7) != 0;
-      if (brake && (!hyundai_brake_last || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
+      bool brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
+      if (brake_pressed && (!brake_pressed_prev || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
         controls_allowed = 0;
       }
-      hyundai_brake_last = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // check if stock camera ECU is on bus 0
diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
index 1e75474c6..7e3296389 100644
--- a/board/safety/safety_nissan.h
+++ b/board/safety/safety_nissan.h
@@ -29,8 +29,6 @@ float nissan_speed = 0;
 uint32_t nissan_ts_angle_last = 0;
 int nissan_cruise_engaged_last = 0;
 int nissan_desired_angle_last = 0;
-int nissan_gas_prev = 0;
-int nissan_brake_prev = 0;
 
 struct sample_t nissan_angle_meas;            // last 3 steer angles
 
@@ -64,11 +62,11 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
       // exit controls on rising edge of gas press
       if (addr == 0x15c) {
-        int gas = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
-        if ((gas > 0) && (nissan_gas_prev == 0)) {
+        bool gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
+        if (gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
-        nissan_gas_prev = gas;
+        gas_pressed_prev = gas_pressed;
       }
 
       // 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
@@ -91,11 +89,11 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
       // exit controls on rising edge of brake press, or if speed > 0 and brake
       if (addr == 0x454) {
-        int brake = (GET_BYTE(to_push, 2) & 0x80);
-        if ((brake > 0) && ((nissan_brake_prev == 0) || (nissan_speed > 0.))) {
+        bool brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
+        if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
           controls_allowed = 0;
         }
-        nissan_brake_prev = brake;
+        brake_pressed_prev = brake_pressed;
       }
     }
   }
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 299e6f14d..9b7665f2b 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -35,8 +35,6 @@ int subaru_rt_torque_last = 0;
 int subaru_desired_torque_last = 0;
 int subaru_speed = 0;
 uint32_t subaru_ts_last = 0;
-bool subaru_gas_last = false;
-bool subaru_brake_last = false;
 bool subaru_global = false;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
@@ -106,22 +104,22 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of brake press (TODO: missing check for unsupported legacy models)
     if ((addr == 0x139) && subaru_global) {
-      bool brake = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
-      if (brake && (!subaru_brake_last || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
+      bool brake_pressed = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
+      if (brake_pressed && (!brake_pressed_prev || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
         controls_allowed = 0;
       }
-      subaru_brake_last = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press
     if (((addr == 0x40) && subaru_global) ||
         ((addr == 0x140) && !subaru_global)) {
       int byte = subaru_global ? 4 : 0;
-      bool gas = GET_BYTE(to_push, byte) != 0;
-      if (gas && !subaru_gas_last) {
+      bool gas_pressed = GET_BYTE(to_push, byte) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      subaru_gas_last = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) &&
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index fbb464dcd..78b80e3bc 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -34,8 +34,6 @@ float tesla_ts_angle_last = 0;
 
 int tesla_controls_allowed_last = 0;
 
-int tesla_brake_prev = 0;
-int tesla_gas_prev = 0;
 int tesla_speed = 0;
 int eac_status = 0;
 
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 6e490d205..5baaa9f4d 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -40,8 +40,6 @@ int toyota_desired_torque_last = 0;       // last desired steer torque
 int toyota_rt_torque_last = 0;            // last desired torque for real time check
 uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
-bool toyota_gas_prev = false;
-bool toyota_brake_prev = false;
 bool toyota_moving = false;
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
@@ -112,11 +110,11 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
     if ((addr == 0x224) || (addr == 0x226)) {
       int byte = (addr == 0x224) ? 0 : 4;
-      bool brake = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
-      if (brake && (!toyota_brake_prev || toyota_moving)) {
+      bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
+      if (brake_pressed && (!brake_pressed_prev || toyota_moving)) {
         controls_allowed = 0;
       }
-      toyota_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of interceptor gas press
@@ -132,11 +130,11 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of gas press
     if (addr == 0x2C1) {
-      bool gas = GET_BYTE(to_push, 6) != 0;
-      if (gas && !toyota_gas_prev && !gas_interceptor_detected) {
+      bool gas_pressed = GET_BYTE(to_push, 6) != 0;
+      if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
         controls_allowed = 0;
       }
-      toyota_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h
index da657ac63..132c10d11 100644
--- a/board/safety/safety_volkswagen.h
+++ b/board/safety/safety_volkswagen.h
@@ -36,8 +36,6 @@ int volkswagen_rt_torque_last = 0;
 int volkswagen_desired_torque_last = 0;
 uint32_t volkswagen_ts_last = 0;
 bool volkswagen_moving = false;
-bool volkswagen_brake_pressed_prev = false;
-int volkswagen_gas_prev = 0;
 int volkswagen_torque_msg = 0;
 int volkswagen_lane_msg = 0;
 uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
@@ -137,21 +135,21 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // Exit controls on rising edge of gas press
     // Signal: Motor_20.MO_Fahrpedalrohwert_01
     if (addr == MSG_MOTOR_20) {
-      int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
-      if ((gas > 0) && (volkswagen_gas_prev == 0)) {
+      bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      volkswagen_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // Exit controls on rising edge of brake press
     // Signal: ESP_05.ESP_Fahrer_bremst
     if (addr == MSG_ESP_05) {
       bool brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
-      if (brake_pressed && (!(volkswagen_brake_pressed_prev) || volkswagen_moving)) {
+      if (brake_pressed && (!brake_pressed_prev || volkswagen_moving)) {
         controls_allowed = 0;
       }
-      volkswagen_brake_pressed_prev = brake_pressed;
+      brake_pressed_prev = brake_pressed;
     }
 
     // If there are HCA messages on bus 0 not sent by OP, there's a relay problem
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 1e1aa5a05..aa9f7fdfe 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -85,6 +85,8 @@ bool controls_allowed = false;
 bool relay_malfunction = false;
 bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;
+bool gas_pressed_prev = false;
+bool brake_pressed_prev = false;
 
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index 8b099fdb4..3b552d0f8 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -37,6 +37,8 @@ bool get_relay_malfunction(void);
 void set_gas_interceptor_detected(bool c);
 bool get_gas_interceptor_detetcted(void);
 int get_gas_interceptor_prev(void);
+bool get_gas_pressed_prev(void);
+bool get_brake_pressed_prev(void);
 int get_hw_type(void);
 void set_timer(uint32_t t);
 
@@ -48,15 +50,12 @@ int set_safety_hooks(uint16_t  mode, int16_t param);
 void init_tests_toyota(void);
 int get_toyota_torque_meas_min(void);
 int get_toyota_torque_meas_max(void);
-bool get_toyota_gas_prev(void);
 void set_toyota_torque_meas(int min, int max);
 void set_toyota_desired_torque_last(int t);
 void set_toyota_rt_torque_last(int t);
 
 void init_tests_honda(void);
 bool get_honda_moving(void);
-bool get_honda_brake_pressed_prev(void);
-int get_honda_gas_prev(void);
 void set_honda_fwd_brake(bool);
 void set_honda_alt_brake_msg(bool);
 int get_honda_hw(void);
@@ -89,18 +88,15 @@ void set_subaru_rt_torque_last(int t);
 bool get_subaru_global(void);
 
 void init_tests_volkswagen(void);
-int get_volkswagen_gas_prev(void);
 int get_volkswagen_torque_driver_min(void);
 int get_volkswagen_torque_driver_max(void);
 bool get_volkswagen_moving(void);
-bool get_volkswagen_brake_pressed_prev(void);
 void set_volkswagen_desired_torque_last(int t);
 void set_volkswagen_rt_torque_last(int t);
 void set_volkswagen_torque_driver(int min, int max);
 
 void init_tests_nissan(void);
 void set_nissan_desired_angle_last(int t);
-void set_nissan_brake_prev(int t);
 
 """)
 
diff --git a/tests/safety/test.c b/tests/safety/test.c
index af3d0969c..3d9cc61dc 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -101,6 +101,14 @@ int get_gas_interceptor_prev(void){
   return gas_interceptor_prev;
 }
 
+bool get_gas_pressed_prev(void){
+  return gas_pressed_prev;
+}
+
+bool get_brake_pressed_prev(void){
+  return brake_pressed_prev;
+}
+
 int get_hw_type(void){
   return hw_type;
 }
@@ -159,10 +167,6 @@ int get_chrysler_torque_meas_max(void){
   return chrysler_torque_meas.max;
 }
 
-bool get_toyota_gas_prev(void){
-  return toyota_gas_prev;
-}
-
 int get_toyota_torque_meas_min(void){
   return toyota_torque_meas.min;
 }
@@ -231,26 +235,10 @@ int get_volkswagen_moving(void){
   return volkswagen_moving;
 }
 
-int get_volkswagen_brake_pressed_prev(void){
-  return volkswagen_brake_pressed_prev;
-}
-
-int get_volkswagen_gas_prev(void){
-  return volkswagen_gas_prev;
-}
-
 bool get_honda_moving(void){
   return honda_moving;
 }
 
-bool get_honda_brake_pressed_prev(void){
-  return honda_brake_pressed_prev;
-}
-
-int get_honda_gas_prev(void){
-  return honda_gas_prev;
-}
-
 void set_honda_alt_brake_msg(bool c){
   honda_alt_brake_msg = c;
 }
@@ -263,10 +251,6 @@ void set_honda_fwd_brake(bool c){
   honda_fwd_brake = c;
 }
 
-void set_nissan_brake_prev(bool c){
-  nissan_brake_prev = c;
-}
-
 void set_nissan_desired_angle_last(int t){
   nissan_desired_angle_last = t;
 }
@@ -275,6 +259,8 @@ void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   hw_type = atoi(getenv("HW_TYPE"));
   safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
+  gas_pressed_prev = false;
+  brake_pressed_prev = false;
 }
 
 void init_tests_toyota(void){
@@ -319,7 +305,6 @@ void init_tests_hyundai(void){
 
 void init_tests_chrysler(void){
   init_tests();
-  chrysler_gas_prev = false;
   chrysler_speed = 0;
   chrysler_torque_meas.min = 0;
   chrysler_torque_meas.max = 0;
@@ -342,8 +327,6 @@ void init_tests_subaru(void){
 void init_tests_volkswagen(void){
   init_tests();
   volkswagen_moving = false;
-  volkswagen_brake_pressed_prev = false;
-  volkswagen_gas_prev = 0;
   volkswagen_torque_driver.min = 0;
   volkswagen_torque_driver.max = 0;
   volkswagen_desired_torque_last = 0;
@@ -355,8 +338,6 @@ void init_tests_volkswagen(void){
 void init_tests_honda(void){
   init_tests();
   honda_moving = false;
-  honda_brake_pressed_prev = false;
-  honda_gas_prev = 0;
   honda_fwd_brake = false;
 }
 
@@ -365,8 +346,6 @@ void init_tests_nissan(void){
   nissan_angle_meas.min = 0;
   nissan_angle_meas.max = 0;
   nissan_desired_angle_last = 0;
-  nissan_gas_prev = 0;
-  nissan_brake_prev = 0;
   set_timer(0);
 }
 
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index b4f8f9d5d..adf02fd5c 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -145,9 +145,9 @@ class TestHondaSafety(unittest.TestCase):
     self.assertEqual(1, self.safety.get_honda_moving())
 
   def test_prev_brake(self):
-    self.assertFalse(self.safety.get_honda_brake_pressed_prev())
+    self.assertFalse(self.safety.get_brake_pressed_prev())
     self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_honda_brake_pressed_prev())
+    self.assertTrue(self.safety.get_brake_pressed_prev())
 
   def test_disengage_on_brake(self):
     self.safety.set_controls_allowed(1)
@@ -171,9 +171,9 @@ class TestHondaSafety(unittest.TestCase):
 
   def test_prev_gas(self):
     self.safety.safety_rx_hook(self._gas_msg(False))
-    self.assertFalse(self.safety.get_honda_gas_prev())
+    self.assertFalse(self.safety.get_gas_pressed_prev())
     self.safety.safety_rx_hook(self._gas_msg(True))
-    self.assertTrue(self.safety.get_honda_gas_prev())
+    self.assertTrue(self.safety.get_gas_pressed_prev())
 
   def test_prev_gas_interceptor(self):
     self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
diff --git a/tests/safety/test_nissan.py b/tests/safety/test_nissan.py
index d38db5595..cae264dd9 100644
--- a/tests/safety/test_nissan.py
+++ b/tests/safety/test_nissan.py
@@ -43,10 +43,6 @@ class TestNissanSafety(unittest.TestCase):
     t = int(t * -100)
     self.safety.set_nissan_desired_angle_last(t)
 
-  def _set_brake_prev(self, state):
-    state = bool(state)
-    self.safety.set_nissan_brake_prev(state)
-
   def _angle_meas_msg_array(self, angle):
     for i in range(6):
       self.safety.safety_rx_hook(self._angle_meas_msg(angle))
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index 5426e5b97..744fcd080 100644
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -137,7 +137,7 @@ class TestToyotaSafety(unittest.TestCase):
   def test_prev_gas(self):
     for g in range(0, 256):
       self.safety.safety_rx_hook(self._send_gas_msg(g))
-      self.assertEqual(True if g > 0 else False, self.safety.get_toyota_gas_prev())
+      self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
 
   def test_prev_gas_interceptor(self):
     self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py
index 99280ba1a..a413fd445 100644
--- a/tests/safety/test_volkswagen_mqb.py
+++ b/tests/safety/test_volkswagen_mqb.py
@@ -154,7 +154,7 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
   def test_prev_gas(self):
     for g in range(0, 256):
       self.safety.safety_rx_hook(self._motor_20_msg(g))
-      self.assertEqual(g, self.safety.get_volkswagen_gas_prev())
+      self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
@@ -184,9 +184,9 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
     self.assertEqual(1, self.safety.get_volkswagen_moving())
 
   def test_prev_brake(self):
-    self.assertFalse(self.safety.get_volkswagen_brake_pressed_prev())
+    self.assertFalse(self.safety.get_brake_pressed_prev())
     self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_volkswagen_brake_pressed_prev())
+    self.assertTrue(self.safety.get_brake_pressed_prev())
 
   def test_brake_disengage(self):
     StdTest.test_allow_brake_at_zero_speed(self)