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we might want to check it in both speed signals in case one doesn't exist on a car

This commit is contained in:
Shane Smiskol 2023-04-25 20:49:10 -07:00
parent b24b1405a1
commit 3338931409
1 changed files with 8 additions and 6 deletions
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14
board/safety/safety_ford.h
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@ -125,6 +125,8 @@ static bool ford_get_quality_flag_valid(CANPacket_t *to_push) {
#define INACTIVE_PATH_ANGLE 1000U
#define FORD_MAX_SPEED_DELTA 2.5 // m/s
float ford_filtered_pcm_speed = 0;
static bool ford_lkas_msg_check(int addr) {
return (addr == MSG_ACCDATA_3)
|| (addr == MSG_Lane_Assist_Data1)
@ -145,18 +147,17 @@ static int ford_rx_hook(CANPacket_t *to_push) {
vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) == 0U;
}
// Update vehicle speed
// Update vehicle speed and set vehicle state mismatch if speeds from ABS and PCM ECUs are too far apart.
// Causes controls allowed to fall
if (addr == MSG_BrakeSysFeatures) {
// Signal: Veh_V_ActlBrk
vehicle_speed = ((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6;
vehicle_state_mismatch = ABS(ford_filtered_pcm_speed - vehicle_speed) > FORD_MAX_SPEED_DELTA;
}
if (addr == MSG_EngVehicleSpThrottle2) {
// Set vehicle state mismatch if speeds from ABS and PCM ECUs are too far apart.
// Causes controls allowed to fall
// Signal: Veh_V_ActlEng
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
vehicle_state_mismatch = ABS(filtered_pcm_speed - vehicle_speed) > FORD_MAX_SPEED_DELTA;
ford_filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
vehicle_state_mismatch = ABS(ford_filtered_pcm_speed - vehicle_speed) > FORD_MAX_SPEED_DELTA;
}
// Update gas pedal
@ -274,6 +275,7 @@ static int ford_fwd_hook(int bus_num, int addr) {
static const addr_checks* ford_init(uint16_t param) {
UNUSED(param);
ford_filtered_pcm_speed = 0;
return &ford_rx_checks;
}