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make vehicle_speed a sample_t

This commit is contained in:
Shane Smiskol 2023-05-02 18:55:16 -07:00
parent b76de2eb36
commit ecd8dc86b6
5 changed files with 8 additions and 6 deletions
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3
board/safety.h
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@ -332,7 +332,6 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
regen_braking = false;
regen_braking_prev = false;
cruise_engaged_prev = false;
vehicle_speed = 0;
vehicle_moving = false;
acc_main_on = false;
cruise_button_prev = 0;
@ -345,6 +344,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
valid_steer_req_count = 0;
invalid_steer_req_count = 0;
vehicle_speed.min = 0;
vehicle_speed.max = 0;
torque_meas.min = 0;
torque_meas.max = 0;
torque_driver.min = 0;

2
board/safety/safety_ford.h
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@ -170,7 +170,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
// Update vehicle speed
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;
update_sample(&vehicle_speed, ((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6)
}
// Check vehicle speed against a second source

2
board/safety/safety_nissan.h
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@ -65,7 +65,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1));
uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3));
vehicle_moving = (right_rear | left_rear) != 0U;
vehicle_speed = (right_rear + left_rear) / 2.0 * 0.005 / 3.6;
update_sample(&vehicle_speed, (right_rear + left_rear) / 2.0 * 0.005 / 3.6);
}
// X-Trail 0x15c, Leaf 0x239

5
board/safety/safety_tesla.h
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@ -80,8 +80,9 @@ static int tesla_rx_hook(CANPacket_t *to_push) {
if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
vehicle_moving = ABS(vehicle_speed) > 0.1;
float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
vehicle_moving = speed > 0.1;
update_sample(&vehicle_speed, speed);
}
if(addr == (tesla_powertrain ? 0x106 : 0x108)) {

2
board/safety_declarations.h
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@ -192,7 +192,7 @@ bool brake_pressed_prev = false;
bool regen_braking = false;
bool regen_braking_prev = false;
bool cruise_engaged_prev = false;
float vehicle_speed = 0;
struct sample_t vehicle_speed;
bool vehicle_moving = false;
bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
int cruise_button_prev = 0;