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Mazda: only check ACC state for controls allowed (#753)

This commit is contained in:
Adeeb Shihadeh 2021-10-29 12:12:53 -07:00 committed by GitHub
parent 5f5f30eedc
commit 0d4e98f605
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 1 additions and 72 deletions
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24
board/safety/safety_mazda.h
View File

@ -23,12 +23,7 @@
#define MAZDA_DRIVER_TORQUE_FACTOR 1
#define MAZDA_MAX_TORQUE_ERROR 350
// lkas enable speed 52kph, disable at 45kph
#define MAZDA_LKAS_ENABLE_SPEED 5200
#define MAZDA_LKAS_DISABLE_SPEED 4500
const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}};
bool mazda_lkas_allowed = false;
AddrCheckStruct mazda_addr_checks[] = {
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
@ -49,17 +44,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (addr == MAZDA_ENGINE_DATA) {
// sample speed: scale by 0.01 to get kph
int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
vehicle_moving = speed > 10; // moving when speed > 0.1 kph
// Enable LKAS at 52kph going up, disable at 45kph going down
if (speed > MAZDA_LKAS_ENABLE_SPEED) {
mazda_lkas_allowed = true;
} else if (speed < MAZDA_LKAS_DISABLE_SPEED) {
mazda_lkas_allowed = false;
} else {
// Misra-able appeasment block!
}
}
if (addr == MAZDA_STEER_TORQUE) {
@ -73,13 +58,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
if (cruise_engaged) {
if (!cruise_engaged_prev) {
// do not engage until we hit the speed at which lkas is on
if (mazda_lkas_allowed) {
controls_allowed = 1;
} else {
controls_allowed = 0;
cruise_engaged = false;
}
controls_allowed = 1;
}
} else {
controls_allowed = 0;
@ -183,7 +162,6 @@ static const addr_checks* mazda_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();
mazda_lkas_allowed = false;
return &mazda_rx_checks;
}

49
tests/safety/test_mazda.py
View File

@ -24,8 +24,6 @@ class TestMazdaSafety(common.PandaSafetyTest):
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {2: [0x243]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
LKAS_ENABLE_SPEED = 52
LKAS_DISABLE_SPEED = 45
def setUp(self):
self.packer = CANPackerPanda("mazda_2017")
@ -61,53 +59,6 @@ class TestMazdaSafety(common.PandaSafetyTest):
values = {"CRZ_ACTIVE": enable}
return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values)
def test_enable_control_allowed_from_cruise(self):
self._rx(self._pcm_status_msg(False))
self.assertFalse(self.safety.get_controls_allowed())
self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1))
self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
self._rx(self._pcm_status_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self._rx(self._pcm_status_msg(False))
self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
self._rx(self._pcm_status_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
self._rx(self._pcm_status_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
self.assertTrue(self.safety.get_controls_allowed())
# Enabled going down
self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(self._pcm_status_msg(False))
# Disabled going up
self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED + 1))
self._rx(self._pcm_status_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
def test_cruise_engaged_prev(self):
self._rx(self._pcm_status_msg(False))
self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
self._rx(self._pcm_status_msg(True))
self.assertFalse(self.safety.get_cruise_engaged_prev())
self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
for engaged in [True, False]:
self._rx(self._pcm_status_msg(engaged))
self.assertEqual(engaged, self.safety.get_cruise_engaged_prev())
self._rx(self._pcm_status_msg(not engaged))
self.assertEqual(not engaged, self.safety.get_cruise_engaged_prev())
if __name__ == "__main__":
unittest.main()