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Safety: made real time rate limit check a shared function

This commit is contained in:
Commaremote 2018-06-13 00:56:29 -07:00
parent e21447765e
commit 1966bdf348
3 changed files with 14 additions and 16 deletions
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12
board/safety.h
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@ -12,6 +12,7 @@ int safety_ignition_hook();
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
int to_signed(int d, int bits);
void update_sample(struct sample_t *sample, int sample_new);
int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
typedef void (*safety_hook_init)(int16_t param);
typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@ -141,3 +142,14 @@ void update_sample(struct sample_t *sample, int sample_new) {
if (sample->values[i] > sample->max) sample->max = sample->values[i];
}
}
// real time check, mainly used for steer torque rate limiter
int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
// *** torque real time rate limit check ***
int16_t highest_val = max(val_last, 0) + MAX_RT_DELTA;
int16_t lowest_val = min(val_last, 0) - MAX_RT_DELTA;
// return 1 if violation
return (val < lowest_val) || (val > highest_val);
}

9
board/safety/safety_cadillac.h
View File

@ -103,14 +103,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
cadillac_desired_torque_last[idx] = desired_torque;
// *** torque real time rate limit check ***
int highest_rt_torque = max(cadillac_rt_torque_last, 0) + CADILLAC_MAX_RT_DELTA;
int lowest_rt_torque = min(cadillac_rt_torque_last, 0) - CADILLAC_MAX_RT_DELTA;
// check for violation
if ((desired_torque < lowest_rt_torque) || (desired_torque > highest_rt_torque)) {
violation = 1;
}
violation |= rt_rate_limit_check(desired_torque, cadillac_rt_torque_last, CADILLAC_MAX_RT_DELTA);
// every RT_INTERVAL set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_last);

9
board/safety/safety_toyota.h
View File

@ -108,15 +108,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// used next time
desired_torque_last = desired_torque;
// *** torque real time rate limit check ***
int16_t highest_rt_torque = max(rt_torque_last, 0) + MAX_RT_DELTA;
int16_t lowest_rt_torque = min(rt_torque_last, 0) - MAX_RT_DELTA;
// check for violation
if ((desired_torque < lowest_rt_torque) || (desired_torque > highest_rt_torque)) {
violation = 1;
}
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, MAX_RT_DELTA);
// every RT_INTERVAL set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);