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Chrysler: match openpilot standstill check (#1065) 

* match openpilot standstill, and fix ram standstill parsing

* misra

* cmt
This commit is contained in:
Shane Smiskol 2022-09-13 13:52:44 -07:00 committed by GitHub
parent 788e0b5ac9
commit 19983f13b3
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 3 additions and 10 deletions
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11
board/safety/safety_chrysler.h
View File

@ -28,9 +28,6 @@ const SteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
.type = TorqueMotorLimited,
};
const int CHRYSLER_STANDSTILL_THRSLD = 10; // about 1m/s
const int CHRYSLER_RAM_STANDSTILL_THRSLD = 3; // about 1m/s changed from wheel rpm to km/h
typedef struct {
const int EPS_2;
const int ESP_1;
@ -204,16 +201,14 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
}
// TODO: use the same message for both
// update speed
// update vehicle moving
if ((chrysler_platform != CHRYSLER_PACIFICA) && (bus == 0) && (addr == chrysler_addrs->ESP_8)) {
vehicle_speed = (((GET_BYTE(to_push, 4) & 0x3U) << 8) + GET_BYTE(to_push, 5))*0.0078125;
vehicle_moving = (int)vehicle_speed > CHRYSLER_RAM_STANDSTILL_THRSLD;
vehicle_moving = ((GET_BYTE(to_push, 4) << 8) + GET_BYTE(to_push, 5)) != 0U;
}
if ((chrysler_platform == CHRYSLER_PACIFICA) && (bus == 0) && (addr == 514)) {
int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
vehicle_speed = (speed_l + speed_r) / 2;
vehicle_moving = (int)vehicle_speed > CHRYSLER_STANDSTILL_THRSLD;
vehicle_moving = (speed_l != 0) || (speed_r != 0);
}
// exit controls on rising edge of gas press

2
tests/safety/test_chrysler.py
View File

@ -74,7 +74,6 @@ class TestChryslerSafety(common.PandaSafetyTest, common.MotorTorqueSteeringSafet
class TestChryslerRamDTSafety(TestChryslerSafety):
TX_MSGS = [[177, 2], [166, 0], [250, 0]]
STANDSTILL_THRESHOLD = 3
RELAY_MALFUNCTION_ADDR = 166
FWD_BLACKLISTED_ADDRS = {2: [166, 250]}
@ -95,7 +94,6 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
class TestChryslerRamHDSafety(TestChryslerSafety):
TX_MSGS = [[629, 0], [630, 0], [570, 2]]
STANDSTILL_THRESHOLD = 3
RELAY_MALFUNCTION_ADDR = 630
FWD_BLACKLISTED_ADDRS = {2: [629, 630]}