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Safety: unify `controls_allowed` with boolean (#1589)

This commit is contained in:
Jason Wen 2023-08-18 16:22:04 -04:00 committed by GitHub
parent aed103d537
commit 1d874be2b7
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 20 additions and 20 deletions
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2
board/main.c
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@ -237,7 +237,7 @@ void tick_handler(void) {
if (controls_allowed && !heartbeat_engaged) {
heartbeat_engaged_mismatches += 1U;
if (heartbeat_engaged_mismatches >= 3U) {
controls_allowed = 0U;
controls_allowed = false;
}
} else {
heartbeat_engaged_mismatches = 0U;

10
board/safety.h
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@ -174,7 +174,7 @@ void safety_tick(const addr_checks *rx_checks) {
bool lagging = elapsed_time > MAX(rx_checks->check[i].msg[rx_checks->check[i].index].expected_timestep * MAX_MISSED_MSGS, 1e6);
rx_checks->check[i].lagging = lagging;
if (lagging) {
controls_allowed = 0;
controls_allowed = false;
}
if (lagging || !is_msg_valid(rx_checks->check, i)) {
@ -200,7 +200,7 @@ bool is_msg_valid(AddrCheckStruct addr_list[], int index) {
if (index != -1) {
if (!addr_list[index].valid_checksum || !addr_list[index].valid_quality_flag || (addr_list[index].wrong_counters >= MAX_WRONG_COUNTERS)) {
valid = false;
controls_allowed = 0;
controls_allowed = false;
}
}
return valid;
@ -254,19 +254,19 @@ bool addr_safety_check(CANPacket_t *to_push,
void generic_rx_checks(bool stock_ecu_detected) {
// exit controls on rising edge of gas press
if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
controls_allowed = false;
}
gas_pressed_prev = gas_pressed;
// exit controls on rising edge of brake press
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
controls_allowed = 0;
controls_allowed = false;
}
brake_pressed_prev = brake_pressed;
// exit controls on rising edge of regen paddle
if (regen_braking && (!regen_braking_prev || vehicle_moving)) {
controls_allowed = 0;
controls_allowed = false;
}
regen_braking_prev = regen_braking;

2
board/safety/safety_ford.h
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@ -237,7 +237,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
// Signal: Veh_V_ActlEng
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
if (ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA) {
controls_allowed = 0;
controls_allowed = false;
}
}

4
board/safety/safety_gm.h
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@ -95,12 +95,12 @@ static int gm_rx_hook(CANPacket_t *to_push) {
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = 1;
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = 0;
controls_allowed = false;
}
cruise_button_prev = button;

10
board/safety/safety_honda.h
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@ -142,7 +142,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
if ((addr == 0x326) || (addr == 0x1A6)) {
acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
if (!acc_main_on) {
controls_allowed = 0;
controls_allowed = false;
}
}
@ -151,13 +151,13 @@ static int honda_rx_hook(CANPacket_t *to_push) {
const bool cruise_engaged = GET_BIT(to_push, 38U) != 0U;
// engage on rising edge
if (cruise_engaged && !cruise_engaged_prev) {
controls_allowed = 1;
controls_allowed = true;
}
// Since some Nidec cars can brake down to 0 after the PCM disengages,
// we don't disengage when the PCM does.
if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) {
controls_allowed = 0;
controls_allowed = false;
}
cruise_engaged_prev = cruise_engaged;
}
@ -169,14 +169,14 @@ static int honda_rx_hook(CANPacket_t *to_push) {
// exit controls once main or cancel are pressed
if ((button == HONDA_BTN_MAIN) || (button == HONDA_BTN_CANCEL)) {
controls_allowed = 0;
controls_allowed = false;
}
// enter controls on the falling edge of set or resume
bool set = (button == HONDA_BTN_NONE) && (cruise_button_prev == HONDA_BTN_SET);
bool res = (button == HONDA_BTN_NONE) && (cruise_button_prev == HONDA_BTN_RESUME);
if (acc_main_on && !pcm_cruise && (set || res)) {
controls_allowed = 1;
controls_allowed = true;
}
cruise_button_prev = button;
}

8
board/safety/safety_hyundai_common.h
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@ -47,11 +47,11 @@ void hyundai_common_cruise_state_check(const int cruise_engaged) {
// enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
if (!hyundai_longitudinal) {
if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
controls_allowed = 1;
controls_allowed = true;
}
if (!cruise_engaged) {
controls_allowed = 0;
controls_allowed = false;
}
cruise_engaged_prev = cruise_engaged;
}
@ -70,12 +70,12 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const int main
bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
if (set || res) {
controls_allowed = 1;
controls_allowed = true;
}
// exit controls on cancel press
if (cruise_button == HYUNDAI_BTN_CANCEL) {
controls_allowed = 0;
controls_allowed = false;
}
cruise_button_prev = cruise_button;

4
board/safety/safety_volkswagen_pq.h
View File

@ -130,7 +130,7 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
// Signal: Motor_5.GRA_Hauptschalter
acc_main_on = GET_BIT(to_push, 50U);
if (!acc_main_on) {
controls_allowed = 0;
controls_allowed = false;
}
}
@ -148,7 +148,7 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
// Exit controls on rising edge of Cancel, override Set/Resume if present simultaneously
// Signal: GRA_ACC_01.GRA_Abbrechen
if (GET_BIT(to_push, 9U) == 1U) {
controls_allowed = 0;
controls_allowed = false;
}
}
} else {