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Honda Nidec: max gas safety and common speed cmd checks (#1179) 

* limit gas and speed

* gas safety test
This commit is contained in:
Shane Smiskol 2022-11-30 18:56:05 -08:00 committed by GitHub
parent 1f73c70fdc
commit a0b1d64e4e
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 20 additions and 6 deletions
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4
board/safety.h
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@ -494,6 +494,10 @@ bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limit
return violation;
}
bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits, const bool longitudinal_allowed) {
return !longitudinal_allowed && (desired_speed != limits.inactive_speed);
}
bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits, const bool longitudinal_allowed) {
bool violation = false;
if (!longitudinal_allowed) {

13
board/safety/safety_honda.h
View File

@ -27,7 +27,10 @@ const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
};
const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
.max_gas = 198, // 0xc6
.max_brake = 255,
.inactive_speed = 0,
};
// Nidec and bosch radarless has the powertrain bus on bus 0
@ -280,10 +283,12 @@ static int honda_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
if ((addr == 0x30C) && (bus == bus_pt)) {
int pcm_speed = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
int pcm_gas = GET_BYTE(to_send, 2);
if (!longitudinal_allowed) {
if ((pcm_speed != 0) || (pcm_gas != 0)) {
tx = 0;
}
bool violation = false;
violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS, longitudinal_allowed);
violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS, longitudinal_allowed);
if (violation) {
tx = 0;
}
}

4
board/safety_declarations.h
View File

@ -66,6 +66,9 @@ typedef struct {
const int min_gas;
const int inactive_gas;
const int max_brake;
// speed cmd limits
const int inactive_speed;
} LongitudinalLimits;
typedef struct {
@ -128,6 +131,7 @@ void relay_malfunction_set(void);
void relay_malfunction_reset(void);
bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits);
bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits, const bool longitudinal_allowed);
bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits, const bool longitudinal_allowed);
bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits, const bool longitudinal_allowed);
bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits, const bool longitudinal_allowed);
bool longitudinal_interceptor_checks(CANPacket_t *to_send, const bool longitudinal_allowed);

5
tests/safety/test_honda.py
View File

@ -266,6 +266,7 @@ class TestHondaNidecSafetyBase(HondaBase):
BUTTONS_BUS = 0
INTERCEPTOR_THRESHOLD = 492
MAX_GAS = 198
@classmethod
def setUpClass(cls):
@ -297,9 +298,9 @@ class TestHondaNidecSafetyBase(HondaBase):
def test_acc_hud_safety_check(self):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
for pcm_gas in range(0, 0xc6):
for pcm_gas in range(0, 255):
for pcm_speed in range(0, 100):
send = True if controls_allowed else pcm_gas == 0 and pcm_speed == 0
send = pcm_gas <= self.MAX_GAS if controls_allowed else pcm_gas == 0 and pcm_speed == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._send_acc_hud_msg(pcm_gas, pcm_speed)))
def test_fwd_hook(self):