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Misra 10.4 violations (#216)

This commit is contained in:
rbiasini 2019-06-14 10:57:14 -07:00 committed by GitHub
parent 78308c0bc5
commit c066c7838c
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 66 additions and 66 deletions
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10
board/safety.h
View File

@ -78,11 +78,10 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_ELM327, &elm327_hooks},
};
#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
int safety_set_mode(uint16_t mode, int16_t param) {
int set_status = -1; // not set
for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
for (int i = 0; i < hook_config_count; i++) {
if (safety_hook_registry[i].id == mode) {
current_hooks = safety_hook_registry[i].hooks;
set_status = 0; // set
@ -112,7 +111,8 @@ int to_signed(int d, int bits) {
// given a new sample, update the smaple_t struct
void update_sample(struct sample_t *sample, int sample_new) {
for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
int sample_size = sizeof(sample->values) / sizeof(sample->values[0]);
for (int i = sample_size - 1; i > 0; i--) {
sample->values[i] = sample->values[i-1];
}
sample->values[0] = sample_new;
@ -120,7 +120,7 @@ void update_sample(struct sample_t *sample, int sample_new) {
// get the minimum and maximum measured samples
sample->min = sample->values[0];
sample->max = sample->values[0];
for (int i = 1; i < sizeof(sample->values) / sizeof(sample->values[0]); i++) {
for (int i = 1; i < sample_size; i++) {
if (sample->values[i] < sample->min) {
sample->min = sample->values[i];
}

14
board/safety/safety_cadillac.h
View File

@ -4,7 +4,7 @@ const int CADILLAC_MAX_STEER = 150; // 1s
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec
const int CADILLAC_MAX_RT_DELTA = 75; // max delta torque allowed for real time checks
const int32_t CADILLAC_RT_INTERVAL = 250000; // 250ms between real time checks
const uint32_t CADILLAC_RT_INTERVAL = 250000; // 250ms between real time checks
const int CADILLAC_MAX_RATE_UP = 2;
const int CADILLAC_MAX_RATE_DOWN = 5;
const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
@ -20,14 +20,14 @@ int cadillac_supercruise_on = 0;
struct sample_t cadillac_torque_driver; // last few driver torques measured
int cadillac_get_torque_idx(uint32_t addr, int array_size) {
return min(max(addr - 0x151, 0), array_size); // 0x151 is id 0, 0x152 is id 1 and so on...
return min(max(addr - 0x151U, 0), array_size); // 0x151 is id 0, 0x152 is id 1 and so on...
}
static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus_number = (to_push->RDTR >> 4) & 0xFF;
uint32_t addr = to_push->RIR >> 21;
if (addr == 356) {
if (addr == 356U) {
int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
@ -35,12 +35,12 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// this message isn't all zeros when ignition is on
if ((addr == 0x160) && (bus_number == 0)) {
if ((addr == 0x160U) && (bus_number == 0)) {
cadillac_ign = to_push->RDLR > 0;
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((addr == 0x370) && (bus_number == 0)) {
if ((addr == 0x370U) && (bus_number == 0)) {
int cruise_engaged = to_push->RDLR & 0x800000; // bit 23
if (cruise_engaged && !cadillac_cruise_engaged_last) {
controls_allowed = 1;
@ -51,7 +51,7 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// know supercruise mode and block openpilot msgs if on
if ((addr == 0x152) || (addr == 0x154)) {
if ((addr == 0x152U) || (addr == 0x154U)) {
cadillac_supercruise_on = (to_push->RDHR>>4) & 0x1;
}
}
@ -61,7 +61,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
uint32_t addr = to_send->RIR >> 21;
// steer cmd checks
if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
if ((addr == 0x151U) || (addr == 0x152U) || (addr == 0x153U) || (addr == 0x154U)) {
int desired_torque = ((to_send->RDLR & 0x3f) << 8) + ((to_send->RDLR & 0xff00) >> 8);
int violation = 0;
uint32_t ts = TIM2->CNT;

10
board/safety/safety_chrysler.h
View File

@ -1,6 +1,6 @@
const int CHRYSLER_MAX_STEER = 261;
const int CHRYSLER_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
const int32_t CHRYSLER_RT_INTERVAL = 250000; // 250ms between real time checks
const uint32_t CHRYSLER_RT_INTERVAL = 250000; // 250ms between real time checks
const int CHRYSLER_MAX_RATE_UP = 3;
const int CHRYSLER_MAX_RATE_DOWN = 3;
const int CHRYSLER_MAX_TORQUE_ERROR = 80; // max torque cmd in excess of torque motor
@ -26,7 +26,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// Measured eps torque
if (addr == 544) {
if (addr == 544U) {
int rdhr = to_push->RDHR;
int torque_meas_new = ((rdhr & 0x7) << 8) + ((rdhr & 0xFF00) >> 8) - 1024;
@ -35,7 +35,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 0x1f4) {
if (addr == 0x1F4U) {
int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
if (cruise_engaged && !chrysler_cruise_engaged_last) {
controls_allowed = 1;
@ -46,7 +46,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// check if stock camera ECU is still online
if ((bus == 0) && (addr == 0x292)) {
if ((bus == 0) && (addr == 0x292U)) {
chrysler_camera_detected = 1;
controls_allowed = 0;
}
@ -72,7 +72,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// LKA STEER
if (addr == 0x292) {
if (addr == 0x292U) {
int rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - 1024;
uint32_t ts = TIM2->CNT;

8
board/safety/safety_elm327.h
View File

@ -15,13 +15,13 @@ static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if ((to_send->RIR & 4) != 0) {
uint32_t addr = to_send->RIR >> 3;
//Check valid 29 bit send addresses for ISO 15765-4
if (!((addr == 0x18DB33F1) || ((addr & 0x1FFF00FF) == 0x18DA00F1))) {
if (!((addr == 0x18DB33F1U) || ((addr & 0x1FFF00FFU) == 0x18DA00F1U))) {
tx = 0;
}
} else {
uint32_t addr = to_send->RIR >> 21;
//Check valid 11 bit send addresses for ISO 15765-4
if (!((addr == 0x7DF) || ((addr & 0x7F8) == 0x7E0))) {
if (!((addr == 0x7DFU) || ((addr & 0x7F8U) == 0x7E0U))) {
tx = 0;
}
}
@ -36,8 +36,8 @@ static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
if ((len < 5) || (len > 11)) {
tx = 0; //Valid KWP size
}
if (!(((data[0] & 0xF8) == 0xC0) && ((data[0] & 0x07) > 0) &&
(data[1] == 0x33) && (data[2] == 0xF1))) {
if (!(((data[0] & 0xF8U) == 0xC0U) && ((data[0] & 0x07U) != 0U) &&
(data[1] == 0x33U) && (data[2] == 0xF1U))) {
tx = 0; //Bad msg
}
return tx;

36
board/safety/safety_gm.h
View File

@ -10,7 +10,7 @@
const int GM_MAX_STEER = 300;
const int GM_MAX_RT_DELTA = 128; // max delta torque allowed for real time checks
const int32_t GM_RT_INTERVAL = 250000; // 250ms between real time checks
const uint32_t GM_RT_INTERVAL = 250000; // 250ms between real time checks
const int GM_MAX_RATE_UP = 7;
const int GM_MAX_RATE_DOWN = 17;
const int GM_DRIVER_TORQUE_ALLOWANCE = 50;
@ -43,23 +43,23 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
addr = to_push->RIR >> 21;
}
if (addr == 388) {
if (addr == 388U) {
int torque_driver_new = (((to_push->RDHR >> 16) & 0x7) << 8) | ((to_push->RDHR >> 24) & 0xFF);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
update_sample(&gm_torque_driver, torque_driver_new);
}
if ((addr == 0x1f1) && (bus_number == 0)) {
if ((addr == 0x1F1U) && (bus_number == 0)) {
//Bit 5 should be ignition "on"
//Backup plan is Bit 2 (accessory power)
uint32_t ign = (to_push->RDLR) & 0x20;
gm_ignition_started = ign > 0;
bool ign = ((to_push->RDLR) & 0x20) != 0;
gm_ignition_started = ign;
}
// sample speed, really only care if car is moving or not
// rear left wheel speed
if (addr == 842) {
if (addr == 842U) {
gm_speed = to_push->RDLR & 0xFFFF;
}
@ -67,13 +67,13 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// on powertrain bus.
// 384 = ASCMLKASteeringCmd
// 715 = ASCMGasRegenCmd
if ((bus_number == 0) && ((addr == 384) || (addr == 715))) {
if ((bus_number == 0) && ((addr == 384U) || (addr == 715U))) {
gm_ascm_detected = 1;
controls_allowed = 0;
}
// ACC steering wheel buttons
if (addr == 481) {
if (addr == 481U) {
int buttons = (to_push->RDHR >> 12) & 0x7;
// res/set - enable, cancel button - disable
if ((buttons == 2) || (buttons == 3)) {
@ -85,7 +85,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
if (addr == 241U) {
int brake = (to_push->RDLR & 0xFF00) >> 8;
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
@ -99,7 +99,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// exit controls on rising edge of gas press
if (addr == 417) {
if (addr == 417U) {
int gas = to_push->RDHR & 0xFF0000;
if (gas && !gm_gas_prev && long_controls_allowed) {
controls_allowed = 0;
@ -108,7 +108,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// exit controls on regen paddle
if (addr == 189) {
if (addr == 189U) {
bool regen = to_push->RDLR & 0x20;
if (regen) {
controls_allowed = 0;
@ -146,7 +146,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
// BRAKE: safety check
if (addr == 789) {
if (addr == 789U) {
int rdlr = to_send->RDLR;
int brake = ((rdlr & 0xF) << 8) + ((rdlr & 0xFF00) >> 8);
brake = (0x1000 - brake) & 0xFFF;
@ -162,7 +162,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
// LKA STEER: safety check
if (addr == 384) {
if (addr == 384U) {
int rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8);
uint32_t ts = TIM2->CNT;
@ -211,15 +211,15 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
// PARK ASSIST STEER: unlimited torque, no thanks
if (addr == 823) {
if (addr == 823U) {
tx = 0;
}
// GAS/REGEN: safety check
if (addr == 715) {
int rdlr = to_send->RDLR;
int gas_regen = ((rdlr & 0x7F0000) >> 11) + ((rdlr & 0xF8000000) >> 27);
int apply = rdlr & 1;
if (addr == 715U) {
uint32_t rdlr = to_send->RDLR;
int gas_regen = ((rdlr & 0x7F0000U) >> 11) + ((rdlr & 0xF8000000U) >> 27);
bool apply = (rdlr & 1U) != 0U;
if (current_controls_allowed && long_controls_allowed) {
if (gas_regen > GM_MAX_GAS) {
tx = 0;

6
board/safety/safety_gm_ascm.h
View File

@ -12,16 +12,16 @@ static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
if ((addr == 0x152) || (addr == 0x154)) {
if ((addr == 0x152U) || (addr == 0x154U)) {
int supercruise_on = (to_fwd->RDHR>>4) & 0x1; // bit 36
if (!supercruise_on) {
bus_fwd = -1;
}
} else if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
} else if ((addr == 0x151U) || (addr == 0x153U) || (addr == 0x314U)) {
// on the chassis bus, the OBDII port is on the module side, so we need to read
// the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
// the actuator as 0x152 and 0x154
to_fwd->RIR = ((addr + 1) << 21) | (to_fwd->RIR & 0x1fffff);
to_fwd->RIR = ((addr + 1U) << 21) | (to_fwd->RIR & 0x1fffff);
}
}

14
board/safety/safety_hyundai.h
View File

@ -1,6 +1,6 @@
const int HYUNDAI_MAX_STEER = 255; // like stock
const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
const int32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
const uint32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
const int HYUNDAI_MAX_RATE_UP = 3;
const int HYUNDAI_MAX_RATE_DOWN = 7;
const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
@ -28,25 +28,25 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
addr = to_push->RIR >> 21;
}
if (addr == 897) {
if (addr == 897U) {
int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
// check if stock camera ECU is still online
if ((bus == 0) && (addr == 832)) {
if ((bus == 0) && (addr == 832U)) {
hyundai_camera_detected = 1;
controls_allowed = 0;
}
// Find out which bus the camera is on
if (addr == 832) {
if (addr == 832U) {
hyundai_camera_bus = bus;
}
// enter controls on rising edge of ACC, exit controls on ACC off
if (addr == 1057) {
if (addr == 1057U) {
// 2 bits: 13-14
int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
if (cruise_engaged && !hyundai_cruise_engaged_last) {
@ -58,7 +58,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
if ((addr == 832) && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
if ((addr == 832U) && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
hyundai_giraffe_switch_2 = 1;
}
}
@ -82,7 +82,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
// LKA STEER: safety check
if (addr == 832) {
if (addr == 832U) {
int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
uint32_t ts = TIM2->CNT;
bool violation = 0;

8
board/safety/safety_subaru.h
View File

@ -2,7 +2,7 @@ const int SUBARU_MAX_STEER = 2047; // 1s
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec
const int SUBARU_MAX_RT_DELTA = 940; // max delta torque allowed for real time checks
const int32_t SUBARU_RT_INTERVAL = 250000; // 250ms between real time checks
const uint32_t SUBARU_RT_INTERVAL = 250000; // 250ms between real time checks
const int SUBARU_MAX_RATE_UP = 50;
const int SUBARU_MAX_RATE_DOWN = 70;
const int SUBARU_DRIVER_TORQUE_ALLOWANCE = 60;
@ -19,7 +19,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus_number = (to_push->RDTR >> 4) & 0xFF;
uint32_t addr = to_push->RIR >> 21;
if ((addr == 0x119) && (bus_number == 0)){
if ((addr == 0x119U) && (bus_number == 0)){
int torque_driver_new = ((to_push->RDLR >> 16) & 0x7FF);
torque_driver_new = to_signed(torque_driver_new, 11);
// update array of samples
@ -27,7 +27,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((addr == 0x240) && (bus_number == 0)) {
if ((addr == 0x240U) && (bus_number == 0)) {
int cruise_engaged = (to_push->RDHR >> 9) & 1;
if (cruise_engaged && !subaru_cruise_engaged_last) {
controls_allowed = 1;
@ -43,7 +43,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
uint32_t addr = to_send->RIR >> 21;
// steer cmd checks
if (addr == 0x122) {
if (addr == 0x122U) {
int desired_torque = ((to_send->RDLR >> 16) & 0x1FFF);
bool violation = 0;
uint32_t ts = TIM2->CNT;

24
board/safety/safety_tesla.h
View File

@ -25,7 +25,7 @@ const struct lookup_t TESLA_LOOKUP_MAX_ANGLE = {
{2., 29., 38.},
{410., 92., 36.}};
const int TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
const uint32_t TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
// state of angle limits
float tesla_desired_angle_last = 0; // last desired steer angle
@ -63,7 +63,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
addr = to_push->RIR >> 21;
}
if (addr == 0x45) {
if (addr == 0x45U) {
// 6 bits starting at position 0
int lever_position = (to_push->RDLR & 0x3F);
if (lever_position == 2) { // pull forward
@ -76,7 +76,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// Detect drive rail on (ignition) (start recording)
if (addr == 0x348) {
if (addr == 0x348U) {
// GTW_status
int drive_rail_on = (to_push->RDLR & 0x0001);
tesla_ignition_started = drive_rail_on == 1;
@ -84,7 +84,7 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on brake press
// DI_torque2::DI_brakePedal 0x118
if (addr == 0x118) {
if (addr == 0x118U) {
// 1 bit at position 16
if ((((to_push->RDLR & 0x8000)) >> 15) == 1) {
// disable break cancel by commenting line below
@ -99,18 +99,18 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on EPAS error
// EPAS_sysStatus::EPAS_eacStatus 0x370
if (addr == 0x370) {
if (addr == 0x370U) {
// if EPAS_eacStatus is not 1 or 2, disable control
eac_status = ((to_push->RDHR >> 21)) & 0x7;
// For human steering override we must not disable controls when eac_status == 0
// Additional safety: we could only allow eac_status == 0 when we have human steering allowed
if ((controls_allowed == 1) && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
if (controls_allowed && (eac_status != 0) && (eac_status != 1) && (eac_status != 2)) {
controls_allowed = 0;
//puts("EPAS error! \n");
}
}
//get latest steering wheel angle
if (addr == 0x00E) {
if (addr == 0x00EU) {
float angle_meas_now = (int)(((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1) - 819.2);
uint32_t ts = TIM2->CNT;
uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
@ -119,8 +119,8 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// add 1 to not false trigger the violation and multiply by 25 since the check is done every 250 ms and steer angle is updated at 100Hz
float rt_delta_angle_up = (interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) * 25.) + 1.;
float rt_delta_angle_down = (interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) * 25.) + 1.;
float highest_rt_angle = tesla_rt_angle_last + ((tesla_rt_angle_last > 0) ? rt_delta_angle_up : rt_delta_angle_down);
float lowest_rt_angle = tesla_rt_angle_last - ((tesla_rt_angle_last > 0) ? rt_delta_angle_down : rt_delta_angle_up);
float highest_rt_angle = tesla_rt_angle_last + ((tesla_rt_angle_last > 0.) ? rt_delta_angle_up : rt_delta_angle_down);
float lowest_rt_angle = tesla_rt_angle_last - ((tesla_rt_angle_last > 0.) ? rt_delta_angle_down : rt_delta_angle_up);
if ((ts_elapsed > TESLA_RT_INTERVAL) || (controls_allowed && !tesla_controls_allowed_last)) {
tesla_rt_angle_last = angle_meas_now;
@ -158,7 +158,7 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// do not transmit CAN message if steering angle too high
// DAS_steeringControl::DAS_steeringAngleRequest
if (addr == 0x488) {
if (addr == 0x488U) {
angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
desired_angle = (angle_raw * 0.1) - 1638.35;
bool violation = 0;
@ -171,8 +171,8 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// add 1 to not false trigger the violation
float delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) + 1.;
float delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) + 1.;
float highest_desired_angle = tesla_desired_angle_last + ((tesla_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
float lowest_desired_angle = tesla_desired_angle_last - ((tesla_desired_angle_last > 0) ? delta_angle_down : delta_angle_up);
float highest_desired_angle = tesla_desired_angle_last + ((tesla_desired_angle_last > 0.) ? delta_angle_up : delta_angle_down);
float lowest_desired_angle = tesla_desired_angle_last - ((tesla_desired_angle_last > 0.) ? delta_angle_down : delta_angle_up);
float TESLA_MAX_ANGLE = interpolate(TESLA_LOOKUP_MAX_ANGLE, tesla_speed) + 1.;
//check for max angles

2
board/safety/safety_toyota.h
View File

@ -10,7 +10,7 @@ const int TOYOTA_MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec
const int TOYOTA_MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
const int TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
const uint32_t TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
// longitudinal limits
const int TOYOTA_MAX_ACCEL = 1500; // 1.5 m/s2