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Chrysler: add flag for alternate steer limits (#1238)

This commit is contained in:
Adeeb Shihadeh 2023-02-10 22:20:50 -08:00 committed by GitHub
parent 796d771912
commit d15250cb14
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 19 additions and 1 deletions
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19
board/safety/safety_chrysler.h
View File

@ -8,6 +8,18 @@ const SteeringLimits CHRYSLER_STEERING_LIMITS = {
.type = TorqueMotorLimited,
};
// temporary alternate limits until all Pacifica platform models
// are moved to the new tuning with a higher rate
const SteeringLimits CHRYSLER_LR_STEERING_LIMITS = {
.max_steer = 261,
.max_rt_delta = 112,
.max_rt_interval = 250000,
.max_rate_up = 3,
.max_rate_down = 3,
.max_torque_error = 80,
.type = TorqueMotorLimited,
};
const SteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
.max_steer = 261,
.max_rt_delta = 112,
@ -126,6 +138,9 @@ addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN}
const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram DT platform
const uint32_t CHRYSLER_PARAM_LOWER_RATE = 4U;
bool chrysler_lower_steer_rate = false;
enum {
CHRYSLER_RAM_DT,
@ -245,7 +260,7 @@ static int chrysler_tx_hook(CANPacket_t *to_send) {
int desired_torque = ((GET_BYTE(to_send, start_byte) & 0x7U) << 8) | GET_BYTE(to_send, start_byte + 1);
desired_torque -= 1024;
const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? (chrysler_lower_steer_rate ? CHRYSLER_LR_STEERING_LIMITS : CHRYSLER_STEERING_LIMITS) :
(chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;
if (steer_torque_cmd_checks(desired_torque, -1, limits)) {
tx = 0;
@ -300,6 +315,8 @@ static const addr_checks* chrysler_init(uint16_t param) {
chrysler_rx_checks = (addr_checks){chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
}
chrysler_lower_steer_rate = GET_FLAG(param, CHRYSLER_PARAM_LOWER_RATE);
return &chrysler_rx_checks;
}

1
python/__init__.py
View File

@ -217,6 +217,7 @@ class Panda:
FLAG_CHRYSLER_RAM_DT = 1
FLAG_CHRYSLER_RAM_HD = 2
FLAG_CHRYSLER_LOWER_RATE = 4
FLAG_SUBARU_GEN2 = 1