ae8ef1f71a
misra8.4: safety modes ( #2029 )
...
safety mode
2024-09-19 10:30:57 -07:00
b4442a7c93
enable misra-c2012-10.3 ( #1852 )
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* enable misra-c2012-10.3
* fix that
* cleanup
* little more
* one more
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2024-02-18 11:56:44 -08:00
80731c0aa7
enable misra-constParameterCallback ( #1827 )
2024-01-20 22:22:11 -08:00
817d68f6a6
enable misra-c2012-10.4 ( #1796 )
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* enable misrac-10.4
* changes
* cleaner
2024-01-13 15:49:56 -08:00
f741a90de8
safety: macro to update vehicle speed ( #1762 )
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vehicle speed update macro
2023-12-06 18:05:07 -08:00
892ca5a0f1
this is a better name
2023-11-30 19:20:08 -08:00
b50455cc76
safety: specify RX message frequency in Hz ( #1754 )
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* safety: specify RX message frequency in Hz
* these are redundant now
* update that
* cleanup
2023-11-30 14:55:15 -08:00
beffd7bcbf
Nissan: check bus for brake pressed msg ( #1740 )
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* never checked bus!
* easy fix
2023-11-26 21:07:20 -06:00
3b22bc18c6
safety: more int -> bool ( #1742 )
2023-11-23 16:48:08 -08:00
f1cd12651c
safety: remove LIN hook ( #1741 )
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* safety: remove LIN hook
* rm more
2023-11-23 16:30:20 -08:00
933a301cad
safety: do TX whitelist check in top level hook ( #1730 )
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* new fields
* add check
* do first one
* first two
* all done
* fix all output
* simpler
* unused now
* fix body and elm
* fix that
* fix misra
* revert that
2023-11-20 00:15:46 -08:00
b1ca493580
safety: fix ambiguous names ( #1729 )
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renames
2023-11-19 22:44:13 -08:00
606d7580c8
safety: cleanup init return struct ( #1728 )
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* try 1
* do the rest
* fix misra
2023-11-19 21:05:53 -08:00
3d2f99dd40
safety: move RX addr check into top level hook ( #1727 )
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* safety: move RX addr check into top level hook
* tesla
* rest
* can't forget about the body
* rm more
* fix that
* cleanup
* drop the fn
2023-11-19 20:03:35 -08:00
c6248d6504
safety: cleanup ints that are bools ( #1726 )
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* safety: cleanup ints that are bools
* update tests
2023-11-19 16:47:09 -08:00
7c84475410
safety: use address check helper ( #1721 )
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use SET_ADDR_CHECKS
2023-11-16 22:36:05 -08:00
9fd1b268b4
Nissan: consider true sign in safety ( #1680 )
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* works
* simpler
* cmt again
* better
2023-10-03 01:50:37 -07:00
39bc5a4886
Nissan Altima: add a param for alternate EPS bus ( #1649 )
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* Nissan Altima: Specify panda flag for alt bus safety config
* test this safety mode
* test this safety mode
* rm
* nl
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
2023-09-06 00:46:33 -07:00
0b6adad9c8
Nissan: test alternate EPS bus param ( #1651 )
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* test this safety mode
* test this safety mode
* use int
* clean up
* clean up
2023-09-06 00:36:25 -07:00
35609dfdce
safety utils: add ROUND helper ( #1397 )
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* add round macro
* Update board/utils.h
* function
* one line
* misra
* use here too
2023-05-06 21:25:25 -07:00
3a64b6ccb5
safety: make vehicle_speed a sample ( #1391 )
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* convert vehicle_speed into sample_t, change no behavior
* draft
* round
* test
* clean up
* round
* round all
* use min
* remove round macro from this PR
* reset speed measurement
* debug
* bbd
* rm
* revert
* test above and below
* need this now
* misra pt 1
* misra pt 2
* misra pt 3
* i don't understand this one, not different from other cases
* fix test
* test
* revert that
* draft
* test the sample_t works properly for safety modes that use it (angle only)
* can combine these tests
* test decimals
* global
* misra
comment
* suggestions
* fix
* use new helper
2023-05-04 03:37:56 +00:00
7aef934d4c
Fix undefined behavior in GET_BYTES macro ( #1367 )
2023-04-26 22:59:58 -07:00
85cc70d4aa
safety: only pass addr to fwd hook ( #1339 )
2023-04-08 16:45:59 -07:00
8bb62cf226
Ford: check quality flag ( #1264 )
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* quality flag support
* add NULL to other safety modes
* add to safety helpers debug print
* comment
* rename to quality_flag and add comment
2023-02-24 22:54:51 -08:00
ff39bc472d
Angle control safety: match openpilot limits ( #1254 )
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* make limits match OP
* make tesla match too
* fudge speed
* we reason
* needs to be negative
2023-02-22 20:05:33 -08:00
a99f85dc8c
Nissan: use averaged left and right wheel speeds ( #1255 )
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* average left and right for a more accurate speed
* fix
* fix (again)
2023-02-22 19:46:07 -08:00
a6d0765b69
safety: common angle checks ( #1182 )
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* common angle checks
* clean up
* clean up check and add comments
* readable
* ints
* tests draft
* clean up
* comment
* pylint exception
* clean up
* duplicate
2022-12-02 16:45:23 -08:00
b238d41979
safety: clean up passing in longitudinal_allowed ( #1176 )
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* clean up
* clean up
* and fix that
* interceptor func
* fix
* draft
* fix that
2022-11-30 22:09:13 -08:00
997e328074
Nissan: check two wheel speeds for standstill ( #1124 )
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* safety
* use already parsed wheel speed
2022-10-31 19:40:44 -07:00
acff2c8ec8
safety: common cruise checks ( #1025 )
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* add function for common controls allowed setter (PCM cruise)
* Use new function when possible
fix
* consistent variable types
2022-08-12 00:28:08 -07:00
4a5fc24b75
safety: move controls_allowed and relay malfunction reset ( #944 )
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* safety: reset controls allowed and relay malfunction before safety mode init
* add back for all output
2022-05-19 14:03:43 -07:00
eb662e4e50
Make safety param uint16_t ( #931 )
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* change safety param to uint16_t
* accidental paste
2022-05-02 13:36:19 -07:00
7dd9493eb1
safety_param: change to unsigned ( #910 )
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* make safety_param unsigned
* final one
* uint32_t
* change flags as well
* Revert "change flags as well"
This reverts commit ed8897dd86
2022-04-20 23:25:03 -07:00
6a4daee044
safety: disallow longitudinal actuation while gas is pressed ( #884 )
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* test implemented for Toyota
* fix Toyota interceptor
* use hasattr
* do Honda (still need Nidec ACC_HUD safety)
* add longitudinal_allowed to ACC_HUD (Nidec w/ no pedal
* rx not needed
* add base test for longitudinal
* update name
* stash
* do GM
* use gas_pressed_prev
* do tesla safety
* add full tests
* add get_longitudinal_allowed for simpler tests
* remove unnecessary tests and revert honda/hyundai
* fix honda after revert
* make sure releasing gas allows longitudinal again
* clean up
* clean up
* Just check longitudinal allowed
* don't need to reset detection
* use prev and add brake detection
* only on gas
* make sure we don't change current_controls_allowed braking behavior
* clean up tests
* use current_controls_allowed for honda & GM
* this is pretty much tested in common
* fix up tests and move common tests
* revert
* better place
* add for body
2022-04-01 19:54:40 -07:00
499906f324
Nissan + Tesla: don't exit controls allowed on blocked message ( #877 )
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* Nissan + Tesla: don't exit controls allowed on blocked message
* update tests
2022-03-18 14:52:52 -07:00
ca67da626f
Fix MISRA violations 10.1 and 10.4 ( #796 )
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* misra 10.1
* misra 10.4
* misra 10.4 in usb_protocol.h
* don't cast
2021-12-01 14:13:38 -08:00
ae26b75d7b
CAN_FIFOMailBox to CANPacket struct + USB dynamic packet size ( #739 )
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* Squashed commits, no cleanup
* Few fixes
* No init = garbage
* Only receive with new canpacket
* Add send with canpacket
* Revert "Add send with canpacket"
This reverts commit 7d06686ddd6d447c714b5289d31af24403d36931.
* Packet must be aligned to word, or bad performance
* Cleaner
* Fix tests
* Tests...
* MISRA 10.4
* More MISRA
* libpandasafety_py
* cffi
* even more tests...
* typo
* ...
* ...
* ...
* Slight cleanup
* MISRA 6.1
* MISRA 17.7
* Bug in bxcan + even style
* MISRA 10.1
* Revert "MISRA 10.1"
This reverts commit 404ae7fcc39556f80f528de9015702e69f4ea0a5.
* ...
* MISRA 10.1 and 10.4 suppress until next PR
* MISRA 20.1
* ...
* test_honda
* ...
* ...
* test_toyota
* test_volkswagen_mqb
* test_volkswagen_pq
* Sketchy thing...
* Revert "Sketchy thing..."
This reverts commit 3b2e5715bdc1954f7b7b3b7469ba3d0eaa06bdf9.
* remove comment
* bxcan extended address bug
* Concept, experimental dynamic usb packet size
* increase each buffer to 10240 bytes
* raise python bulk read/write limits
* ...
* Move packet size to start
* Experimental send, stream-like
* New receive test, stream-like
* cleanup
* cleanup + rebase fixes
* MISRA
* Extra receive method, stream-like, commented out
* type change
* Revert back to buffer for send, stream commented
* forgot ZLP
* lower buffer, add rx failsafe
* ... remove ZLP
* return ZLP back
* Add tx checks to panda fw
* TX stream with counter
* fix counter overflow
* 13 free slots should be enough
* limit tx usb packet
* ...
* Revert max_bulk_msg doubling
* python lib improve speed
* Stream with counter for RX, dirty, needs cleanup
* Increase chunk length to 4096 bytes
* cleanup fdcan.h
* cleanup __init__.py
* MISRA 12.1
* MISRA 10.8
* remove non-streaming usb functions
* more main.c cleanup
* MISRA 15.6
* MISRA 15.5
* MISRA 18.4 and suppress objectIndex
* handling usb pakcets > 63bytes, naming and cleanup
* Cleanup old from tests and update CANPacket_t struct
* Switch to 4 bit DLC instead of 6 bit length
* ops)
* ...
* pylint
* receive python buffer increase
* USB increase receive packet len
* tweak buffers
* No need for so high limits
* MISRA 20.1 workaround
* performance tweaks
* cleanup, dlc to data_len_code naming
* main.c naming
* comments and cleanup for main.c usb
* clean py lib
* pylint
* do not discard good rx messages on stream fail
* cleanups
* naming
* remove bitstruct lib and lower tx limit
* bitstruct lefovers
* fix bug in VW test
* remove adjusting data size and assert on wrong len
* ...
* test new memcpy before merging
* Revert "test new memcpy before merging"
This reverts commit 399465a264835061adabdd785718c4b6fc18c267.
* macros for to/fromuint8_t array
* MISRA hates me!
* tests.c include macros instead
* move CANPacket to can_definitions.h
* vw_pq python test fix
* new memcpy test, REMOVE
* check without alignment
* revert macros for uint8 arrays
* Revert "revert macros for uint8 arrays"
This reverts commit 581a9db735a42d0d68200bd270d87a8fd34e43fe.
* check assert
* Revert "check assert"
This reverts commit 9e970d029a50597a1718b2bb0260196c050fd77f.
* one more variation
* Revert "one more variation"
This reverts commit f6c0528b7ac7e125750dc0d9445c7ce97f6954b5.
* what about read performance
* Revert "what about read performance"
This reverts commit d2610f90958a816fe7f1822157a84f85e97d9249.
* check struct alignment to word
* check for aligned memcpy again
* cleanup
* add CANPacket structure diagram
* update CANPacket and add USB packet struct
* bugfix + refactoring of EP1
* move dlc_to_len to header
* missed include
* typo...
* MISRA
* fk
* lower MAX_CAN_MSGS_PER_BULK_TRANSFER
* bump CAN_PACKET_VERSION to 2
* bump python lib CAN_PACKET_VERSION to 2
* rename parse_can_buffer to unpack_can_buffer
* CANPacket_t const fields
* Revert "CANPacket_t const fields"
This reverts commit cf91c035b7706a14e317550c5f0501ae3fce7c70.
* test.c relative path
* cleanup
* move macros to safety_declarations
* Refactor pack/unpack funcs and add unittest
* usb_protocol.h
* oops
* Update .github/workflows/test.yaml
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* remove print from unittest
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2021-11-12 16:36:34 -08:00
73bbf58567
Nissan Leaf: tests + new brake signal ( #777 )
...
* Update safety_nissan.h
Updated brake CAN address to 0x25e and brake pressed to byte logic
* Update safety_nissan.h
missed a change
* Update safety_nissan.h
* Update safety_nissan.h
* Update safety_nissan.h
Corrected Line 79 to pull from the "CRUISE THROTTLE" message at address 0x239, byte 4, bit 6, which gets us to the "USER_BRAKE_PRESSED" bit for comparison if the brake pedal is being pressed.
* Update safety_nissan.h
Removed duplicate 0x239 message in "AddrCheckStruct"
* Update safety_nissan.h
Just adding back 0x1cc to see if that fixes things?
* leaf safety tests
* clenaup
* bump openpilot
* Update tests/safety/test_nissan.py
Co-authored-by: Kirk Miller <kirk.miller92@gmail.com>
2021-11-12 11:59:49 -08:00
a01ef1f7c9
safety: check relay malfunction in common TX hook ( #752 )
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* don't check relay malfunction in car safety tx hooks
* check in safety
* fix tests
2021-10-29 11:16:27 -07:00
ad36028a5b
safety: check relay malfunction outside of fwd hook ( #750 )
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* safety: check relay malfunction outside of fwd hook
* fix tests
* move to safety
2021-10-29 10:59:05 -07:00
a723686fe2
Make all tx/rx LENs a define ( #713 )
2021-09-03 17:39:09 -07:00
8ba9b7cd37
support using safety mode param to control rx checks ( #709 )
...
Co-authored-by: Greg Hogan <gregjhogan@gmail.com>
2021-09-03 11:45:17 -07:00
6b6262c262
Fix MISRA 9.x violations ( #666 )
...
* Fix chapter 9
* fix typo
2021-06-18 15:46:40 -07:00
ddc25b0611
Update cppcheck and misra, suppress for now ( #663 )
...
* Update cppcheck and misra, suppress for now
* Add FIXME to suppression tags
* Missed one spot
2021-06-18 14:24:15 -07:00
72d6b6de69
Nissan Altima port ( #612 )
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* Nissan Altima port
* Added bus check for Cruise Enabled message
2020-12-11 13:41:12 +01:00
3a8430b9d5
Updating X-Trail/Rogue gas_pressed threshold ( #585 )
2020-08-08 11:10:32 -07:00
4b576ab13d
Bugfix: Fix harness error when starting car ( #572 )
...
* Bugfix: Fix harness error when starting car
* fix misra violation
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2020-07-18 23:08:21 -07:00
5b14945140
Abstract RX checks for gas, brakes, and relay malfunction ( #556 )
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* abstract gas, brake, and relay RX checks
* toyota
* mazda
* vw and subaru
* gm, honda, nissan
* chrysler
* rename
* revert that
2020-06-16 02:01:00 -07:00
098f47a5b4
Fix leaf brake rx check ( #547 )
2020-05-30 16:43:53 -07:00
bdec1398e5
Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC ( #544 )
2020-05-27 12:41:19 -07:00
Maxime Desroches
Aryan
Ruben Medina
Hoang Bui
Shane Smiskol
Adeeb Shihadeh
Jason Wen
Igor Biletskyy
Willem Melching
Andre Volmensky
Adeeb Shihadeh