Merge panda subtree

panda/board/safety.h

@@ -12,7 +12,7 @@ int safety_ignition_hook();
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 int to_signed(int d, int bits);
 void update_sample(struct sample_t *sample, int sample_new);
-int max_limit_check(int val, const int MAX);
+int max_limit_check(int val, const int MAX, const int MIN);
 int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
 int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
@@ -149,8 +149,8 @@ void update_sample(struct sample_t *sample, int sample_new) {
   }
 }
 
-int max_limit_check(int val, const int MAX) {
+int max_limit_check(int val, const int MAX, const int MIN) {
-  return (val > MAX) | (val < -MAX);
+  return (val > MAX) || (val < MIN);
 }
 
 // check that commanded value isn't too far from measured
@@ -158,8 +158,8 @@ int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
 
   // *** val rate limit check ***
-  int16_t highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
+  int highest_allowed_val = max(val_last, 0) + MAX_RATE_UP;
-  int16_t lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
+  int lowest_allowed_val = min(val_last, 0) - MAX_RATE_UP;
 
   // if we've exceeded the meas val, we must start moving toward 0
   highest_allowed_val = min(highest_allowed_val, max(val_last - MAX_RATE_DOWN, max(val_meas->max, 0) + MAX_ERROR));
@@ -195,8 +195,8 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
 
   // *** torque real time rate limit check ***
-  int16_t highest_val = max(val_last, 0) + MAX_RT_DELTA;
+  int highest_val = max(val_last, 0) + MAX_RT_DELTA;
-  int16_t lowest_val = min(val_last, 0) - MAX_RT_DELTA;
+  int lowest_val = min(val_last, 0) - MAX_RT_DELTA;
 
   // check for violation
   return (val < lowest_val) || (val > highest_val);

panda/board/safety/safety_cadillac.h

@@ -70,7 +70,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (controls_allowed) {
 
       // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER);
+      violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER);
 
       // *** torque rate limit check ***
       int desired_torque_last = cadillac_desired_torque_last[idx];

panda/board/safety/safety_gm.h

@@ -163,7 +163,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (current_controls_allowed) {
 
       // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, GM_MAX_STEER);
+      violation |= max_limit_check(desired_torque, GM_MAX_STEER, -GM_MAX_STEER);
 
       // *** torque rate limit check ***
       violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver,

panda/board/safety/safety_toyota.h

@@ -71,9 +71,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
       desired_accel = to_signed(desired_accel, 16);
       if (controls_allowed && actuation_limits) {
-        if ((desired_accel > MAX_ACCEL) || (desired_accel < MIN_ACCEL)) {
+        int violation = max_limit_check(desired_accel, MAX_ACCEL, MIN_ACCEL);
-          return 0;
+        if (violation) return 0;
-        }
       } else if (!controls_allowed && (desired_accel != 0)) {
         return 0;
       }
@@ -91,7 +90,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       if (controls_allowed && actuation_limits) {
 
         // *** global torque limit check ***
-        violation |= max_limit_check(desired_torque, MAX_TORQUE);
+        violation |= max_limit_check(desired_torque, MAX_TORQUE, -MAX_TORQUE);
 
         // *** torque rate limit check ***
         violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);

panda/python/isotp.py

@@ -44,7 +44,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
     idx = 1
     for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus):
       assert ord(mm[0]) == subaddr
-      assert ord(mm[1]) == (0x20 | idx)
+      assert ord(mm[1]) == (0x20 | (idx&0xF))
       dat += mm[2:]
       idx += 1
   elif ord(msg[1])&0xf0 == 0x00:
@@ -117,7 +117,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
 
       idx = 1
       for mm in recv(panda, (tlen-len(dat) + 6)/7, addr, bus):
-        assert ord(mm[0]) == (0x20 | idx)
+        assert ord(mm[0]) == (0x20 | (idx&0xF))
         dat += mm[1:]
         idx += 1
     elif ord(msg[0])&0xf0 == 0x00: