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Merge panda subtree

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old-commit-hash: b75d606c91
commatwo_master
Vehicle Researcher 7 years ago
parent 0621c8f502 a13e4f621f
commit 3e3b31765b
5 changed files with 14 additions and 15 deletions
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  1. 14
      panda/board/safety.h
  2. 2
      panda/board/safety/safety_cadillac.h
  3. 2
      panda/board/safety/safety_gm.h
  4. 7
      panda/board/safety/safety_toyota.h
  5. 4
      panda/python/isotp.py

14
panda/board/safety.h
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@ -12,7 +12,7 @@ int safety_ignition_hook();
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last); uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
int to_signed(int d, int bits); int to_signed(int d, int bits);
void update_sample(struct sample_t *sample, int sample_new); 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, 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); 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, 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 // 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) { const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) {
// *** val rate limit check *** // *** 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 // 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)); 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) { int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
// *** torque real time rate limit check *** // *** 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 // check for violation
return (val < lowest_val) || (val > highest_val); return (val < lowest_val) || (val > highest_val);

2
panda/board/safety/safety_cadillac.h
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@ -70,7 +70,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (controls_allowed) { if (controls_allowed) {
// *** global torque limit check *** // *** 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 *** // *** torque rate limit check ***
int desired_torque_last = cadillac_desired_torque_last[idx]; int desired_torque_last = cadillac_desired_torque_last[idx];

2
panda/board/safety/safety_gm.h
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@ -163,7 +163,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (current_controls_allowed) { if (current_controls_allowed) {
// *** global torque limit check *** // *** 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 *** // *** torque rate limit check ***
violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver, violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver,

7
panda/board/safety/safety_toyota.h
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@ -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); int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
desired_accel = to_signed(desired_accel, 16); desired_accel = to_signed(desired_accel, 16);
if (controls_allowed && actuation_limits) { 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)) { } else if (!controls_allowed && (desired_accel != 0)) {
return 0; return 0;
} }
@ -91,7 +90,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (controls_allowed && actuation_limits) { if (controls_allowed && actuation_limits) {
// *** global torque limit check *** // *** 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 *** // *** 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); violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);

4
panda/python/isotp.py
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@ -44,7 +44,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
idx = 1 idx = 1
for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus): for mm in recv(panda, (tlen-len(dat) + 5)/6, addr, bus):
assert ord(mm[0]) == subaddr assert ord(mm[0]) == subaddr
assert ord(mm[1]) == (0x20 | idx) assert ord(mm[1]) == (0x20 | (idx&0xF))
dat += mm[2:] dat += mm[2:]
idx += 1 idx += 1
elif ord(msg[1])&0xf0 == 0x00: elif ord(msg[1])&0xf0 == 0x00:
@ -117,7 +117,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
idx = 1 idx = 1
for mm in recv(panda, (tlen-len(dat) + 6)/7, addr, bus): 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:] dat += mm[1:]
idx += 1 idx += 1
elif ord(msg[0])&0xf0 == 0x00: elif ord(msg[0])&0xf0 == 0x00:

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