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33 lines
976 B
33 lines
976 B
#include "opendbc/safety/safety_declarations.h"
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static bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) {
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return (val > MAX_VAL) || (val < MIN_VAL);
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}
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// interp function that holds extreme values
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static float interpolate(struct lookup_t xy, float x) {
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int size = sizeof(xy.x) / sizeof(xy.x[0]);
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float ret = xy.y[size - 1]; // default output is last point
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// x is lower than the first point in the x array. Return the first point
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if (x <= xy.x[0]) {
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ret = xy.y[0];
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} else {
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// find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
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for (int i=0; i < (size - 1); i++) {
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if (x < xy.x[i+1]) {
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float x0 = xy.x[i];
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float y0 = xy.y[i];
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float dx = xy.x[i+1] - x0;
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float dy = xy.y[i+1] - y0;
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// dx should not be zero as xy.x is supposed to be monotonic
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dx = MAX(dx, 0.0001);
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ret = (dy * (x - x0) / dx) + y0;
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break;
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}
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}
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}
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return ret;
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}
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