From b7ff2cced3e29014afa3ce3f015154a3de819a14 Mon Sep 17 00:00:00 2001
From: unknown <ryleymcc@shaw.ca>
Date: Tue, 21 Jun 2022 18:56:33 -0500
Subject: [PATCH] latching detection

---
 panda/board/safety/safety_mazda.h | 9 +++++++--
 panda/board/safety_declarations.h | 1 +
 selfdrive/car/interfaces.py       | 4 +---
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h
index 27040281f..2ef2bd4a3 100644
--- a/panda/board/safety/safety_mazda.h
+++ b/panda/board/safety/safety_mazda.h
@@ -48,10 +48,15 @@ addr_checks mazda_ti_rx_checks = {mazda_ti_addr_checks, MAZDA_TI_ADDR_CHECKS_LEN
 // track msgs coming from OP so that we know what CAM msgs to drop and what to forward
 static int mazda_rx_hook(CANPacket_t *to_push) {
   bool valid = addr_safety_check(to_push, &mazda_rx_checks, NULL, NULL, NULL);
-
   if (((GET_ADDR(to_push) == TI_STEER_TORQUE)) &&
       ((GET_BYTE(to_push, 0) == GET_BYTE(to_push, 1)))) {
-    torque_interceptor_detected = 1;
+    torque_interceptor_detected = true;
+  }
+  if (torque_interceptor_detected){
+    torque_interceptor_detected_latch = true;
+  }
+  if (torque_interceptor_detected_latch){
+    torque_interceptor_detected = true;
     valid &= addr_safety_check(to_push, &mazda_ti_rx_checks, NULL, NULL, NULL);
   }
 
diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h
index 1a0871561..ec965593a 100644
--- a/panda/board/safety_declarations.h
+++ b/panda/board/safety_declarations.h
@@ -113,6 +113,7 @@ float vehicle_speed = 0;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 bool torque_interceptor_detected = false;
+bool torque_interceptor_detected_latch = false;
 
 // for safety modes with torque steering control
 int desired_torque_last = 0;       // last desired steer torque
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index eb20eb350..b9f1187e9 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -32,6 +32,7 @@ class CarInterfaceBase(ABC):
     self.steering_unpressed = 0
     self.low_speed_alert = False
     self.silent_steer_warning = True
+    self.CP.enableTorqueInterceptor = False
 
     if CarState is not None:
       self.CS = CarState(CP)
@@ -100,9 +101,6 @@ class CarInterfaceBase(ABC):
     ret.longitudinalActuatorDelayUpperBound = 0.15
     ret.steerLimitTimer = 1.0
 
-    # No Torque Interceptor by default
-    ret.enableTorqueInterceptor = False
-
     return ret
 
   @abstractmethod