From 0d4e98f6056a69da8933c8a690a803bc96e0e528 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 29 Oct 2021 12:12:53 -0700
Subject: [PATCH] Mazda: only check ACC state for controls allowed (#753)

---
 board/safety/safety_mazda.h | 24 +-----------------
 tests/safety/test_mazda.py  | 49 -------------------------------------
 2 files changed, 1 insertion(+), 72 deletions(-)

diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
index 0dfc38c25..92782a3f8 100644
--- a/board/safety/safety_mazda.h
+++ b/board/safety/safety_mazda.h
@@ -23,12 +23,7 @@
 #define MAZDA_DRIVER_TORQUE_FACTOR 1
 #define MAZDA_MAX_TORQUE_ERROR 350
 
-// lkas enable speed 52kph, disable at 45kph
-#define MAZDA_LKAS_ENABLE_SPEED  5200
-#define MAZDA_LKAS_DISABLE_SPEED 4500
-
 const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}};
-bool mazda_lkas_allowed = false;
 
 AddrCheckStruct mazda_addr_checks[] = {
   {.msg = {{MAZDA_CRZ_CTRL,     0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
@@ -49,17 +44,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == MAZDA_ENGINE_DATA) {
       // sample speed: scale by 0.01 to get kph
       int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
-
       vehicle_moving = speed > 10; // moving when speed > 0.1 kph
-
-      // Enable LKAS at 52kph going up, disable at 45kph going down
-      if (speed > MAZDA_LKAS_ENABLE_SPEED) {
-        mazda_lkas_allowed = true;
-      } else if (speed < MAZDA_LKAS_DISABLE_SPEED) {
-        mazda_lkas_allowed = false;
-      } else {
-        // Misra-able appeasment block!
-      }
     }
 
     if (addr == MAZDA_STEER_TORQUE) {
@@ -73,13 +58,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
       if (cruise_engaged) {
         if (!cruise_engaged_prev) {
-          // do not engage until we hit the speed at which lkas is on
-          if (mazda_lkas_allowed) {
-            controls_allowed = 1;
-          } else {
-            controls_allowed = 0;
-            cruise_engaged = false;
-          }
+          controls_allowed = 1;
         }
       } else {
         controls_allowed = 0;
@@ -183,7 +162,6 @@ static const addr_checks* mazda_init(int16_t param) {
   UNUSED(param);
   controls_allowed = false;
   relay_malfunction_reset();
-  mazda_lkas_allowed = false;
   return &mazda_rx_checks;
 }
 
diff --git a/tests/safety/test_mazda.py b/tests/safety/test_mazda.py
index 3cff13c48..11b541e15 100755
--- a/tests/safety/test_mazda.py
+++ b/tests/safety/test_mazda.py
@@ -24,8 +24,6 @@ class TestMazdaSafety(common.PandaSafetyTest):
   RELAY_MALFUNCTION_BUS = 0
   FWD_BLACKLISTED_ADDRS = {2: [0x243]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
-  LKAS_ENABLE_SPEED = 52
-  LKAS_DISABLE_SPEED = 45
 
   def setUp(self):
     self.packer = CANPackerPanda("mazda_2017")
@@ -61,53 +59,6 @@ class TestMazdaSafety(common.PandaSafetyTest):
     values = {"CRZ_ACTIVE": enable}
     return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values)
 
-  def test_enable_control_allowed_from_cruise(self):
-    self._rx(self._pcm_status_msg(False))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1))
-    self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
-    self._rx(self._pcm_status_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self._rx(self._pcm_status_msg(False))
-
-    self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
-    self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
-    self._rx(self._pcm_status_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
-    self._rx(self._pcm_status_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    # Enabled going down
-    self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self._rx(self._pcm_status_msg(False))
-
-    # Disabled going up
-    self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED + 1))
-    self._rx(self._pcm_status_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_cruise_engaged_prev(self):
-    self._rx(self._pcm_status_msg(False))
-    self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
-    self._rx(self._pcm_status_msg(True))
-    self.assertFalse(self.safety.get_cruise_engaged_prev())
-
-    self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
-
-    for engaged in [True, False]:
-      self._rx(self._pcm_status_msg(engaged))
-      self.assertEqual(engaged, self.safety.get_cruise_engaged_prev())
-      self._rx(self._pcm_status_msg(not engaged))
-      self.assertEqual(not engaged, self.safety.get_cruise_engaged_prev())
 
 if __name__ == "__main__":
   unittest.main()