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safety: common interceptor checks (#1178)

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* interceptor checks

* only one line needed for now

* whoops

* misra

* misread as |
This commit is contained in:
Shane Smiskol
2022-11-30 17:22:42 -08:00
committed by GitHub
parent b19a74f93d
commit cb8fc6bd42
4 changed files with 9 additions and 8 deletions
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4
board/safety.h
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@@ -511,6 +511,10 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
return violation;
}
bool longitudinal_interceptor_checks(CANPacket_t *to_send, bool longitudinal_allowed) {
return !longitudinal_allowed && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1));
}
// Safety checks for torque-based steering commands
bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits) {
bool violation = false;

6
board/safety/safety_honda.h
View File

@@ -333,10 +333,8 @@ static int honda_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
// GAS: safety check (interceptor)
if (addr == 0x200) {
if (!longitudinal_allowed) {
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
tx = 0;
}
if (longitudinal_interceptor_checks(to_send, longitudinal_allowed)) {
tx = 0;
}
}

6
board/safety/safety_toyota.h
View File

@@ -147,10 +147,8 @@ static int toyota_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
// GAS PEDAL: safety check
if (addr == 0x200) {
if (!longitudinal_allowed) {
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
tx = 0;
}
if (longitudinal_interceptor_checks(to_send, longitudinal_allowed)) {
tx = 0;
}
}

1
board/safety_declarations.h
View File

@@ -130,6 +130,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits, const bool longitudinal_allowed);
bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits, const bool longitudinal_allowed);
bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits, const bool longitudinal_allowed);
bool longitudinal_interceptor_checks(CANPacket_t *to_send, const bool longitudinal_allowed);
void pcm_cruise_check(bool cruise_engaged);
typedef const addr_checks* (*safety_hook_init)(uint16_t param);