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geohot
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Oct 28, 2017
| const int32_t MAX_STEER_1 = 1500; // also, max, since we are going to add a rate limit | ||
| const int16_t MAX_ACCEL = 1500; // 1.5 m/s2 | ||
| const int16_t MIN_ACCEL = -3000; // 3.0 m/s2 | ||
| int16_t torque_meas[3] = {0, 0, 0}; // last 3 motor torques produced by the eps |
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Break these into readable groups
| } else { | ||
| torque_meas_new = (torque_meas_new / 3 - 1) * 2; | ||
| } | ||
| int8_t len = sizeof(torque_meas)/sizeof(torque_meas[0]); |
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Merge these two lines, no need to define len
| desired_torque *= -1; | ||
| } | ||
| int16_t violation = 0; | ||
| uint32_t ts = TIM2->CNT; |
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| // get eps motor torque (0.66 factor in dbc) | ||
| if ((to_push->RIR>>21) == 0x260) { | ||
| int16_t torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF)); |
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This should only track min and max if that's all we use
| // desired_torque has to be: | ||
| // - within the rate limits | ||
| // - subject to the rate limit, not above the measured torque plus allowances | ||
| if (desired_torque_last > 0) { |
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This is tons of repeated code, can we refactor?
| return 0; | ||
| } else { | ||
| desired_torque_last = desired_torque; | ||
| rt_torque_last = desired_torque; |
| uint32_t ts_elapsed = ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + ts; | ||
| if (ts_elapsed > RT_INTERVAL) { | ||
| ts_last = ts; | ||
| if (rt_torque_last > 0) { |
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Same comment as above with refactor.
| int16_t lim_min = 0; | ||
| int16_t lim_max = 0; | ||
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| // get min and max torque_meas among the latest samples |
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This should be done above. Strongly separate the checks from computing facts.
geohot
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Oct 29, 2017
liej6799
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Jul 8, 2026
* Add Custom MIT License (commaai#38) * initial attempt at adjusting tests * Hyundai: Enhanced Smart Cruise Control (ESCC) (commaai#39) * Integrate Enhanced SCC (ESCC) support for Hyundai vehicles Add support for ESCC in Hyundai vehicles by introducing the ESCC class and modifying the CarController, safety hooks, and radar interface. This enhancement allows better longitudinal control by leveraging ESCC data, ensuring more reliable Advanced Emergency Braking (AEB) and Forward Collision Avoidance (FCA) alerts. Additional configurations and safety parameters have been incorporated to support this functionality. * common escc * misra * escc unit test * 100% * we don't check if using escc * bump submodules * unit test! --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Modular Assistive Driving System (MADS) (commaai#40) * alternative experience * safety init * fix * more update * not really * misra * Add Custom MIT License (commaai#38) * brake check was not handled * revert * alt -> lkas * explicit checks * support toyota and ford * rename * hyundai can-fd support * only allow lkas if enabled * hyundai: main button handling * revert * hyundai: main button heartbeat * add logging for controls allowed lateral * fix panda safety * ford btn * toyota btn * fca btn * honda btn * mads safety tests * more tests * safety misra * safety mutation * misra * mutation experiment * fix * ford test main button * ford test lkas button * more ford test * hyundai lkas and main * more ford * hyundai canfd * rename * rename * cleaner * more fixes * more hyundai tests * no longer needed * thanks for tests! * more tests for lat * more explicit * make sure to reset * try this out * probably needed * move * misra * not needed * move to safety_mads * not really needed * remove * MADS: Refactor MADS safety with improved state management (pull request commaai#46) Refactor MADS safety with improved state management This commit introduces a major refactoring of the MADS safety module, improving state management and control flow. Key changes include: Core Changes: - Introduced a MADSState struct to centralize state management - Removed global state variables in favor of structured state - Implemented button transition handling with explicit state tracking (PRESSED/RELEASED/NO_CHANGE) - Added state flags for button availability detection - Simplified lateral control permission logic Button Handling: - Separated main button and LKAS button state tracking - Added independent engagement states for each button - Improved button press detection across multiple platforms - Added support for main and LKAS buttons on Hyundai platforms - Modified ACC main state handling Testing: - Added comprehensive test coverage for MADS state transitions - Added new MADS-specific test base class for consistent testing across platforms - Added mutation testing for state management - Extended timeout for mutation tests from 5 to 8 minutes - Added extensive button press validation tests - Enhanced debugging output in replay drive tests The refactored code provides a more organized implementation of MADS safety features while maintaining compatibility with existing safety checks. * adding note * adding ford (WIP) * adding honda (WIP) * adding toyota (WIP) * adding chrysler (WIP) * Standardize Button State Handling Across Platforms Refactor button state handling by replacing integer constants with an enumerated `ButtonState` type and updating logic to improve readability and maintainability. This change affects button press detection in Ford, Honda, Hyundai, and Toyota safety modules and aligns them with a unified MADS button state approach. Enums provide a clearer understanding of button states and transitions, facilitating easier maintenance and future enhancements. * Disable LKAS button press logic in Honda and Toyota safety. The code for processing LKAS button presses has been commented out in both Honda and Toyota safety implementations. This change aims to investigate or temporarily halt the button press effects without removing the logic altogether. It will be important to test for any impacts this may have on vehicle control functionality. * Remove commented out code in toyota_rx_hook function This commit cleans up the toyota_rx_hook function by removing unnecessary commented-out code that checks for LKAS button presses on bus 2. This helps improve code readability and maintainability without altering the existing functionality. * GM, mazda, nissan, subaru (global & preglobal) * Honda LKAS * Revert "Remove commented out code in toyota_rx_hook function" This reverts commit d6b012c. * Toyota, Subaru Global LKAS * nissan fix * gm fix * use speed msg to force rx * im bored * misra * subaru/toyota/honda * nope * attempt * go through all buttons * try nissan * more nissan * nissan tests passed! * subaru lkas test (not sure why it's not passing 2 and 3 values) * Improved code organization in safety_subaru.h and test_subaru.py This commit includes a minor restructuring in safety_subaru.h and test_subaru.py for better readability and flow. The condition check in safety_subaru.h for lkas_hud now has explicit parentheses. With regard to test_subaru.py, an unnecessary import was removed, and the sequence of steps in the test was reordered - now enabling mads and cleaning up mads_states happens before each subtest. * Refactor tests to use _speed_msg instead of _user_brake_msg. Updated the MADS safety tests to utilize the _speed_msg(0) function call in place of _user_brake_msg(False). * Reworking the tests a little for clarity * disabling lkas again on toyota temporarily * fix mads condition to engage * hyundai and honda good with new tests * Redoing more tests * update for safety tick ensuring mads control is exited while lagging * Updating tests for toyota * cleaning up tests on hkg * commenting out temp_debug for future use * revert * constants * cleanup * format! * match yota * Apply suggestions from code review * force * explicit checks * revert --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * MADS: Chrysler: Allow `LKAS_HEARTBIT` (commaai#50) * MADS: Allow `LKAS_HEARTBIT` * only for non-RAM platforms * Revert "MADS: Chrysler: Allow `LKAS_HEARTBIT` (commaai#50)" (commaai#53) This reverts commit 8fccd5e. * Revert "Modular Assistive Driving System (MADS) (commaai#40)" (commaai#54) This reverts commit 4c2ccd7. * Dockerfile: point to sunnypilot/opendbc (commaai#55) * Dockerfile: point to sunnypilot/opendbc * Happy days :) * Revert "Happy days :)" This reverts commit 7ea27b5. * symlink prior building --------- Co-authored-by: DevTekVE <devtekve@gmail.com> * Modular Assistive Driving System (MADS) (commaai#57) * improvements on the state machine for exiting controls and improvements on replay drive, and optimizations * New tests on hyundai for now to see how they behave with lkas and main button pressed interchangeably * cleaning up hyundai tests and ensuring we always cleanup mads states at the end of the tests * Adjusting tests * Adjusting the tests a bit more to ensure clean states * Cleaning up and simplifying logic * ensuring all tests always cleanup * improving the state * make static happy * Refactor safety replay script for better debugging and update Honda safety code The commit performs a comprehensive revision of the safety replay script, specifically focusing on introducing debug variables and enhancing the logging capabilities for improved debugging. Furthermore, changes were made to the Honda safety code. The test helpers within libpanda were also expanded for inclusion of additional test conditions. * Introduce 'ACC_MAIN_OFF' as a new disengagement reason in Sunnypilot's 'safety_mads.h' The Sunnypilot's 'safety_mads.h' file has been updated to include 'ACC_MAIN_OFF' as a new cause for disconnection in the 'DisengageReason' enumeration. If an 'acc_main_off' signal is received, the 'mads_exit_controls' function halts all requests for lateral control engagement. Additionally, the status of 'controls_requested_lat' now mirrors 'controls_allowed_lat' after a button press. * simpler logic cleaner * reorder code for readability * tmp * Refactor state transitions and add event handlers Renamed StateTransition to EdgeTransition for clarity and updated related logic. Introduced event handlers for button presses and ACC state changes, reducing duplicated control flow code. Improved encapsulation and maintainability by restructuring state update functions. * reorder * Refactor MADS state handling logic Removed redundant event handler functions and unnecessary timestamp fields to streamline the code. Simplified button and binary state updates by integrating logic directly into transition checks. Commented out unused fields * adding some more tests * split init * format * update naming * Refine lateral control request logic in safety_mads.h The logic for setting the `controls_requested_lat` variable in safety_mads.h has been refined. Previously, it switched state based on the current value of `controls_allowed_lat`. Now, it also takes into account the current state of `acc_main`, ensuring a more nuanced control request mechanism that accounts for different operational scenarios. * Fix button state handling in mads_exit_controls logic. Refactor button state transitions to better handle lateral control requests when ACC is active. Ensure controls are correctly disengaged under specific conditions, by setting `controls_requested_lat` more reliably during state transitions. This change improves safety by preventing inadvertent disengagement when ACC is not active. * Add test for LKAS button press with ACC main on This commit introduces a new test to ensure that controls remain enabled when the LKAS/LFA button is pressed while ACC main is on. It checks that LKAS button operations don't interfere with control permissions in this specific configuration, improving test coverage and preventing potential safety issues. * Add mismatch detection and change mads_acc_main to bool Enhanced mismatch detection logic by tracking cases where 'controls_allowed' is true while 'controls_allowed_lat' is false, updating the script to print relevant debug information. Additionally, changed the data type of 'mads_acc_main' and 'mads_acc_main_prev' from int to bool for improved type accuracy and consistency. * update controls_allowed_lat_pkt on health pkt to actually follow is_lat_active() which has the final word on whether we can allow lat or not. * Can't perform this test on toyota as we never really process a button disengagement for toyota * wow, we forgot about pcm hyundai can-fd * nuke nuke nuke * Revert "nuke nuke nuke" This reverts commit 9bf0de6. * update name * event driven update states * add get_pcm_main_cruise_available * split PCM and non-PCM main cruise tets * fix some * pcm main cruise availability mutation * toyota pass fake lkas btn pressed * more * make pcm acc main rising edge on init * only falling edge when actually 0 (need test for mutation) * misra * remove state flags, main button related * skip lkas related tests with toyota and subaru fake button * need for honda * static * mutation * misra * skip nidec pcm alt * engage mads if controls allowed rising * static * remove non pcm properties * fixup! engage mads if controls allowed rising * move back * fix static * move around * Hyundai openpilot longitudinal main cruise button state handling * main button unit test * acc_main_on mismatch unit tests * clean up old main cruise button unit tests * add more reasons * cleanup * rename * rearrange * Revert "rearrange" This reverts commit f07caaa. * more rearrange * rename * more * too slow * Revert "too slow" This reverts commit 31a249a. * too slow v2 * cleanup * rename * more cleanup * Parse more flags from alt exp, more tests, hyundai main cruise allowed * missed * mutation for controls allowed rising edge * ford mutation * Update tests/safety/test.sh Co-authored-by: DevTekVE <devtekve@gmail.com> * license * unused * remove * comment * Apply suggestions from code review Co-authored-by: DevTekVE <devtekve@gmail.com> * comment * refactor alternative experience handling with helper function * use always allowed mads button alt exp * rename * parenthesis * use alternative experience for unit tests inits * cleanup * rename * mutation tests for alternative experience flags * bump timer * test for disengage and no disengage lateral on brake * test allow MADS engage with brake pressed * rename * move around * button combo test * use acc_main_on directly from global * fix caught failures from last commit's fix * Revert "use acc_main_on directly from global" This reverts commit 346964f. * Properly fix lmao * Add support for LKAS button handling across Chrysler platforms Introduced LKAS button message parsing for multiple Chrysler platforms, including specific handling for center stack button messages. Updated tests and safety configurations to reflect these changes, ensuring compatibility with different vehicle variants. This enhances modularity and improves safety feature integration. * Dockerfile: point to sunnypilot/opendbc * Happy days :) * clean * testx * Revert "Happy days :)" This reverts commit 7ea27b5. * symlink prior building * comment * only parse mads lateral, not stock op's lateral * do not allow controls allowed if acc_main_on is off * expose system_enabled, do not allow controls allowed to steer if system_mads is off * fix hyundai tests with acc_main_on requirement * fix test with new controls allowed with system_mads off * fix replay drive * Change 'DISABLE_DISENGAGE_LATERAL_ON_BRAKE' to 'DISENGAGE_LATERAL_ON_BRAKE' The commit modifies the usage of the 'DISABLE_DISENGAGE_LATERAL_ON_BRAKE' variable globally and replaces it with 'DISENGAGE_LATERAL_ON_BRAKE'. This change promotes correct and clear semantics, since the variable now indicates a state rather than the negation of a state. * Adding some more debug printouts on replay drive * remove unified engagement mode in panda * treat MADS button as user entry * controls allow should be allowed at all times * squash! treat MADS button as user entry * heartbeat for mads * heartbeat mismatch exit control * remove always allow mads button from alt * move to safety_mads * check heartbeat directly in main * remove main cruise allowed from alt * uint * squash! check heartbeat directly in main * update tests * not needed * fix mads_exit_controls sometimes not assigning disengage reason * more disengage lateral on brake tests * extern * missesd * honda mutation test * again * rename * more dlob test * update name * fix tests * fix panda tests * Refactor MADS state management to simplify pointer usage. This change replaces many pointer-based state variables with direct ones, improving code readability and reducing complexity. It also standardizes the use of `const` for parameters and updates function implementations accordingly. These improvements enhance maintainability and reduce potential for pointer-related errors. * Simplify braking logic in m_mads_check_braking function Removed redundant conditions to streamline braking logic. This change maintains functionality while improving code readability and maintainability. Only necessary checks are now performed to determine disengagement. * Prevent lateral control engagement during braking Added a condition to disable lateral control engagement when braking with disengage-on-brake enabled. This change is marked as a demonstration and is not final for merging. Moved the disengage_reason to be set only when an actual disengagement occurred. * Refactor MADS state handling and fix type consistency Remove redundant `get_mads_state` inline definition and migrate it to a static function. Fix return type syntax in `get_mads_pending_disengage_reason`. Minor formatting adjustments improve readability and code clarity. Refactor disengagement logic with enhanced reason tracking Added distinction between active and pending disengagement reasons to improve system state tracking. Updated related enums, structs, and logic to ensure proper handling during control transitions. Added new safety tests to verify behavior under braking and ACC conditions. Refactoring lateral control permissions and brake checks in MADS This revision refactors the MADS safety code. The aim is to simplify and improve readability. Operations and checks for brake states and lateral control permissions have been consolidated into fewer methods. In addition, unused 'previous_disengage' state tracking has been removed from MADSState structure to avoid unnecessary state tracking. Moreover, the 'can_allow_controls_lat' function has been removed entirely and its functionality has been incorporated into other functions, reducing the function count and complexity of the code. The braking status is now tracked with BinaryStateTracking for consistency. These changes maintain the system's functionality while optimizing the code and improving maintainability. * Why MISRA, why!? WHY!???? I DIDNT EVEN TOUCH THIS FILE OR NOWHERE NEAR! * Some format * no more messing with misra * const * more generic names * revert to validate * are you srs * make gpio.h stock again and add to supression lists the check on gpio.h since we are not even touching it and we don't plan on ever doing so * hard code to skip heartbeat check * update comment * cleanup * Update tests/safety/test_honda.py --------- Co-authored-by: DevTekVE <devtekve@gmail.com> * MADS: Toyota: remove LKAS button support (commaai#64) * MADS: Toyota: remove LKAS button support * remove mads button test * MADS: Honda: Allow steering (commaai#66) * MADS: remove `controlsAllowedLat` to maintain compatibility with stock cereal (commaai#67) * MADS: remove unused field in `HEALTH_STRUCT` (commaai#68) * MADS: Cleanup migrated safety codes * Bump opendbc ref * Car safety: custom safety params (commaai#75) * init * use latest opendbc pr ref * Revert "Log divergent registers once (commaai#2182)" (commaai#79) This reverts commit a2d8ad9. * ci: change ref to `master` * Allow skipping flash and firmware checks if deprecated panda is detected (commaai#89) * flash: skip if deprecated panda is detected * fix * Revert "Allow skipping flash and firmware checks if deprecated panda is detec…" (commaai#90) This reverts commit ba4774c. * Revert deprecated pandas from Python side (commaai#92) * Revert deprecated pandas from Python side * lint pls * aight * UART: lower FIFO size (commaai#94) * test * macro * panda: fix upstream merge conflicts (commaai#97) * Revert "it's just unsupported" This reverts commit 7db3785. * Reapply "it's just unsupported" This reverts commit 94c6082. * Revert "Reapply "it's just unsupported"" This reverts commit 680c8f4. * MADS safety: enable heartbeat check and dedicated states (commaai#113) * init * rename * Re-add STM32F4 / black panda support Restores the F4 platform (board/stm32f4, bxcan driver) removed in 1ce986f and the black panda board removed in 3d27233, ported to the current declarations layout (drivers/drivers.h, board/sys/). - black-only F4 board detection; dos/white/grey/uno report UNKNOWN - F4-sized CAN ring buffers (CANPacket_t now carries 64 data bytes) - stop mode falls back to NVIC_SystemReset on F4 - python: HW_TYPE_BLACK supported, flash/DFU paths use detected MCU type Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: rav4kumar <meetkumardesai@gmail.com> Co-authored-by: liej6799 <liej6799@users.noreply.github.com> Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
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