8000 safety: add longitudinal pre-enable state for brake at a standstill by sshane · Pull Request #2271 · commaai/opendbc · GitHub
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safety: add longitudinal pre-enable state for brake at a standstill #2271

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safety: add longitudinal pre-enable state for brake at a standstill #2271

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14 changes: 11 additions & 3 deletions opendbc/safety/safety.h
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Original file line number Diff line number Diff line change
Expand Up @@ -279,9 +279,15 @@ int safety_fwd_hook(int bus_num, int addr) {
}

bool get_longitudinal_allowed(void) {
// No longitudinal control when overriding with gas
return controls_allowed && !gas_pressed_prev;
}

bool get_gas_allowed(void) {
// No gas or positive accel while pre-enabled at a stop with brake
return get_longitudinal_allowed() && !brake_pressed_prev && !regen_braking_prev;
}

// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
// algorithm. Called at init time for safety modes using CRC-8.
void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) {
Expand Down Expand Up @@ -606,7 +612,9 @@ int ROUND(float val) {

// Safety checks for longitudinal actuation
bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) {
bool accel_valid = get_longitudinal_allowed() && !max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
// accel is restricted to < 0 m/s^2 if we are pre-enabling at a stop
int max_accel = get_gas_allowed() ? limits.max_accel : limits.zero_accel;
bool accel_valid = get_longitudinal_allowed() && !max_limit_check(desired_accel, max_accel, limits.min_accel);
bool accel_inactive = desired_accel == limits.inactive_accel;
return !(accel_valid || accel_inactive);
}
Expand All @@ -616,13 +624,13 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
}

bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits) {
bool transmission_rpm_valid = get_longitudinal_allowed() && !max_limit_check(desired_transmission_rpm, limits.max_transmission_rpm, limits.min_transmission_rpm);
bool transmission_rpm_valid = get_gas_allowed() && !max_limit_check(desired_transmission_rpm, limits.max_transmission_rpm, limits.min_transmission_rpm);
bool transmission_rpm_inactive = desired_transmission_rpm == limits.inactive_transmission_rpm;
return !(transmission_rpm_valid || transmission_rpm_inactive);
}

bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits) {
bool gas_valid = get_longitudinal_allowed() && !max_limit_check(desired_gas, limits.max_gas, limits.min_gas);
bool gas_valid = get_gas_allowed() && !max_limit_check(desired_gas, limits.max_gas, limits.min_gas);
bool gas_inactive = desired_gas == limits.inactive_gas;
return !(gas_valid || gas_inactive);
}
Expand Down 4353
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