Cleanup pedal nomenclature (commaai#467)

* consolidate gas and brake nomenclature

* fixes in code and tests

board/safety/safety_chrysler.h

@@ -21,8 +21,6 @@ const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_r
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
-bool chrysler_gas_prev = false;
-bool chrysler_brake_prev = false;
 int chrysler_speed = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
@@ -108,20 +106,20 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of gas press
     if (addr == 308) {
-      bool gas = (GET_BYTE(to_push, 5) & 0x7F) != 0;
-      if (gas && !chrysler_gas_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+      bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
+      if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
         controls_allowed = 0;
       }
-      chrysler_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // exit controls on rising edge of brake press
     if (addr == 320) {
-      bool brake = (GET_BYTE(to_push, 0) & 0x7) == 5;
-      if (brake && (!chrysler_brake_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
+      bool brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
+      if (brake_pressed && (!brake_pressed_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
         controls_allowed = 0;
       }
-      chrysler_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // check if stock camera ECU is on bus 0

board/safety/safety_ford.h

@@ -7,8 +7,6 @@
 //      brake rising edge
 //      brake > 0mph
 
-int ford_brake_prev = 0;
-int ford_gas_prev = 0;
 bool ford_moving = false;
 
 static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -39,20 +37,20 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 0x165) {
-    int brake = GET_BYTE(to_push, 0) & 0x20;
-    if (brake && (!(ford_brake_prev) || ford_moving)) {
+    int brake_pressed = GET_BYTE(to_push, 0) & 0x20;
+    if (brake_pressed && (!brake_pressed_prev || ford_moving)) {
       controls_allowed = 0;
     }
-    ford_brake_prev = brake;
+    brake_pressed_prev = brake_pressed;
   }
 
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
-    int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
-    if (gas && !(ford_gas_prev)) {
+    bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
+    if (gas_pressed && !gas_pressed_prev) {
       controls_allowed = 0;
     }
-    ford_gas_prev = gas;
+    gas_pressed_prev = gas_pressed;
   }
 
   if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
@@ -74,7 +72,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
+  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && ford_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   if (relay_malfunction) {

board/safety/safety_gm.h

@@ -33,8 +33,6 @@ AddrCheckStruct gm_rx_checks[] = {
 };
 const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);
 
-int gm_brake_prev = 0;
-int gm_gas_prev = 0;
 bool gm_moving = false;
 int gm_rt_torque_last = 0;
 int gm_desired_torque_last = 0;
@@ -81,25 +79,22 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of brake press or on brake press when
     // speed > 0
     if (addr == 241) {
-      int brake = GET_BYTE(to_push, 1);
       // Brake pedal's potentiometer returns near-zero reading
       // even when pedal is not pressed
-      if (brake < 10) {
-        brake = 0;
-      }
-      if (brake && (!gm_brake_prev || gm_moving)) {
+      bool brake_pressed = GET_BYTE(to_push, 1) >= 10;
+      if (brake_pressed && (!brake_pressed_prev || gm_moving)) {
          controls_allowed = 0;
       }
-      gm_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press
     if (addr == 417) {
-      int gas = GET_BYTE(to_push, 6);
-      if (gas && !gm_gas_prev) {
+      bool gas_pressed = GET_BYTE(to_push, 6) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      gm_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // exit controls on regen paddle
@@ -143,7 +138,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
+  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   // BRAKE: safety check

board/safety/safety_honda.h

@@ -28,8 +28,6 @@ AddrCheckStruct honda_bh_rx_checks[] = {
 const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);
 
 int honda_brake = 0;
-int honda_gas_prev = 0;
-bool honda_brake_pressed_prev = false;
 bool honda_moving = false;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
@@ -112,10 +110,10 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
     if (is_user_brake_msg) {
       bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
-      if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
+      if (brake_pressed && (!brake_pressed_prev || honda_moving)) {
         controls_allowed = 0;
       }
-      honda_brake_pressed_prev = brake_pressed;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
@@ -133,11 +131,11 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press if no interceptor
     if (!gas_interceptor_detected) {
       if (addr == 0x17C) {
-        int gas = GET_BYTE(to_push, 0);
-        if (gas && !honda_gas_prev) {
+        bool gas_pressed = GET_BYTE(to_push, 0) != 0;
+        if (gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
-        honda_gas_prev = gas;
+        gas_pressed_prev = gas_pressed;
       }
     }
     if ((bus == 2) && (addr == 0x1FA)) {
@@ -194,8 +192,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (honda_brake_pressed_prev && honda_moving);
+  int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
+                      (brake_pressed_prev && honda_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check

board/safety/safety_hyundai.h

@@ -22,8 +22,6 @@ int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
 int hyundai_cruise_engaged_last = 0;
 int hyundai_speed = 0;
-bool hyundai_gas_last = false;
-bool hyundai_brake_last = false;
 uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured
 
@@ -56,11 +54,11 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of gas press
     if (addr == 608) {
-      bool gas = (GET_BYTE(to_push, 7) >> 6) != 0;
-      if (gas && ! hyundai_gas_last) {
+      bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      hyundai_gas_last = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // sample subaru wheel speed, averaging opposite corners
@@ -72,11 +70,11 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of brake press
     if (addr == 916) {
-      bool brake = (GET_BYTE(to_push, 6) >> 7) != 0;
-      if (brake && (!hyundai_brake_last || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
+      bool brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
+      if (brake_pressed && (!brake_pressed_prev || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
         controls_allowed = 0;
       }
-      hyundai_brake_last = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // check if stock camera ECU is on bus 0

board/safety/safety_nissan.h

@@ -29,8 +29,6 @@ float nissan_speed = 0;
 uint32_t nissan_ts_angle_last = 0;
 int nissan_cruise_engaged_last = 0;
 int nissan_desired_angle_last = 0;
-int nissan_gas_prev = 0;
-int nissan_brake_prev = 0;
 
 struct sample_t nissan_angle_meas;            // last 3 steer angles
 
@@ -64,11 +62,11 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
       // exit controls on rising edge of gas press
       if (addr == 0x15c) {
-        int gas = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
-        if ((gas > 0) && (nissan_gas_prev == 0)) {
+        bool gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
+        if (gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
-        nissan_gas_prev = gas;
+        gas_pressed_prev = gas_pressed;
       }
 
       // 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
@@ -91,11 +89,11 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
       // exit controls on rising edge of brake press, or if speed > 0 and brake
       if (addr == 0x454) {
-        int brake = (GET_BYTE(to_push, 2) & 0x80);
-        if ((brake > 0) && ((nissan_brake_prev == 0) || (nissan_speed > 0.))) {
+        bool brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
+        if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
           controls_allowed = 0;
         }
-        nissan_brake_prev = brake;
+        brake_pressed_prev = brake_pressed;
       }
     }
   }

board/safety/safety_subaru.h

@@ -35,8 +35,6 @@ int subaru_rt_torque_last = 0;
 int subaru_desired_torque_last = 0;
 int subaru_speed = 0;
 uint32_t subaru_ts_last = 0;
-bool subaru_gas_last = false;
-bool subaru_brake_last = false;
 bool subaru_global = false;
 struct sample_t subaru_torque_driver;         // last few driver torques measured
 
@@ -106,22 +104,22 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of brake press (TODO: missing check for unsupported legacy models)
     if ((addr == 0x139) && subaru_global) {
-      bool brake = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
-      if (brake && (!subaru_brake_last || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
+      bool brake_pressed = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
+      if (brake_pressed && (!brake_pressed_prev || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
         controls_allowed = 0;
       }
-      subaru_brake_last = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press
     if (((addr == 0x40) && subaru_global) ||
         ((addr == 0x140) && !subaru_global)) {
       int byte = subaru_global ? 4 : 0;
-      bool gas = GET_BYTE(to_push, byte) != 0;
-      if (gas && !subaru_gas_last) {
+      bool gas_pressed = GET_BYTE(to_push, byte) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      subaru_gas_last = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) &&

board/safety/safety_tesla.h

@@ -34,8 +34,6 @@ float tesla_ts_angle_last = 0;
 
 int tesla_controls_allowed_last = 0;
 
-int tesla_brake_prev = 0;
-int tesla_gas_prev = 0;
 int tesla_speed = 0;
 int eac_status = 0;
 

board/safety/safety_toyota.h

@@ -40,8 +40,6 @@ int toyota_desired_torque_last = 0;       // last desired steer torque
 int toyota_rt_torque_last = 0;            // last desired torque for real time check
 uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
-bool toyota_gas_prev = false;
-bool toyota_brake_prev = false;
 bool toyota_moving = false;
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
@@ -112,11 +110,11 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
     if ((addr == 0x224) || (addr == 0x226)) {
       int byte = (addr == 0x224) ? 0 : 4;
-      bool brake = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
-      if (brake && (!toyota_brake_prev || toyota_moving)) {
+      bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
+      if (brake_pressed && (!brake_pressed_prev || toyota_moving)) {
         controls_allowed = 0;
       }
-      toyota_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of interceptor gas press
@@ -132,11 +130,11 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // exit controls on rising edge of gas press
     if (addr == 0x2C1) {
-      bool gas = GET_BYTE(to_push, 6) != 0;
-      if (gas && !toyota_gas_prev && !gas_interceptor_detected) {
+      bool gas_pressed = GET_BYTE(to_push, 6) != 0;
+      if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
         controls_allowed = 0;
       }
-      toyota_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed

board/safety/safety_volkswagen.h

@@ -36,8 +36,6 @@ int volkswagen_rt_torque_last = 0;
 int volkswagen_desired_torque_last = 0;
 uint32_t volkswagen_ts_last = 0;
 bool volkswagen_moving = false;
-bool volkswagen_brake_pressed_prev = false;
-int volkswagen_gas_prev = 0;
 int volkswagen_torque_msg = 0;
 int volkswagen_lane_msg = 0;
 uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
@@ -137,21 +135,21 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // Exit controls on rising edge of gas press
     // Signal: Motor_20.MO_Fahrpedalrohwert_01
     if (addr == MSG_MOTOR_20) {
-      int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
-      if ((gas > 0) && (volkswagen_gas_prev == 0)) {
+      bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
+      if (gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      volkswagen_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // Exit controls on rising edge of brake press
     // Signal: ESP_05.ESP_Fahrer_bremst
     if (addr == MSG_ESP_05) {
       bool brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
-      if (brake_pressed && (!(volkswagen_brake_pressed_prev) || volkswagen_moving)) {
+      if (brake_pressed && (!brake_pressed_prev || volkswagen_moving)) {
         controls_allowed = 0;
       }
-      volkswagen_brake_pressed_prev = brake_pressed;
+      brake_pressed_prev = brake_pressed;
     }
 
     // If there are HCA messages on bus 0 not sent by OP, there's a relay problem

board/safety_declarations.h

@@ -85,6 +85,8 @@ bool controls_allowed = false;
 bool relay_malfunction = false;
 bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;
+bool gas_pressed_prev = false;
+bool brake_pressed_prev = false;
 
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;