Toyota: moved common functions into safety header file

commaai · Jun 1, 2018 · 79ab5af · 79ab5af
1 parent 40c8dda
commit 79ab5af
Show file tree

Hide file tree

Showing 2 changed files with 23 additions and 19 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -1,9 +1,17 @@
+// sample struct that keeps 3 samples in memory
+struct sample_t {
+  int values[3];
+  int min;
+  int max;
+} sample_t_default = {{0, 0, 0}, 0, 0};
+
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 int safety_ignition_hook();
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 int to_signed(int d, int bits);
+void update_sample(struct sample_t *sample, int sample_new);
 
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -118,3 +126,18 @@ int to_signed(int d, int bits) {
   }
   return d;
 }
+
+// given a new sample, update the smaple_t struct
+void update_sample(struct sample_t *sample, int sample_new) {
+  for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
+    sample->values[i] = sample->values[i-1];
+  }
+  sample->values[0] = sample_new;
+
+  // get the minimum and maximum measured samples
+  sample->min = sample->max = sample->values[0];
+  for (int i = 1; i < sizeof(sample->values)/sizeof(sample->values[0]); i++) {
+    if (sample->values[i] < sample->min) sample->min = sample->values[i];
+    if (sample->values[i] > sample->max) sample->max = sample->values[i];
+  }
+}
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -1,9 +1,3 @@
-// track the torque measured for limiting
-struct sample_t {
-  int values[3];
-  int min;
-  int max;
-} sample_t_default = {{0, 0, 0}, 0, 0};
 struct sample_t torque_meas;           // last 3 motor torques produced by the eps
 
 // global torque limit
@@ -34,19 +28,6 @@ int16_t rt_torque_last = 0;            // last desired torque for real time chec
 uint32_t ts_last = 0;
 int cruise_engaged_last = 0;           // cruise state
 
-void update_sample(struct sample_t *sample, int sample_new) {
-  for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
-    sample->values[i] = sample->values[i-1];
-  }
-  sample->values[0] = sample_new;
-
-  // get the minimum and maximum measured torque over the last 3 frames
-  sample->min = sample->max = sample->values[0];
-  for (int i = 1; i < sizeof(sample->values)/sizeof(sample->values[0]); i++) {
-    if (sample->values[i] < sample->min) sample->min = sample->values[i];
-    if (sample->values[i] > sample->max) sample->max = sample->values[i];
-  }
-}
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)