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safety: macro to update vehicle speed #1762

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Dec 7, 2023
Merged

safety: macro to update vehicle speed #1762

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2 changes: 1 addition & 1 deletion board/safety/safety_ford.h
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Original file line number Diff line number Diff line change
Expand Up @@ -214,7 +214,7 @@ static void ford_rx_hook(CANPacket_t *to_push) {
// Update vehicle speed
if (addr == FORD_BrakeSysFeatures) {
// Signal: Veh_V_ActlBrk
update_sample(&vehicle_speed, ROUND(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6 * VEHICLE_SPEED_FACTOR));
UPDATE_VEHICLE_SPEED(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6);
}

// Check vehicle speed against a second source
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2 changes: 1 addition & 1 deletion board/safety/safety_nissan.h
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Expand Up @@ -61,7 +61,7 @@ static void nissan_rx_hook(CANPacket_t *to_push) {
uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1));
uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3));
vehicle_moving = (right_rear | left_rear) != 0U;
update_sample(&vehicle_speed, ROUND((right_rear + left_rear) / 2.0 * 0.005 / 3.6 * VEHICLE_SPEED_FACTOR));
UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6);
}

// X-Trail 0x15c, Leaf 0x239
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3 changes: 1 addition & 2 deletions board/safety/safety_subaru.h
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Expand Up @@ -165,8 +165,7 @@ static void subaru_rx_hook(CANPacket_t *to_push) {

vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);

float speed = (fr + rr + rl + fl) / 4U * 0.057;
update_sample(&vehicle_speed, ROUND(speed * VEHICLE_SPEED_FACTOR));
UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4U * 0.057);
}

if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_main_bus)) {
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2 changes: 1 addition & 1 deletion board/safety/safety_tesla.h
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Expand Up @@ -72,7 +72,7 @@ static void tesla_rx_hook(CANPacket_t *to_push) {
// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
vehicle_moving = ABS(speed) > 0.1;
update_sample(&vehicle_speed, ROUND(speed * VEHICLE_SPEED_FACTOR));
UPDATE_VEHICLE_SPEED(speed);
}

if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
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1 change: 1 addition & 0 deletions board/safety_declarations.h
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Expand Up @@ -10,6 +10,7 @@
(config).rx_checks_len = sizeof((rx)) / sizeof((rx)[0]))
#define SET_TX_MSGS(tx, config) ((config).tx_msgs = (tx), \
(config).tx_msgs_len = sizeof((tx)) / sizeof((tx)[0]))
#define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))

uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
uint32_t ret = 0U;
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