Safety: alternate longitudinal limits (commaai#1577)

alt limits
flowdriveai · Aug 13, 2023 · 05295dc · 05295dc
1 parent a0344a1
commit 05295dc
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Showing 2 changed files with 12 additions and 0 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -509,6 +509,12 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
   return !get_longitudinal_allowed() && (desired_speed != limits.inactive_speed);
 }
 
+bool longitudinal_alt_checks(int desired_alt, const LongitudinalLimits limits){
+  bool alt_valid = get_longitudinal_allowed() && !max_limit_check(desired_alt, limits.max_alt, limits.min_alt);
+  bool alt_inactive = desired_alt == limits.inactive_alt;
+  return !(alt_valid || alt_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_inactive = desired_gas == limits.inactive_gas;

diff --git a/board/safety_declarations.h b/board/safety_declarations.h
@@ -90,6 +90,11 @@ typedef struct {
   const int inactive_gas;
   const int max_brake;
 
+  // alternative cmd limits, ex: transmission rpm on subaru
+  const int max_alt;
+  const int min_alt;
+  const int inactive_alt;
+
   // speed cmd limits
   const int inactive_speed;
 } LongitudinalLimits;
@@ -163,6 +168,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits);
 bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits);
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits);
+bool longitudinal_alt_checks(int desired_alt, const LongitudinalLimits limits);
 bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits);
 bool longitudinal_interceptor_checks(CANPacket_t *to_send);
 void pcm_cruise_check(bool cruise_engaged);