Safety: made common the max torque check as well

commaai · Jun 13, 2018 · dc3cc24 · dc3cc24
1 parent dbc3568
commit dc3cc24
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Showing 3 changed files with 8 additions and 6 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -13,6 +13,7 @@ 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);
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
+int max_limit_check(int val, const int MAX);
 
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -153,3 +154,7 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
   // return 1 if violation
   return (val < lowest_val) || (val > highest_val);
 }
+
+int max_limit_check(int val, const int MAX) {
+  return (val > MAX) | (val < -MAX);
+}
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
@@ -71,9 +71,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (controls_allowed) {
 
       // *** global torque limit check ***
-      if ((desired_torque > CADILLAC_STEER_MAX) || (desired_torque < -CADILLAC_STEER_MAX)) {
-        violation = 1;
-      }
+      violation |= max_limit_check(desired_torque, CADILLAC_STEER_MAX);
 
       // *** torque rate limit check ***
       int highest_allowed_torque = max(cadillac_desired_torque_last[idx], 0) + CADILLAC_MAX_RATE_UP;
@@ -99,7 +97,7 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
         violation = 1;
       }
 
-      //// used next time
+      // used next time
       cadillac_desired_torque_last[idx] = desired_torque;
 
       // *** torque real time rate limit check ***

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -89,8 +89,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       if (controls_allowed && actuation_limits) {
 
         // *** global torque limit check ***
-        if (desired_torque < -MAX_TORQUE) violation = 1;
-        if (desired_torque > MAX_TORQUE) violation = 1;
+        violation |= max_limit_check(desired_torque, MAX_TORQUE);
 
         // *** torque rate limit check ***
         int16_t highest_allowed_torque = max(desired_torque_last, 0) + MAX_RATE_UP;