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safety: add safety param for gas interceptor #1735

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merged 54 commits into from Dec 14, 2023
Merged

safety: add safety param for gas interceptor #1735

merged 54 commits into from Dec 14, 2023

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sshane
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@sshane sshane commented Nov 21, 2023 •
edited

  • Tests that Honda Nidec switches from a PCM-enable car to button-enable car when it's using an interceptor
  • Tests that interceptor can't be used when Toyota is in stock long mode

todo:

  • Honda
  • Separate test class
  • Clean up detection (remove)
  • Make param common would take away useful slots from safety models which would never use it (for the time being)

The two possible scenarios where the param is set incorrectly should be fine:

  • set if no interceptor - addr checks prevent enabling
  • not set and there's an interceptor - panda will see openpilot gas as user gas and cancel long

@sshane sshane mentioned this pull request Nov 21, 2023
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@sshane sshane added enhancement car safety vehicle-specific safety code labels Nov 21, 2023
@sshane sshane mentioned this pull request Nov 21, 2023
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@sshane sshane closed this Nov 22, 2023
@sshane sshane deleted the toyota-check-interceptor branch November 22, 2023 00:52
@sshane sshane mentioned this pull request Nov 22, 2023
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@sshane sshane restored the toyota-check-interceptor branch December 9, 2023 13:20
@sshane sshane mentioned this pull request Dec 14, 2023
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@sshane sshane changed the title Toyota: check interceptor counter and frequency safety: add gas interceptor param to check counter and frequency Dec 14, 2023
@sshane sshane changed the title safety: add gas interceptor param to check counter and frequency safety: add safety param for gas interceptor Dec 14, 2023
@sshane sshane mentioned this pull request Dec 14, 2023
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@sshane sshane marked this pull request as ready for review December 14, 2023 03:39
sshane
sshane commented Dec 14, 2023
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board/safety/safety_toyota.h Outdated Show resolved Hide resolved
sshane
sshane commented Dec 14, 2023
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board/safety/safety_toyota.h
Comment on lines +347 to +348
ret = enable_gas_interceptor ? BUILD_SAFETY_CFG(toyota_lta_interceptor_rx_checks, TOYOTA_INTERCEPTOR_TX_MSGS) : \
BUILD_SAFETY_CFG(toyota_lta_rx_checks, TOYOTA_TX_MSGS);
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@sshane sshane Dec 14, 2023 •
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we can not allow LTA, I just kept it because openpilot allows interceptor in any configuration

@sshane sshane merged commit bb75afc into master Dec 14, 2023
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@sshane sshane deleted the toyota-check-interceptor branch December 14, 2023 23:22
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@adeebshihadeh adeebshihadeh adeebshihadeh approved these changes

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@sshane @adeebshihadeh