Safety: increase buffer for sampled signals. TBD a violation feedback from board to prevent car faults

Author: Commaremote

board/safety.h

@@ -1,9 +1,9 @@
 // sample struct that keeps 3 samples in memory
 struct sample_t {
-  int values[3];
+  int values[6];
   int min;
   int max;
-} sample_t_default = {{0, 0, 0}, 0, 0};
+} sample_t_default = {{0}, 0, 0};
 
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);

board/safety/safety_cadillac.h

@@ -30,8 +30,7 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if (addr == 356) {
     int torque_driver_new = ((to_push->RDLR & 0x7) << 8) | ((to_push->RDLR >> 8) & 0xFF);
     torque_driver_new = to_signed(torque_driver_new, 11);
-
-    // update array of sample
+    // update array of samples
     update_sample(&cadillac_torque_driver, torque_driver_new);
   }
 

tests/safety/test_toyota.py

@@ -62,7 +62,7 @@ def _torque_driver_msg(self, torque):
     return to_send
 
   def _torque_driver_msg_array(self, torque):
-    for i in range(3):
+    for i in range(6):
       self.safety.toyota_ipas_rx_hook(self._torque_driver_msg(torque))
 
   def _angle_meas_msg(self, angle):
@@ -74,7 +74,7 @@ def _angle_meas_msg(self, angle):
     return to_send
 
   def _angle_meas_msg_array(self, angle):
-    for i in range(3):
+    for i in range(6):
       self.safety.toyota_ipas_rx_hook(self._angle_meas_msg(angle))
 
   def _torque_msg(self, torque):
@@ -229,6 +229,9 @@ def test_torque_measurements(self):
     self.safety.toyota_rx_hook(self._torque_meas_msg(50))
     self.safety.toyota_rx_hook(self._torque_meas_msg(-50))
     self.safety.toyota_rx_hook(self._torque_meas_msg(0))
+    self.safety.toyota_rx_hook(self._torque_meas_msg(0))
+    self.safety.toyota_rx_hook(self._torque_meas_msg(0))
+    self.safety.toyota_rx_hook(self._torque_meas_msg(0))
 
     self.assertEqual(-51, self.safety.get_torque_meas_min())
     self.assertEqual(51, self.safety.get_torque_meas_max())