Merge remote-tracking branch 'upstream/master' into brake-preenable

board/safety/safety_nissan.h

@@ -117,31 +117,8 @@ static int nissan_tx_hook(CANPacket_t *to_send) {
     // offeset 1310 * NISSAN_STEERING_LIMITS.angle_deg_to_can
     desired_angle =  desired_angle - 131000;
 
-    if (get_lateral_allowed() && lka_active) {
-      // add 1 to not false trigger the violation
-      float delta_angle_float;
-      delta_angle_float = (interpolate(NISSAN_LOOKUP_ANGLE_RATE_UP, vehicle_speed) * NISSAN_DEG_TO_CAN) + 1.;
-      int delta_angle_up = (int)(delta_angle_float);
-      delta_angle_float =  (interpolate(NISSAN_LOOKUP_ANGLE_RATE_DOWN, vehicle_speed) * NISSAN_DEG_TO_CAN) + 1.;
-      int delta_angle_down = (int)(delta_angle_float);
-      int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
-      int lowest_desired_angle = desired_angle_last - ((desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
-
-      // check for violation;
-      violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
-    }
-    desired_angle_last = desired_angle;
-
-    // desired steer angle should be the same as steer angle measured when controls are off
-    if ((!get_lateral_allowed()) &&
-          ((desired_angle < (angle_meas.min - 1)) ||
-          (desired_angle > (angle_meas.max + 1)))) {
-      violation = 1;
-    }
-
-    // no lka_enabled bit if controls not allowed
-    if (!get_lateral_allowed() && lka_active) {
-      violation = 1;
+    if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) {
+      violation = true;
     }
   }
 

board/safety/safety_tesla.h

@@ -138,29 +138,7 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
     bool steer_control_enabled = (steer_control_type != 0) &&  // NONE
                                  (steer_control_type != 3);    // DISABLED
 
-    // Rate limit while steering
-    if(get_lateral_allowed() && steer_control_enabled) {
-      // Add 1 to not false trigger the violation
-      float delta_angle_float;
-      delta_angle_float = (interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, vehicle_speed) * TESLA_DEG_TO_CAN);
-      int delta_angle_up = (int)(delta_angle_float) + 1;
-      delta_angle_float =  (interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, vehicle_speed) * TESLA_DEG_TO_CAN);
-      int delta_angle_down = (int)(delta_angle_float) + 1;
-      int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
-      int lowest_desired_angle = desired_angle_last - ((desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
-
-      // Check for violation;
-      violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
-    }
-    desired_angle_last = desired_angle;
-
-    // Angle should be the same as current angle while not steering
-    if(!get_lateral_allowed() && ((desired_angle < (angle_meas.min - 1)) || (desired_angle > (angle_meas.max + 1)))) {
-      violation = true;
-    }
-
-    // No angle control allowed when controls are not allowed
-    if(!get_lateral_allowed() && steer_control_enabled) {
+    if (steer_angle_cmd_checks(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS)) {
       violation = true;
     }
   }