this is cleaner

board/safety.h

@@ -510,8 +510,8 @@ int ROUND(float val) {
 
 // Safety checks for longitudinal actuation
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) {
-  bool accel_valid = get_accel_allowed() && !max_limit_check(desired_accel, limits.max_accel, 0);
-  bool decel_valid = get_decel_allowed() && !max_limit_check(desired_accel, 0, limits.min_accel);
+  bool accel_valid = get_accel_allowed() && !max_limit_check(desired_accel, limits.max_accel, limits.zero_accel);
+  bool decel_valid = get_decel_allowed() && !max_limit_check(desired_accel, limits.zero_accel, limits.min_accel);
   bool accel_inactive = desired_accel == limits.inactive_accel;
   print("here: "); puth(accel_valid); print(" "); puth(accel_valid); print(" "); puth(decel_valid); print(" "); puth(accel_inactive); print("\n");
   return !(accel_valid || decel_valid || accel_inactive);

board/safety/safety_ford.h

@@ -166,6 +166,7 @@ const LongitudinalLimits FORD_LONG_LIMITS = {
   .max_accel = 5641,       //  1.9999 m/s^s
   .min_accel = 4231,       // -3.4991 m/s^2
   .inactive_accel = 5128,  // -0.0008 m/s^2
+  // TODO: why do tests pass without zero_accel set
 
   // gas cmd limits
   // Signal: AccPrpl_A_Rq

board/safety/safety_tesla.h

@@ -10,11 +10,11 @@ const SteeringLimits TESLA_STEERING_LIMITS = {
   },
 };
 
-
 const LongitudinalLimits TESLA_LONG_LIMITS = {
-  .max_accel = 425 - 375,       // 2. m/s^2
-  .min_accel = 287 - 375,       // -3.52 m/s^2  // TODO: limit to -3.48
-  .inactive_accel = 375 - 375,  // 0. m/s^2 (15 / .04)
+  .max_accel = 425,       // 2. m/s^2
+  .min_accel = 287,       // -3.52 m/s^2  // TODO: limit to -3.48
+  .inactive_accel = 375,  // 0. m/s^2
+  .zero_accel = 375,
 };
 
 
@@ -178,8 +178,8 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
       }
 
       // Don't allow any acceleration limits above the safety limits
-      int raw_accel_max = (((GET_BYTE(to_send, 6) & 0x1FU) << 4) | (GET_BYTE(to_send, 5) >> 4)) - 375;
-      int raw_accel_min = (((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3)) - 375;
+      int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1FU) << 4) | (GET_BYTE(to_send, 5) >> 4);
+      int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3);
       violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS);
       violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS);
     } else {

board/safety_declarations.h

@@ -85,6 +85,7 @@ typedef struct {
   const int max_accel;
   const int min_accel;
   const int inactive_accel;
+  const int zero_accel;
 
   // gas & brake cmd limits
   // inactive and min gas are 0 on most safety modes