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safety: check tx message frequency #2330

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safety: check tx message frequency #2330

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@sshane sshane commented May 30, 2025 •
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This PR is to add a generic max frequency param that is checked for any message that specifies it, such as lat/long actuation messages. It will replace the rt logic:

opendbc/opendbc/safety/safety.h

Lines 665 to 673 in 65b880d

// *** torque real time rate limit check ***
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, limits.max_rt_delta);
// every RT_INTERVAL set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last);
if (ts_elapsed > MAX_TORQUE_RT_INTERVAL) {
rt_torque_last = desired_torque;
ts_torque_check_last = ts;
}

@sshane sshane added enhancement car safety vehicle-specific safety code labels May 30, 2025
@sshane sshane added this to the safety 1.0 milestone May 30, 2025
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sshane commented May 30, 2025

See #2332 (comment)

@sshane sshane closed this May 30, 2025
@sshane sshane deleted the safety-tx-freq branch May 30, 2025 03:44
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@sshane