Revert "Steering fault fix"

This reverts commit 6600370.

Author: Casey Francis

panda/board/safety/safety_toyota.h

@@ -44,11 +44,6 @@ addr_checks toyota_rx_checks = {toyota_addr_checks, TOYOTA_ADDR_CHECKS_LEN};
 // global actuation limit states
 int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
-// steering faults occur when the angle rate is above a certain threshold for too long,
-// allow setting STEER_REQUEST bit to 0 with a non-zero desired torque when expected
-const uint8_t TOYOTA_MAX_STEER_RATE_FRAMES = 19U;
-uint8_t toyota_steer_req_matches;  // counter for steer request bit matching non-zero torque
-
 static uint8_t toyota_compute_checksum(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
@@ -205,7 +200,6 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
     if (addr == 0x2E4) {
       int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
       desired_torque = to_signed(desired_torque, 16);
-      bool steer_req = GET_BIT(to_send, 0U) != 0U;
       bool violation = 0;
 
       uint32_t ts = microsecond_timer_get();
@@ -233,27 +227,13 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
         }
       }
 
-      // handle steer_req bit mismatches: we set the bit to 0 at an expected
-      // interval to bypass an EPS fault, violation if we exceed that frequency
-      bool steer_req_mismatch = (desired_torque != 0) && !steer_req;
-      if (!steer_req_mismatch) {
-        toyota_steer_req_matches = MIN(toyota_steer_req_matches + 1U, 255U);
-      } else {
-        // no torque if controls is not allowed or mismatch with STEER_REQUEST bit
-        if ((!controls_allowed || !steer_req) && (desired_torque != 0)) {
-          violation = 1;
-        }
-        toyota_steer_req_matches = 0U;
-      }
-
       // no torque if controls is not allowed
       if (!controls_allowed && (desired_torque != 0)) {
         violation = 1;
       }
 
       // reset to 0 if either controls is not allowed or there's a violation
       if (violation || !controls_allowed) {
-        toyota_steer_req_matches = 0U;
         desired_torque_last = 0;
         rt_torque_last = 0;
         ts_last = ts;
@@ -270,7 +250,6 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
 
 static const addr_checks* toyota_init(int16_t param) {
   controls_allowed = 0;
-  toyota_steer_req_matches = 0U;
   relay_malfunction_reset();
   gas_interceptor_detected = 0;
   toyota_dbc_eps_torque_factor = param;

selfdrive/car/toyota/carcontroller.py

@@ -10,9 +10,6 @@
 from opendbc.can.packer import CANPacker
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-# constants for fault workaround
-MAX_STEER_RATE = 100  # deg/s
-MAX_STEER_RATE_FRAMES = 19
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
@@ -22,7 +19,7 @@ def __init__(self, dbc_name, CP, VM):
     self.standstill_req = False
     self.steer_rate_limited = False
     self.CP = CP
-    self.steer_rate_counter = 0
+
     self.packer = CANPacker(dbc_name)
     self.gas = 0
     self.accel = 0
@@ -54,22 +51,12 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
     self.steer_rate_limited = new_steer != apply_steer
 
-    # EPS_STATUS->LKA_STATE either goes to 21 or 25 on rising edge of a steering fault and
-    # the value seems to describe how many frames the steering rate was above 100 deg/s, so
-    # cut torque with some margin for the lower state
-    if active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
-      self.steer_rate_counter += 1
-    else:
-      self.rate_limit_counter = 0
-
-    apply_steer_req = 1
     # Cut steering while we're in a known fault state (2s)
-    if not active: # or CS.steer_state in (9, 25) or abs(CS.out.steeringRateDeg) > 100 or (abs(CS.out.steeringAngleDeg) > 150 and CS.CP.carFingerprint in [CAR.RAV4H, CAR.PRIUS]):
+    if not active or CS.steer_state in (9, 25):
       apply_steer = 0
       apply_steer_req = 0
-    elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES:
-      apply_steer_req = 0
-      self.steer_rate_counter = 0
+    else:
+      apply_steer_req = 1
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different

selfdrive/car/toyota/carstate.py

@@ -85,10 +85,7 @@ def update(self, cp, cp_cam):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
-    ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
-    # 17 is a fault from a prolonged high torque delta between cmd and user
-    ret.steerError = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
+    ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
 
     if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@@ -127,7 +124,7 @@ def update(self, cp, cp_cam):
 
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
-    #self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
+    self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)