Rivian: fix temp steering faults

opendbc/car/rivian/carcontroller.py

@@ -1,22 +1,31 @@
 from opendbc.can.packer import CANPacker
-from opendbc.car import Bus, apply_driver_steer_torque_limits
+from opendbc.car import Bus, apply_driver_steer_torque_limits, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.rivian.riviancan import create_lka_steering, create_longitudinal, create_wheel_touch, create_adas_status
 from opendbc.car.rivian.values import CarControllerParams
 
+MAX_STEER_RATE = 90  # deg/s
+MAX_STEER_RATE_FRAMES = 4  # tx control frames needed before torque can be cut
+
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.apply_torque_last = 0
     self.packer = CANPacker(dbc_names[Bus.pt])
 
+    self.steer_rate_counter = 0
     self.cancel_frames = 0
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     can_sends = []
 
+    # >100 degree/sec steering fault prevention
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
+                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+    torque_fault = CC.latActive and not apply_steer_req
+
     apply_torque = 0
     if CC.latActive:
       new_torque = int(round(CC.actuators.torque * CarControllerParams.STEER_MAX))
@@ -25,7 +34,7 @@ def update(self, CC, CS, now_nanos):
 
     # send steering command
     self.apply_torque_last = apply_torque
-    can_sends.append(create_lka_steering(self.packer, CS.acm_lka_hba_cmd, apply_torque, CC.latActive))
+    can_sends.append(create_lka_steering(self.packer, CS.acm_lka_hba_cmd, apply_torque, CC.enabled, apply_steer_req, torque_fault))
 
     if self.frame % 5 == 0:
       can_sends.append(create_wheel_touch(self.packer, CS.sccm_wheel_touch, CC.enabled))

opendbc/car/rivian/riviancan.py

@@ -11,15 +11,15 @@ def checksum(data, poly, xor_output):
   return crc ^ xor_output
 
 
-def create_lka_steering(packer, acm_lka_hba_cmd, apply_torque, enabled):
+def create_lka_steering(packer, acm_lka_hba_cmd, apply_torque, enabled, apply_steer_req, torque_fault):
   values = {s: acm_lka_hba_cmd[s] for s in [
     "ACM_lkaHbaCmd_Counter",
     "ACM_lkaHbaCmd_Checksum",
     "ACM_HapticRequest",
-    "ACM_lkaStrToqReq",
+    # "ACM_lkaStrToqReq",
     "ACM_lkaSymbolState",
     "ACM_lkaToiFlt",
-    "ACM_lkaActToi",
+    # "ACM_lkaActToi",
     "ACM_hbaSysState",
     "ACM_FailinfoAeb",
     "ACM_lkaRHWarning",
@@ -36,11 +36,13 @@ def create_lka_steering(packer, acm_lka_hba_cmd, apply_torque, enabled):
     "ACM_unkown6",
   ]}
 
+  values["ACM_lkaStrToqReq"] = apply_torque
+  values["ACM_lkaActToi"] = apply_steer_req
+  values["ACM_lkaToiFlt"] = torque_fault
+
   if enabled:
-    values["ACM_lkaActToi"] = 1
     values["ACM_lkaSymbolState"] = 3
     values["ACM_lkaLaneRecogState"] = 3
-    values["ACM_lkaStrToqReq"] = apply_torque
     values["ACM_unkown2"] = 1
     values["ACM_unkown3"] = 4
     values["ACM_unkown4"] = 160

opendbc/safety/safety/safety_rivian.h

@@ -50,6 +50,13 @@ static bool rivian_tx_hook(const CANPacket_t *to_send) {
     .driver_torque_multiplier = 2,
     .driver_torque_allowance = 100,
     .type = TorqueDriverLimited,
+
+    // the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
+    // we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
+    .min_valid_request_frames = 4,
+    .max_invalid_request_frames = 1,
+    .min_valid_request_rt_interval = 36000,  // 170ms; a ~10% buffer on cutting every 19 frames
+    .has_steer_req_tolerance = true,
   };
 
   const LongitudinalLimits RIVIAN_LONG_LIMITS = {