From 2ef996fd926fb20cfdbb999d6f009d6f8a290336 Mon Sep 17 00:00:00 2001 From: Riccardo Biasini Date: Wed, 4 Mar 2020 21:00:27 -0800 Subject: [PATCH] fix addr frequencies --- board/safety/safety_nissan.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h index c5a2132..1e75474 100644 --- a/board/safety/safety_nissan.h +++ b/board/safety/safety_nissan.h @@ -13,14 +13,14 @@ const struct lookup_t NISSAN_LOOKUP_MAX_ANGLE = { {3.3, 12, 32}, {540., 120., 23.}}; -const int NISSAN_DEG_TO_CAN = 100; +const int NISSAN_DEG_TO_CAN = 100; const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x20b, 2}}; AddrCheckStruct nissan_rx_checks[] = { - {.addr = {0x2}, .bus = 0, .expected_timestep = 100000U}, - {.addr = {0x29a}, .bus = 0, .expected_timestep = 50000U}, - {.addr = {0x1b6}, .bus = 1, .expected_timestep = 100000U}, + {.addr = {0x2}, .bus = 0, .expected_timestep = 10000U}, + {.addr = {0x29a}, .bus = 0, .expected_timestep = 20000U}, + {.addr = {0x1b6}, .bus = 1, .expected_timestep = 10000U}, }; const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]); @@ -135,7 +135,7 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { int highest_desired_angle = nissan_desired_angle_last + ((nissan_desired_angle_last > 0) ? delta_angle_up : delta_angle_down); int lowest_desired_angle = nissan_desired_angle_last - ((nissan_desired_angle_last >= 0) ? delta_angle_down : delta_angle_up); - // Limit maximum steering angle at current speed + // Limit maximum steering angle at current speed int maximum_angle = ((int)interpolate(NISSAN_LOOKUP_MAX_ANGLE, nissan_speed)); if (highest_desired_angle > (maximum_angle * NISSAN_DEG_TO_CAN)) {