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Removed 10.1 violations (#217)

master
rbiasini 2019-06-14 12:08:59 -07:00 committed by GitHub
parent c066c7838c
commit 3601212ec5
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 11 additions and 11 deletions
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4
board/safety.h
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@ -103,8 +103,8 @@ uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
// convert a trimmed integer to signed 32 bit int
int to_signed(int d, int bits) {
int d_signed = d;
if (d >= (1 << (bits - 1))) {
d_signed = d - (1 << bits);
if (d >= (1 << max((bits - 1), 0))) {
d_signed = d - (1 << max(bits, 0));
}
return d_signed;
}

8
board/safety/safety_chrysler.h
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@ -27,8 +27,8 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Measured eps torque
if (addr == 544U) {
int rdhr = to_push->RDHR;
int torque_meas_new = ((rdhr & 0x7) << 8) + ((rdhr & 0xFF00) >> 8) - 1024;
uint32_t rdhr = to_push->RDHR;
int torque_meas_new = ((rdhr & 0x7U) << 8) + ((rdhr & 0xFF00U) >> 8) - 1024U;
// update array of samples
update_sample(&chrysler_torque_meas, torque_meas_new);
@ -73,8 +73,8 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// LKA STEER
if (addr == 0x292U) {
int rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - 1024;
uint32_t rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8) - 1024U;
uint32_t ts = TIM2->CNT;
bool violation = 0;

8
board/safety/safety_gm.h
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@ -147,8 +147,8 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// BRAKE: safety check
if (addr == 789U) {
int rdlr = to_send->RDLR;
int brake = ((rdlr & 0xF) << 8) + ((rdlr & 0xFF00) >> 8);
uint32_t rdlr = to_send->RDLR;
int brake = ((rdlr & 0xFU) << 8) + ((rdlr & 0xFF00U) >> 8);
brake = (0x1000 - brake) & 0xFFF;
if (current_controls_allowed && long_controls_allowed) {
if (brake > GM_MAX_BRAKE) {
@ -163,8 +163,8 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// LKA STEER: safety check
if (addr == 384U) {
int rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8);
uint32_t rdlr = to_send->RDLR;
int desired_torque = ((rdlr & 0x7U) << 8) + ((rdlr & 0xFF00U) >> 8);
uint32_t ts = TIM2->CNT;
bool violation = 0;
desired_torque = to_signed(desired_torque, 11);

2
board/safety/safety_tesla.h
View File

@ -217,7 +217,7 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
if (addr == 0x101) {
to_fwd->RDLR = to_fwd->RDLR | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
int checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
uint32_t checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
to_fwd->RDLR = to_fwd->RDLR & 0xFFFF;
to_fwd->RDLR = to_fwd->RDLR + (checksum << 16);
}