retropilot
/
panda
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Honda safety: fixed bug and properly abstracted gas_interceptor_detected variable

master
Riccardo 2019-06-04 13:36:46 -07:00
parent 220cc8f4b5
commit 436b203e0b
3 changed files with 4 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
board/safety.h
View File

@ -45,6 +45,7 @@ typedef struct {
// This can be set by the safety hooks.
int controls_allowed = 0;
int gas_interceptor_detected = 0;
// Include the actual safety policies.
#include "safety/safety_defaults.h"

6
board/safety/safety_honda.h
View File

@ -7,9 +7,7 @@
// brake rising edge
// brake > 0mph
// these are set in the Honda safety hooks...this is the wrong place
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;
int honda_gas_interceptor_detected = 0;
int honda_brake_prev = 0;
int honda_gas_prev = 0;
int honda_gas_interceptor_prev = 0;
@ -58,7 +56,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
honda_gas_interceptor_detected = 1;
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(honda_gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
@ -68,7 +66,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// exit controls on rising edge of gas press if no interceptor
if (!honda_gas_interceptor_detected) {
if (!gas_interceptor_detected) {
if ((to_push->RIR>>21) == 0x17C) {
int gas = to_push->RDLR & 0xFF;
if (gas && !(honda_gas_prev)) {

2
tests/safety/test.c
View File

@ -233,7 +233,7 @@ void init_tests_subaru(void){
void init_tests_honda(void){
honda_ego_speed = 0;
honda_gas_interceptor_detected = 0;
gas_interceptor_detected = 0;
honda_brake_prev = 0;
honda_gas_prev = 0;
}