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Tesla safety: reduced scope of vars

master
Riccardo 2019-06-14 12:30:59 -07:00
parent f9d2e8876b
commit 464f5c2b22
1 changed files with 3 additions and 7 deletions
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10
board/safety/safety_tesla.h
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@ -150,17 +150,13 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int tx = 1;
uint32_t addr;
float angle_raw;
float desired_angle;
addr = to_send->RIR >> 21;
uint32_t addr = to_send->RIR >> 21;
// do not transmit CAN message if steering angle too high
// DAS_steeringControl::DAS_steeringAngleRequest
if (addr == 0x488U) {
angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
desired_angle = (angle_raw * 0.1) - 1638.35;
float angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
float desired_angle = (angle_raw * 0.1) - 1638.35;
bool violation = 0;
int st_enabled = (to_send->RDLR & 0x400000) >> 22;