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added checking pedal interceptor message length

master
Greg Hogan 2018-03-06 16:37:06 -06:00
parent f7226ff215
commit c6acac872b
1 changed files with 3 additions and 2 deletions
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5
board/safety/safety_honda.h
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@ -50,8 +50,9 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
brake_prev = brake;
}
// exit controls on rising edge of gas press if interceptor
if (!bosch_hardware && (to_push->RIR>>21) == 0x201) {
// 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) {
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
if ((gas_interceptor > 328) && (gas_interceptor_prev <= 328)) {