mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-07-26 20:32:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

panda safety fix

Browse Source
This commit is contained in:
MoreTore
2025-03-16 14:12:20 -05:00
parent 53be512377
commit 4100c81943
1 changed files with 9 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/board/safety/safety_mazda.h
+9 -5
View File
@@ -126,6 +126,7 @@ RxCheck mazda_2023_rx_checks[] = {
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
static void mazda_rx_hook(const CANPacket_t *to_push) {
print("pcm_cruise_check");
int addr = GET_ADDR(to_push);
if ((int)GET_BUS(to_push) == MAZDA_MAIN) {
if (gen1){
@@ -185,16 +186,19 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
brake_pressed = (GET_BYTE(to_push, 7) & 0x8U);
}
if (addr == MAZDA_2019_CRUISE) {
acc_main_on = true;
bool cruise_engaged = GET_BYTE(to_push, 0) & 0x30U;
bool pre_enable = GET_BYTE(to_push, 0) & 0x40U;
pcm_cruise_check((cruise_engaged || pre_enable));
uint8_t state = GET_BYTE(to_push, 0) & 0x70U;
bool cruise_engaged = (0x30U == state);
bool cruise_ready = (0x20U == state);
bool cruise_override = (0x40U == state);
//bool cruise_disable = (state == 0x10U);
acc_main_on = cruise_ready;
pcm_cruise_check(cruise_engaged || cruise_override);
}
if (addr == MAZDA_2023_SPEED) {
int speed = ( (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1)) ) - 10000; // Front Left Wheel Speed
vehicle_moving = speed != 0;
}
generic_rx_checks(false); //TODO
generic_rx_checks(addr == 0x219);
}
}