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Safety checks

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firestar5683
2026-10-09 05:12:53 -05:00
parent ae7b168a86
commit 24dc7b9112
2 changed files with 5 additions and 3 deletions
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opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+4 -2
View File
@@ -185,8 +185,6 @@ static bool aol_optional_release_pending = false;
static bool aol_optional_release_latch = false;
static uint32_t aol_optional_release_ts = 0U;
static bool aol_optional_release_counter_seen = false;
static uint8_t aol_optional_release_counter = 0U;
static uint32_t aol_optional_release_sample_ts = 0U;
static bool hyundai_torque_long_aol_cancel_preserves_lateral = false;
static bool hyundai_canfd_torque_ev_long = false;
static bool aol_ioniq6_lateral_latch = false;
@@ -523,6 +521,8 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
}
if (aol_ioniq6_long && (msg_matches(msg, hyundai_canfd_alt_buttons ? 0x1aaU : 0x1cfU, pt_bus))) {
if (aol_optional_release_capable && aol_optional_release_policy) {
static uint8_t aol_optional_release_counter = 0U;
static uint32_t aol_optional_release_sample_ts = 0U;
const uint8_t counter = hyundai_canfd_get_counter(msg);
const uint8_t maximum = hyundai_canfd_alt_buttons ? 0xffU : 0xfU;
const uint32_t sample_ts = microsecond_timer_get();
@@ -547,6 +547,8 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
(aol_optional_release_previous == HYUNDAI_BTN_RESUME)) && (cruise_button == HYUNDAI_BTN_NONE)) {
aol_optional_release_pending = true;
aol_optional_release_ts = microsecond_timer_get();
} else {
// No release edge; retain the current neutral/release state.
}
aol_optional_release_previous = (uint8_t)cruise_button;
}
panda/board/drivers/gpio.h
+1 -1
View File
@@ -49,7 +49,7 @@ void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int out
void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
ENTER_CRITICAL();
uint32_t tmp = GPIO->AFR[pin >> 3U];
tmp &= ~(0xFU << ((pin & 7U) * 4U));
tmp &= ~((uint32_t)0xFU << ((pin & 7U) * 4U));
tmp |= mode << ((pin & 7U) * 4U);
register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU);
set_gpio_mode(GPIO, pin, MODE_ALTERNATE);