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Complete native safety type checks

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firestar5683
2026-11-02 22:38:34 +00:00
parent 1ecde54bb0
commit 7d062147d3
2 changed files with 3 additions and 2 deletions
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opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+1 -1
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@@ -182,7 +182,6 @@ static bool hyundai_canfd_carnival_alt_resume = false;
static bool hyundai_canfd_carnival_source_valid = false;
static bool hyundai_canfd_carnival_previous_valid = false;
static bool hyundai_canfd_carnival_counter_seen = false;
static uint8_t hyundai_canfd_carnival_rx_counter = 0U;
static bool hyundai_canfd_carnival_counter_consumed = false;
static bool hyundai_canfd_angle_steering = false;
static bool hyundai_canfd_angle_observed_adas = false;
@@ -701,6 +700,7 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
}
}
if (hyundai_canfd_carnival_alt_resume && (msg_matches(msg, 0x1aaU, pt_bus))) {
static uint8_t hyundai_canfd_carnival_rx_counter = 0U;
const bool source_fresh = !hyundai_canfd_carnival_counter_seen ||
hyundai_canfd_button_counter_follows(hyundai_canfd_carnival_rx_counter, msg->data[2], 0xFFU);
hyundai_canfd_carnival_counter_seen = true;
opendbc_repo/opendbc/safety/modes/tesla.h
+2 -1
View File
@@ -103,7 +103,8 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
const int angle_meas_new = (((msg->data[4] & 0x3FU) << 8) | msg->data[5]) - 8192U;
update_sample(&angle_meas, angle_meas_new);
const int torsion_bar_torque = (int)(((msg->data[2] & 0x0FU) << 8) | msg->data[3]) - 2050;
const unsigned int raw_torsion_bar_torque = ((msg->data[2] & 0x0FU) << 8) | msg->data[3];
const int torsion_bar_torque = (int)raw_torsion_bar_torque - 2050;
const int hands_on_level = msg->data[4] >> 6; // EPAS3S_handsOnLevel
const int eac_status = msg->data[6] >> 5; // EPAS3S_eacStatus
const int eac_error_code = msg->data[2] >> 4; // EPAS3S_eacErrorCode