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Torque Panda

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firestar5683
2025-10-02 23:42:15 -05:00
parent 5edc219e5d
commit 9dc71ad3cf
1 changed files with 11 additions and 11 deletions
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panda/board/safety/safety_gm.h
+11 -11
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@@ -10,16 +10,16 @@ const SteeringLimits GM_STEERING_LIMITS = {
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 3072,
.min_gas = 1404,
.inactive_gas = 1404,
.max_gas = 7168,
.min_gas = 5500,
.inactive_gas = 5500,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 3400,
.min_gas = 1514,
.inactive_gas = 1554,
.max_gas = 7496,
.min_gas = 5610,
.inactive_gas = 5650,
.max_brake = 400,
};
@@ -143,7 +143,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BIT(to_push, 40U);
brake_pressed = GET_BIT(to_push, 40U) != 0U;
}
if (addr == 0xC9) {
@@ -242,10 +242,10 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
// GAS/REGEN: safety check
if (addr == 0x2CB) {
bool apply = GET_BIT(to_send, 0U);
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
bool violation = false;
// Allow apply bit in pre-enabled and overriding states, except for inactive gas // Allow apply bit in pre-enabled and overriding states
// Allow apply bit in pre-enabled and overriding states
violation |= !controls_allowed && apply;
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
@@ -335,9 +335,9 @@ static safety_config gm_init(uint16_t param) {
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
if (gm_hw == GM_ASCM || gm_force_ascm) {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
gm_long_limits = &GM_ASCM_LONG_LIMITS;
} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
gm_long_limits = &GM_CAM_LONG_LIMITS;
gm_long_limits = &GM_CAM_LONG_LIMITS;
} else {
}