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revert safety_toyota.h change

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This commit is contained in:
Rick Lan
2019-07-02 11:11:37 +10:00
parent d55c7ef173
commit 4e1518c90a
1 changed files with 20 additions and 20 deletions
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panda/board/safety/safety_toyota.h
+20 -20
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@@ -66,26 +66,26 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
toyota_cruise_engaged_last = cruise_engaged;
}
// // exit controls on rising edge of interceptor gas press
// if (addr == 0x201) {
// gas_interceptor_detected = 1;
// int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
// if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
// (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
// long_controls_allowed) {
// controls_allowed = 0;
// }
// gas_interceptor_prev = gas_interceptor;
// }
//
// // exit controls on rising edge of gas press
// if (addr == 0x2C1) {
// int gas = (to_push->RDHR >> 16) & 0xFF;
// if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
// controls_allowed = 0;
// }
// toyota_gas_prev = gas;
// }
// exit controls on rising edge of interceptor gas press
if (addr == 0x201) {
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press
if (addr == 0x2C1) {
int gas = (to_push->RDHR >> 16) & 0xFF;
if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
controls_allowed = 0;
}
toyota_gas_prev = gas;
}
// msgs are only on bus 2 if panda is connected to frc
if (bus == 2) {