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* fix control mismatch issue.

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This commit is contained in:
Rick Lan
2018-08-30 20:40:46 +10:00
parent c5d2d2ea5f
commit defe5dff68
1 changed files with 9 additions and 3 deletions
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panda/board/safety/safety_toyota.h
+9 -3
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@@ -32,6 +32,7 @@ struct sample_t toyota_torque_meas; // last 3 motor torques produced by th
uint32_t acc_addr = 0;
uint32_t acc_vl = 0;
int is_lexus_ave30 = 0;
static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// get eps motor torque (0.66 factor in dbc)
@@ -52,7 +53,11 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if ((to_push->RIR>>21) == acc_addr) {
// 4 bits: 55-52
int cruise_engaged = to_push->RDHR & acc_vl;
if (is_lexus_ave30 == 1) {
int cruise_engaged = to_push->RDLR & 0x400;
} else {
int cruise_engaged = to_push->RDHR & 0xF00000;
}
if (cruise_engaged && !toyota_cruise_engaged_last) {
controls_allowed = 1;
} else if (!cruise_engaged) {
@@ -159,7 +164,7 @@ static void toyota_init(int16_t param) {
toyota_giraffe_switch_1 = 0;
toyota_dbc_eps_torque_factor = param;
acc_addr = 0x1D2;
acc_vl = 0xF00000;
is_lexus_ave30 = 0;
}
static void lexus_ave30_init(int16_t param) {
@@ -169,6 +174,7 @@ static void lexus_ave30_init(int16_t param) {
toyota_dbc_eps_torque_factor = param;
acc_addr = 0x3F1;
acc_vl = 0x400;
is_lexus_ave30 = 1;
}
static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -197,7 +203,7 @@ static void toyota_nolimits_init(int16_t param) {
toyota_giraffe_switch_1 = 0;
toyota_dbc_eps_torque_factor = param;
acc_addr = 0x1D2;
acc_vl = 0xF00000;
is_lexus_ave30 = 0;
}
const safety_hooks toyota_nolimits_hooks = {