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编辑can_common.h

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Mr.one
2026-07-15 19:25:51 +08:00
parent ec36216db6
commit 5dbc42ef2e
1 changed files with 6 additions and 6 deletions
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panda/board/drivers/can_common.h
+6 -6
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@@ -226,10 +226,10 @@ void ignition_can_hook(CANPacket_t *to_push) {
}
// Mazda Gen1 engine RPM based ignition (ENGINE_DATA, 0x202, 100Hz on bus 0)
// RPM in byte[0]:byte[1], factor 0.25, engine running when > 0
// Speed in byte[2]:byte[3], factor 0.01, engine running when > 0
if ((addr == 0x202) && (len == 8)) {
int rpm_raw = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
if (rpm_raw > 200) { // ~50 rpm threshold to avoid noise
int speed_raw = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
if (speed_raw > 5) { // > 0.05 km/h threshold to avoid noise
ignition_can = true;
ignition_can_cnt = 0U;
}
@@ -250,10 +250,10 @@ void ignition_can_hook(CANPacket_t *to_push) {
}
// Mazda Gen2/Gen3 engine RPM based ignition (ENGINE_DATA, 0x202, 100Hz on bus 2 / CAM)
// RPM in byte[0]:byte[1], factor 0.25, engine running when > 0
// Speed in byte[2]:byte[3], factor 0.01, engine running when > 0
if ((addr == 0x202) && (len == 8)) {
int rpm_raw = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
if (rpm_raw > 200) { // ~50 rpm threshold to avoid noise
int speed_raw = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
if (speed_raw > 5) { // > 0.05 km/h threshold to avoid noise
ignition_can = true;
ignition_can_cnt = 0U;
}