Cadillac ignition: simplified logic

commaai · May 31, 2018 · 40c8dda · 40c8dda
1 parent 69be556
commit 40c8dda
Showing 1 changed file with 8 additions and 9 deletions.
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
@@ -1,18 +1,18 @@
 const int STEER_MAX = 150; // 1s
 const int CADILLAC_IGNITION_TIMEOUT = 1000000; // 1s
 
-int cadillac_can_seen = 0;
+int cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
 uint32_t cadillac_ts_last = 0;
 
 static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus_number = (to_push->RDTR >> 4) & 0xFF;
   uint32_t addr = to_push->RIR >> 21;
 
-  // this message isn't all zeros when car is on
+  // this message isn't all zeros when ignition is on
   if ((addr == 0x160) && (bus_number == 0) && to_push->RDLR) {
-    cadillac_can_seen = 1;
-    cadillac_ts_last = TIM2->CNT; // reset timer when gear msg is received
+    cadillac_ign = 1;
+    cadillac_ts_last = TIM2->CNT; // reset timer when ign is received
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
@@ -44,17 +44,16 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static void cadillac_init(int16_t param) {
-  cadillac_can_seen = 0;
+  cadillac_ign = 0;
 }
 
 static int cadillac_ign_hook() {
   uint32_t ts = TIM2->CNT;
   uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_last);
-  if ((ts_elapsed > CADILLAC_IGNITION_TIMEOUT) || (!cadillac_can_seen)) {
-    cadillac_can_seen = 0;
-    return 0;
+  if (ts_elapsed > CADILLAC_IGNITION_TIMEOUT) {
+    cadillac_ign = 0;
   }
-  return 1;
+  return cadillac_ign;
 }
 
 // Placeholder file, actual safety is TODO.