Cadillac: simplified the ignition code by removing the timeout logic …

…and resetting controls_allowed = 0 at each init
commaai · Jun 3, 2018 · d9f1e61 · d9f1e61
1 parent 293fd1a
commit d9f1e61
Showing 1 changed file with 3 additions and 10 deletions.
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
@@ -1,5 +1,4 @@
 const int CADILLAC_STEER_MAX = 150; // 1s
-const int CADILLAC_IGNITION_TIMEOUT = 1000000; // 1s
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
 const int CADILLAC_MAX_RT_DELTA = 75;       // max delta torque allowed for real time checks
@@ -11,7 +10,6 @@ const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
 
 int cadillac_ign = 0;
 int cadillac_cruise_engaged_last = 0;
-uint32_t cadillac_ts_ign_last = 0;
 int cadillac_rt_torque_last = 0;
 int cadillac_desired_torque_last = 0;
 uint32_t cadillac_ts_last = 0;
@@ -31,9 +29,8 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // this message isn't all zeros when ignition is on
-  if ((addr == 0x160) && (bus_number == 0) && to_push->RDLR) {
-    cadillac_ign = 1;
-    cadillac_ts_ign_last = TIM2->CNT; // reset timer when ign is received
+  if (addr == 0x160 && bus_number == 0) {
+    cadillac_ign = to_push->RDLR > 0;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
@@ -131,15 +128,11 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static void cadillac_init(int16_t param) {
+  controls_allowed = 0;
   cadillac_ign = 0;
 }
 
 static int cadillac_ign_hook() {
-  uint32_t ts = TIM2->CNT;
-  uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_ign_last);
-  if (ts_elapsed > CADILLAC_IGNITION_TIMEOUT) {
-    cadillac_ign = 0;
-  }
   return cadillac_ign;
 }