From f7226ff21540398d5dc2531d61f90312e00113a6 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 6 Mar 2018 13:56:01 -0600 Subject: [PATCH] added brake safety checks --- board/safety/safety_honda.h | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h index 2ddbb28d314042..22c5f004d8d6e6 100644 --- a/board/safety/safety_honda.h +++ b/board/safety/safety_honda.h @@ -13,7 +13,6 @@ int brake_prev = 0; int gas_prev = 0; int gas_interceptor_prev = 0; int ego_speed = 0; - // TODO: auto-detect bosch hardware based on CAN messages? bool bosch_hardware = false; @@ -36,11 +35,15 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { } } + // user brake signal is different for nidec vs bosch hardware + // nidec hardware: 0x17C bit 53 + // bosch hardware: 0x1BE bit 4 + #define IS_USER_BRAKE_MSG(to_push) (!bosch_hardware ? to_push->RIR>>21 == 0x17C : to_push->RIR>>21 == 0x1BE) + #define USER_BRAKE_VALUE(to_push) (!bosch_hardware ? to_push->RDHR & 0x200000 : to_push->RDLR & 0x10) // exit controls on rising edge of brake press or on brake press when // speed > 0 - if (!bosch_hardware && (to_push->RIR>>21) == 0x17C) { - // bit 53 - int brake = to_push->RDHR & 0x200000; + if (IS_USER_BRAKE_MSG(to_push)) { + int brake = USER_BRAKE_VALUE(to_push); if (brake && (!(brake_prev) || ego_speed)) { controls_allowed = 0; }