Added common vehicle_moving state

dzid26 · Aug 19, 2024 · 03ba0f3 · 03ba0f3
1 parent a7c2b77
commit 03ba0f3
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/board/safety/safety_bmw.h b/board/safety/safety_bmw.h
@@ -137,7 +137,7 @@ static void bmw_rx_hook(const CANPacket_t *to_push) {
   if ((addr == BMW_SteeringWheelAngle) && (bus == BMW_PT_CAN)) {
     float meas_angle = to_signed((GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 0), 16) * CAN_BMW_ANGLE_FAC; // deg
     float angle_rate = to_signed((GET_BYTE(to_push, 4) << 8) | GET_BYTE(to_push, 3), 16) * CAN_BMW_ANGLE_FAC; // deg/s
-
+    // todo use common steer_angle_cmd_checks()
     if(bmw_fmax_limit_check(meas_angle, bmw_max_angle, -bmw_max_angle)){
       // We should not be able to STEER under these conditions
       controls_allowed = false;
@@ -158,6 +158,12 @@ static void bmw_rx_hook(const CANPacket_t *to_push) {
     }
   }
 
+  // Update in motion state from standstill signal
+  if (addr == BMW_Speed) {
+    // check moving forward and reverse
+    vehicle_moving = (GET_BYTE(to_push, 1) & 0x30U) != 0U;
+  }
+
   // exit controls on brake press
   if (addr == BMW_EngineAndBrake) {
     // any of two bits at position 61 & 62