clean address

dzid26 · Aug 20, 2024 · 732980d · 732980d
1 parent 03ba0f3
commit 732980d
Showing 1 changed file with 10 additions and 12 deletions.
diff --git a/board/safety/safety_bmw.h b/board/safety/safety_bmw.h
@@ -20,18 +20,18 @@ RxCheck bmw_rx_checks[] = {  // todo add .check_checksum and .max_counter
   {.msg = {{BMW_SteeringWheelAngle,   BMW_PT_CAN, 7, .frequency = 100U}, { 0 }, { 0 }}},
   {.msg = {{BMW_TransmissionDataDisplay,   BMW_PT_CAN, 6, .frequency = 5U}, { 0 }, { 0 }}},
   // todo cruise control type dependant, use param:
-  // {.msg = {{BMW_CruiseControlStatus,  BMW_PT_CAN, 8, .frequency = 50U}, { 0 }, { 0 }}},
-  // {.msg = {{BMW_DynamicCruiseControlStatus,  BMW_F_CAN, 7, .frequency = 100U}, { 0 }, { 0 }}},
-  // {.msg = {{559,  BMW_F_CAN, 8, .frequency = 100U}, { 0 }, { 0 }}},
-  // {.msg = {{559,  BMW_AUX_CAN, 8, .frequency = 100U}, { 0 }, { 0 }}},
+  // {.msg = {{BMW_CruiseControlStatus,  BMW_PT_CAN, 8, .frequency = 5U}, { 0 }, { 0 }}},
+  // {.msg = {{BMW_DynamicCruiseControlStatus,  BMW_F_CAN, 7, .frequency = 5U}, { 0 }, { 0 }}},
+  // {.msg = {{0x22f,  BMW_F_CAN, 8, .frequency = 100U}, { 0 }, { 0 }}},
+  // {.msg = {{0x22f,  BMW_AUX_CAN, 8, .frequency = 100U}, { 0 }, { 0 }}},
 };
 
 
 const CanMsg BMW_TX_MSGS[] = {
   {BMW_CruiseControlStalk, BMW_PT_CAN, 4},   // Normal cruise control send status on PT-CAN
   {BMW_CruiseControlStalk, BMW_F_CAN, 4},    // Dynamic cruise control send status on F-CAN
-  {558, BMW_F_CAN, 5},    // STEPPER_SERVO_CAN is allowed on F-CAN network
-  {558, BMW_AUX_CAN, 5},  // or an standalone network
+  {0x22e, BMW_F_CAN, 5},    // STEPPER_SERVO_CAN is allowed on F-CAN network
+  {0x22e, BMW_AUX_CAN, 5},  // or an standalone network
 };
 
 #define KPH_TO_MS 0.277778
@@ -103,9 +103,8 @@ static void bmw_rx_hook(const CANPacket_t *to_push) {
     }
   }
   if (addr == BMW_TransmissionDataDisplay) {
-    if ((GET_BYTE(to_push, 0) & 0xF) == ((GET_BYTE(to_push, 0) >> 4) ^ 0xF)) { //check agains shift lever compliment signal
-      lever_position = GET_BYTE(to_push, 0) & 0xF; //compliment match
-    } else {
+    lever_position = GET_BYTE(to_push, 0) & 0xF;
+    if (lever_position != ((GET_BYTE(to_push, 0) >> 4) ^ 0xF)) { //check against shift lever compliment signal
       lever_position = -1; //invalid
     }
     // if not in Drive
@@ -124,7 +123,7 @@ static void bmw_rx_hook(const CANPacket_t *to_push) {
   }
 
   // STEPPER_SERVO_CAN: get STEERING_STATUS
-  if ((addr == 559) && ((bus == BMW_F_CAN) || (bus == BMW_AUX_CAN))) {
+  if ((addr == 0x22f) && ((bus == BMW_F_CAN) || (bus == BMW_AUX_CAN))) {
     actuator_torque = ((float)(int8_t)(GET_BYTE(to_push, 2))) * CAN_ACTUATOR_TQ_FAC; //Nm
 
     if((((GET_BYTE(to_push, 1)>>4)>>CAN_ACTUATOR_CONTROL_STATUS_SOFTOFF_BIT) & 0x1) != 0x0){ //Soft off status means motor is shutting down due to error
@@ -145,7 +144,6 @@ static void bmw_rx_hook(const CANPacket_t *to_push) {
         print("Too big angle \n");
       }
     }
-
     if (bmw_fmax_limit_check((bmw_rt_angle_last >= 0.) ? angle_rate : -angle_rate, angle_rate_up, -angle_rate_down)) { //should be sensitive for jerks to the outside
       controls_allowed = false;         // todo  ^ handle zero crossing a bit smarter
       if (cruise_engaged){
@@ -188,7 +186,7 @@ static bool bmw_tx_hook(const CANPacket_t *to_send) {
   // static float bmw_desired_angle_last = 0; // last desired steer angle
   // // STEPPER_SERVO_CAN: get STEERING_COMMAND
   // // do not transmit CAN message if steering angle too high
-  // if (addr == 558) {
+  // if (addr == 0x22e) {
   //   if (((GET_BYTE(to_send, 1) >> 4) & 0b11u) != 0x0){ //control enabled
   //     float steer_torque = ((float)(int8_t)(GET_BYTE(to_send, 4))) * CAN_ACTUATOR_TQ_FAC; //Nm
   //     if (bmw_fmax_limit_check(steer_torque - actuator_torque, max_tq_rate, -max_tq_rate)){