Hyundai safety: simplifications

jeankalud · Sep 5, 2018 · 1c0ffd1 · 1c0ffd1
1 parent 56794d6
commit 1c0ffd1
Showing 1 changed file with 5 additions and 9 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -41,11 +41,8 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // Find out which bus the camera is on
-  if (bus == 1 && addr == 832) {
-    hyundai_camera_bus = 1;
-  }
-  if (bus == 2 && addr == 832) {
-    hyundai_camera_bus = 2;
+  if (addr == 832) {
+    hyundai_camera_bus = bus;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
@@ -143,11 +140,10 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   // forward cam to ccan and viceversa, except lkas cmd
   if ((bus_num == 0 || bus_num == hyundai_camera_bus) && hyundai_giraffe_switch_2) {
-    int addr = to_fwd->RIR>>21;
 
-    if (addr == 832 && bus_num == hyundai_camera_bus) return -1;
-    if (bus_num == 0) return (uint8_t)(hyundai_camera_bus);
-    if (bus_num == hyundai_camera_bus) return (uint8_t)(0);
+    if ((to_fwd->RIR>>21) == 832 && bus_num == hyundai_camera_bus) return -1;
+    if (bus_num == 0) return hyundai_camera_bus;
+    if (bus_num == hyundai_camera_bus) return 0;
   }
   return -1;
 }