misra

martinl · Jul 21, 2023 · 4fbba35 · 4fbba35
2 parents 4b38cac + 36c0972
commit 4fbba35
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -51,7 +51,7 @@ RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-instal
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
-ENV OPENPILOT_REF="29837b872802db8b445653f63c2c1ab67e7a27af"
+ENV OPENPILOT_REF="80bbba14f74e57bbe90216dfd0a99f6f68d77ca2"
 ENV OPENDBC_REF="5880fbbccf5a670631b51836f20e446de643795a"
 
 COPY requirements.txt /tmp/

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -19,12 +19,12 @@ const SteeringLimits SUBARU_GEN2_STEERING_LIMITS  = SUBARU_STEERING_LIMITS_GENER
 const SteeringLimits SUBARU_ANGLE_STEERING_LIMITS = {
   .angle_deg_to_can = 1,
   .angle_rate_up_lookup = {
-    {0},
-    {1}
+    {0,5,10},
+    {1,1,1}
   },
   .angle_rate_down_lookup = {
-    {0},
-    {1}
+    {0,5,10},
+    {1,1,1}
   },
 };
 
@@ -214,7 +214,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
     int desired_angle = ((GET_BYTES(to_send, 4, 4) >> 8) & 0x3FFFFU);
     desired_angle = -1 * to_signed(desired_angle, 17) / 100;
 
-    bool lkas_request = GET_BIT(to_send, 12);
+    bool lkas_request = GET_BIT(to_send, 12U);
 
     const SteeringLimits limits = SUBARU_ANGLE_STEERING_LIMITS;
     if (steer_angle_cmd_checks(desired_angle, lkas_request, limits)) {