No tabs in mazda safety

rafcabezas · Nov 15, 2019 · 69d9d61 · 69d9d61
1 parent a86418c
commit 69d9d61
Showing 1 changed file with 27 additions and 27 deletions.
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
@@ -51,7 +51,7 @@ void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int cruise_engaged = GET_BYTE(to_push, 0) & 8;
     if (cruise_engaged != 0) {
       if (!mazda_cruise_engaged_last) {
-	controls_allowed = 1;
+        controls_allowed = 1;
       }
     }
     else {
@@ -96,42 +96,42 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
       if (controls_allowed) {
 
-	// *** global torque limit check ***
-	violation |= max_limit_check(desired_torque, MAZDA_MAX_STEER, -MAZDA_MAX_STEER);
-
-	// *** torque rate limit check ***
-	int desired_torque_last = mazda_desired_torque_last;
-	violation |= driver_limit_check(desired_torque, desired_torque_last, &mazda_torque_driver,
-					MAZDA_MAX_STEER, MAZDA_MAX_RATE_UP, MAZDA_MAX_RATE_DOWN,
-					MAZDA_DRIVER_TORQUE_ALLOWANCE, MAZDA_DRIVER_TORQUE_FACTOR);
-	// used next time
-	mazda_desired_torque_last = desired_torque;
-
-	// *** torque real time rate limit check ***
-	violation |= rt_rate_limit_check(desired_torque, mazda_rt_torque_last, MAZDA_MAX_RT_DELTA);
-
-	// every RT_INTERVAL set the new limits
-	uint32_t ts_elapsed = get_ts_elapsed(ts, mazda_ts_last);
-	if (ts_elapsed > ((uint32_t) MAZDA_RT_INTERVAL)) {
-	  mazda_rt_torque_last = desired_torque;
-	  mazda_ts_last = ts;
-	}
+        // *** global torque limit check ***
+        violation |= max_limit_check(desired_torque, MAZDA_MAX_STEER, -MAZDA_MAX_STEER);
+
+        // *** torque rate limit check ***
+        int desired_torque_last = mazda_desired_torque_last;
+        violation |= driver_limit_check(desired_torque, desired_torque_last, &mazda_torque_driver,
+                                        MAZDA_MAX_STEER, MAZDA_MAX_RATE_UP, MAZDA_MAX_RATE_DOWN,
+                                        MAZDA_DRIVER_TORQUE_ALLOWANCE, MAZDA_DRIVER_TORQUE_FACTOR);
+        // used next time
+        mazda_desired_torque_last = desired_torque;
+
+        // *** torque real time rate limit check ***
+        violation |= rt_rate_limit_check(desired_torque, mazda_rt_torque_last, MAZDA_MAX_RT_DELTA);
+
+        // every RT_INTERVAL set the new limits
+        uint32_t ts_elapsed = get_ts_elapsed(ts, mazda_ts_last);
+        if (ts_elapsed > ((uint32_t) MAZDA_RT_INTERVAL)) {
+          mazda_rt_torque_last = desired_torque;
+          mazda_ts_last = ts;
+        }
       }
 
       // no torque if controls is not allowed
       if (!controls_allowed && (desired_torque != 0)) {
-	violation = 1;
+        violation = 1;
       }
 
       // reset to 0 if either controls is not allowed or there's a violation
       if (violation || !controls_allowed) {
-	mazda_desired_torque_last = 0;
-	mazda_rt_torque_last = 0;
-	mazda_ts_last = ts;
+        mazda_desired_torque_last = 0;
+        mazda_rt_torque_last = 0;
+        mazda_ts_last = ts;
       }
 
       if (violation) {
-	tx = 0;
+        tx = 0;
       }
     }
   }
@@ -149,7 +149,7 @@ static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
       // drop stock CAM_LKAS and CAM_LANEINFI if OP is sending them
       if (!((addr == MAZDA_LKAS) && mazda_op_lkas_detected) &&
           !((addr == MAZDA_LANEINFO) && mazda_op_laneinfo_detected)) {
-	bus_fwd = MAZDA_MAIN;
+        bus_fwd = MAZDA_MAIN;
       }
     }
     else {