Safety Hyundai: bug fixes

commaai · Aug 30, 2018 · 04270b8 · 04270b8
1 parent d0c28b7
commit 04270b8
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -30,7 +30,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   if (addr == 897) {
-    int torque_driver_new = ((to_push->RDHR >> 11) & 0x7ff) - 2048;
+    int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
     // update array of samples
     update_sample(&hyundai_torque_driver, torque_driver_new);
   }
@@ -77,8 +77,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // LKA STEER: safety check
   if (addr == 832) {
-    int rdlr = to_send->RDLR;
-    int desired_torque = ((rdlr >> 16) & 0x7ff) - 1024;
+    int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
     uint32_t ts = TIM2->CNT;
     int violation = 0;