Honda safety: fixed bug and properly abstracted gas_interceptor_detec…

…ted variable
commaai · Jun 4, 2019 · 436b203 · 436b203
1 parent 220cc8f
commit 436b203
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Showing 3 changed files with 4 additions and 5 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -45,6 +45,7 @@ typedef struct {
 
 // This can be set by the safety hooks.
 int controls_allowed = 0;
+int gas_interceptor_detected = 0;
 
 // Include the actual safety policies.
 #include "safety/safety_defaults.h"

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -7,9 +7,7 @@
 //      brake rising edge
 //      brake > 0mph
 
-// these are set in the Honda safety hooks...this is the wrong place
 const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;
-int honda_gas_interceptor_detected = 0;
 int honda_brake_prev = 0;
 int honda_gas_prev = 0;
 int honda_gas_interceptor_prev = 0;
@@ -58,7 +56,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
   // length check because bosch hardware also uses this id (0x201 w/ len = 8)
   if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
-    honda_gas_interceptor_detected = 1;
+    gas_interceptor_detected = 1;
     int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
     if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
         (honda_gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
@@ -68,7 +66,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on rising edge of gas press if no interceptor
-  if (!honda_gas_interceptor_detected) {
+  if (!gas_interceptor_detected) {
     if ((to_push->RIR>>21) == 0x17C) {
       int gas = to_push->RDLR & 0xFF;
       if (gas && !(honda_gas_prev)) {

diff --git a/tests/safety/test.c b/tests/safety/test.c
@@ -233,7 +233,7 @@ void init_tests_subaru(void){
 
 void init_tests_honda(void){
   honda_ego_speed = 0;
-  honda_gas_interceptor_detected = 0;
+  gas_interceptor_detected = 0;
   honda_brake_prev = 0;
   honda_gas_prev = 0;
 }