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Reconcile panda pedal cancel logic for Toyota with controls (#698)

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rbiasini
2019-06-13 17:51:12 -07:00
committed by Willem Melching
parent 609a80ba0e
commit c5ce0dcddd
2 changed files with 11 additions and 6 deletions
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2
panda/VERSION
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@@ -1 +1 @@
v1.3.1
v1.3.2

15
panda/board/safety/safety_toyota.h
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@@ -53,16 +53,12 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if ((to_push->RIR>>21) == 0x1D2) {
// 5th bit is CRUISE_ACTIVE
int cruise_engaged = to_push->RDLR & 0x20;
// 4th bit is GAS_RELEASED
int gas = !(to_push->RDLR & 0x10);
if (!cruise_engaged ||
(gas && !toyota_gas_prev && !gas_interceptor_detected && long_controls_allowed)) {
if (!cruise_engaged) {
controls_allowed = 0;
} else if (cruise_engaged && !toyota_cruise_engaged_last) {
controls_allowed = 1;
}
toyota_cruise_engaged_last = cruise_engaged;
toyota_gas_prev = gas;
}
// exit controls on rising edge of gas press if interceptor (0x201)
@@ -77,6 +73,15 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press
if ((to_push->RIR>>21) == 0x2C1) {
int gas = (to_push->RDHR >> 16) & 0xFF;
if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
controls_allowed = 0;
}
toyota_gas_prev = gas;
}
int bus = (to_push->RDTR >> 4) & 0xF;
// msgs are only on bus 2 if panda is connected to frc
if (bus == 2) {