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body safety: add addresses to enter can flasher (#1000)

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* was bad idea to check length

* msg len?

* comment
This commit is contained in:
Igor Biletskyy
2022-07-25 20:24:44 -07:00
committed by GitHub
parent 4c433e6d47
commit 74408d64f1
1 changed files with 5 additions and 5 deletions
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10
board/safety/safety_body.h
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@@ -1,8 +1,8 @@
const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 6}, {0x251, 0, 5}, // body
{0x350, 0, 6}, {0x351, 0, 5}}; // knee
const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8}, {0x250, 0, 6}, {0x251, 0, 5}, // body
{0x350, 0, 8}, {0x350, 0, 6}, {0x351, 0, 5}}; // knee
AddrCheckStruct body_addr_checks[] = {
{.msg = {{0x201, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
{.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
};
#define BODY_ADDR_CHECK_LEN (sizeof(body_addr_checks) / sizeof(body_addr_checks[0]))
addr_checks body_rx_checks = {body_addr_checks, BODY_ADDR_CHECK_LEN};
@@ -22,8 +22,8 @@ static int body_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
int tx = 0;
int addr = GET_ADDR(to_send);
// CAN flasher (0x1 - body, 0x7 - knee)
if ((addr == 0x1) || (addr == 0x7)) {
// CAN flasher
if (addr == 0x1) {
tx = 1;
}