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Merge panda subtree

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This commit is contained in:
Vehicle Researcher
2018-03-18 10:32:24 -07:00
parent ad3f0a348a a8d110ad74
commit 013351a2ee
2 changed files with 6 additions and 3 deletions
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2
panda/VERSION
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@@ -1 +1 @@
v1.0.9
v1.1.0

7
panda/board/safety/safety_honda.h
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@@ -8,6 +8,7 @@
// brake > 0mph
// these are set in the Honda safety hooks...this is the wrong place
const int gas_interceptor_threshold = 328;
int gas_interceptor_detected = 0;
int brake_prev = 0;
int gas_prev = 0;
@@ -55,7 +56,8 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
if ((gas_interceptor > 328) && (gas_interceptor_prev <= 328)) {
if ((gas_interceptor > gas_interceptor_threshold) &&
(gas_interceptor_prev <= gas_interceptor_threshold)) {
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
@@ -83,7 +85,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gas_prev || gas_interceptor_prev || (brake_prev && ego_speed);
int pedal_pressed = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) ||
(brake_prev && ego_speed);
int current_controls_allowed = controls_allowed && !(pedal_pressed);
// BRAKE: safety check