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only check button values on rising edge of PCM ACC enable

This commit is contained in:
Shane Smiskol 2022-04-21 16:50:19 -07:00
parent a3d905049b
commit b0832e106f
1 changed files with 21 additions and 18 deletions
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39
board/safety/safety_hyundai.h
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@ -197,29 +197,32 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
}
}
// enter controls on rising edge of ACC and user button press, exit controls on ACC off
// enter controls on rising edge of ACC and user button press, exit controls when ACC off
if (!hyundai_longitudinal && (addr == 1057)) {
bool cruise_pressed_recent = false;
bool main_pressed_recent = false;
for (int i = 0; i < MIN(cruise_buttons.length, PREV_BUTTON_SAMPLES); i++) {
int button = cruise_buttons.values[i];
if ((button == HYUNDAI_BTN_RESUME) || (button == HYUNDAI_BTN_SET) || (button == HYUNDAI_BTN_CANCEL)) {
cruise_pressed_recent = true;
break;
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
if (cruise_engaged && !cruise_engaged_prev) {
bool cruise_pressed_recent = false;
bool main_pressed_recent = false;
for (int i = 0; i < MIN(cruise_buttons.length, PREV_BUTTON_SAMPLES); i++) {
int button = cruise_buttons.values[i];
if ((button == HYUNDAI_BTN_RESUME) || (button == HYUNDAI_BTN_SET) || (button == HYUNDAI_BTN_CANCEL)) {
cruise_pressed_recent = true;
break;
}
}
}
for (int i = 0; i < MIN(main_buttons.length, PREV_BUTTON_SAMPLES); i++) {
if (main_buttons.values[i] != 0) {
main_pressed_recent = true;
break;
for (int i = 0; i < MIN(main_buttons.length, PREV_BUTTON_SAMPLES); i++) {
if (main_buttons.values[i] != 0) {
main_pressed_recent = true;
break;
}
}
if (main_pressed_recent || cruise_pressed_recent) {
controls_allowed = 1;
}
}
// 2 bits: 13-14
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
if (cruise_engaged && !cruise_engaged_prev && (main_pressed_recent || cruise_pressed_recent)) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}