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safety: cleanup comments

This commit is contained in:
Adeeb Shihadeh 2023-11-23 16:16:03 -08:00
parent 83acc65743
commit 194f2d9657
7 changed files with 10 additions and 35 deletions
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2
board/safety/safety_chrysler.h
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@ -121,7 +121,7 @@ RxCheck chrysler_ram_hd_rx_checks[] = {
const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram DT platform const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
enum { enum {
CHRYSLER_RAM_DT, CHRYSLER_RAM_DT,

1
board/safety/safety_elm327.h
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@ -1,5 +1,4 @@
static bool elm327_tx_hook(CANPacket_t *to_send) { static bool elm327_tx_hook(CANPacket_t *to_send) {
int tx = 1; int tx = 1;
int addr = GET_ADDR(to_send); int addr = GET_ADDR(to_send);
int len = GET_LEN(to_send); int len = GET_LEN(to_send);

8
board/safety/safety_gm.h
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@ -135,12 +135,6 @@ static void gm_rx_hook(CANPacket_t *to_push) {
} }
} }
// all commands: gas/regen, friction brake and steering
// if controls_allowed and no pedals pressed
// allow all commands up to limit
// else
// block all commands that produce actuation
static bool gm_tx_hook(CANPacket_t *to_send) { static bool gm_tx_hook(CANPacket_t *to_send) {
int tx = 1; int tx = 1;
int addr = GET_ADDR(to_send); int addr = GET_ADDR(to_send);
@ -191,12 +185,10 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
} }
} }
// 1 allows the message through
return tx; return tx;
} }
static int gm_fwd_hook(int bus_num, int addr) { static int gm_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1; int bus_fwd = -1;
if (gm_hw == GM_CAM) { if (gm_hw == GM_CAM) {

15
board/safety/safety_honda.h
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@ -1,11 +1,3 @@
// board enforces
// in-state
// accel set/resume
// out-state
// cancel button
// accel rising edge
// brake rising edge
// brake > 0mph
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}}; const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch
const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes
@ -268,12 +260,6 @@ static void honda_rx_hook(CANPacket_t *to_push) {
} }
// all commands: gas, brake and steering
// if controls_allowed and no pedals pressed
// allow all commands up to limit
// else
// block all commands that produce actuation
static bool honda_tx_hook(CANPacket_t *to_send) { static bool honda_tx_hook(CANPacket_t *to_send) {
int tx = 1; int tx = 1;
int addr = GET_ADDR(to_send); int addr = GET_ADDR(to_send);
@ -374,7 +360,6 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
} }
} }
// 1 allows the message through
return tx; return tx;
} }

2
board/safety/safety_toyota.h
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@ -42,7 +42,7 @@ RxCheck toyota_rx_checks[] = {
}; };
// safety param flags // safety param flags
// first byte is for eps factor, second is for flags // first byte is for EPS factor, second is for flags
const uint32_t TOYOTA_PARAM_OFFSET = 8U; const uint32_t TOYOTA_PARAM_OFFSET = 8U;
const uint32_t TOYOTA_EPS_FACTOR = (1U << TOYOTA_PARAM_OFFSET) - 1U; const uint32_t TOYOTA_EPS_FACTOR = (1U << TOYOTA_PARAM_OFFSET) - 1U;
const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1U << TOYOTA_PARAM_OFFSET; const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1U << TOYOTA_PARAM_OFFSET;

4
board/safety/safety_volkswagen_mqb.h
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@ -82,7 +82,8 @@ static uint32_t volkswagen_mqb_compute_crc(CANPacket_t *to_push) {
crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter]; crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
} else if (addr == MSG_MOTOR_20) { } else if (addr == MSG_MOTOR_20) {
crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter]; crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
} else { // Undefined CAN message, CRC check expected to fail } else {
// Undefined CAN message, CRC check expected to fail
} }
crc = volkswagen_crc8_lut_8h2f[crc]; crc = volkswagen_crc8_lut_8h2f[crc];
@ -245,7 +246,6 @@ static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
} }
} }
// 1 allows the message through
return tx; return tx;
} }

1
board/safety/safety_volkswagen_pq.h
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@ -213,7 +213,6 @@ static bool volkswagen_pq_tx_hook(CANPacket_t *to_send) {
} }
} }
// 1 allows the message through
return tx; return tx;
} }