From ee2a4b6b5837bcc118011826d81890ff58708d2a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Apr 2022 20:11:13 -0700 Subject: [PATCH] sample_t: fixup comments (#921) --- board/safety.h | 2 +- board/safety_declarations.h | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/board/safety.h b/board/safety.h index 9bd044f72..2e4d20c43 100644 --- a/board/safety.h +++ b/board/safety.h @@ -320,7 +320,7 @@ int to_signed(int d, int bits) { return d_signed; } -// given a new sample, update the smaple_t struct +// given a new sample, update the sample_t struct void update_sample(struct sample_t *sample, int sample_new) { int sample_size = sizeof(sample->values) / sizeof(sample->values[0]); for (int i = sample_size - 1; i > 0; i--) { diff --git a/board/safety_declarations.h b/board/safety_declarations.h index 6dd6935c6..a4e904a72 100644 --- a/board/safety_declarations.h +++ b/board/safety_declarations.h @@ -7,7 +7,7 @@ const int MAX_WRONG_COUNTERS = 5; const uint8_t MAX_MISSED_MSGS = 10U; -// sample struct that keeps 3 samples in memory +// sample struct that keeps 6 samples in memory struct sample_t { int values[6]; int min; @@ -118,14 +118,14 @@ int cruise_button_prev = 0; // for safety modes with torque steering control int desired_torque_last = 0; // last desired steer torque int rt_torque_last = 0; // last desired torque for real time check -struct sample_t torque_meas; // last 3 motor torques produced by the eps -struct sample_t torque_driver; // last 3 driver torques measured +struct sample_t torque_meas; // last 6 motor torques produced by the eps +struct sample_t torque_driver; // last 6 driver torques measured uint32_t ts_last = 0; // for safety modes with angle steering control uint32_t ts_angle_last = 0; int desired_angle_last = 0; -struct sample_t angle_meas; // last 3 steer angles +struct sample_t angle_meas; // last 6 steer angles // This can be set with a USB command // It enables features that allow alternative experiences, like not disengaging on gas press