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move to ESP_B for vehicle speed to match openpilot

This commit is contained in:
Robbe Derks 2024-04-19 22:08:36 +02:00
parent 4d60ae9c62
commit f8db3ac64f
1 changed files with 7 additions and 8 deletions
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15
board/safety/safety_tesla.h
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@ -36,7 +36,7 @@ RxCheck tesla_rx_checks[] = {
{.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
{.msg = {{0x370, 0, 8, .frequency = 25U}, { 0 }, { 0 }}}, // EPAS_sysStatus
{.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
{.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
{.msg = {{0x155, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // ESP_B
{.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
{.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
{.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState
@ -46,7 +46,7 @@ RxCheck tesla_raven_rx_checks[] = {
{.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
{.msg = {{0x131, 2, 8, .frequency = 100U}, { 0 }, { 0 }}}, // EPAS3P_sysStatus
{.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
{.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
{.msg = {{0x155, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // ESP_B
{.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
{.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
{.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState
@ -54,7 +54,6 @@ RxCheck tesla_raven_rx_checks[] = {
RxCheck tesla_pt_rx_checks[] = {
{.msg = {{0x106, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1
{.msg = {{0x116, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2
{.msg = {{0x1f8, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage
{.msg = {{0x2bf, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control
{.msg = {{0x256, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state
@ -77,16 +76,16 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
update_sample(&angle_meas, angle_meas_new);
}
}
if(bus == 0) {
if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
if((addr == 0x155) && (bus == 0)) {
// Vehicle speed: (val * 0.5) * KPH_TO_MPS
float speed = ((((GET_BYTE(to_push, 6) & 0x0FU) << 6) | (GET_BYTE(to_push, 5) >> 2)) * 0.5) * 0.277778;
vehicle_moving = ABS(speed) > 0.1;
UPDATE_VEHICLE_SPEED(speed);
}
}
if(bus == 0) {
if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
// Gas pressed
gas_pressed = (GET_BYTE(to_push, 6) != 0U);