some minor changes from master

dragonpilot-community · Apr 13, 2024 · b209dfc · b209dfc
1 parent 773dd1a
commit b209dfc
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Showing 5 changed files with 13 additions and 13 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -510,9 +510,7 @@ float interpolate(struct lookup_t xy, float x) {
         float dx = xy.x[i+1] - x0;
         float dy = xy.y[i+1] - y0;
         // dx should not be zero as xy.x is supposed to be monotonic
-        if (dx <= 0.) {
-          dx = 0.0001;
-        }
+        dx = MAX(dx, 0.0001);
         ret = (dy * (x - x0) / dx) + y0;
         break;
       }

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -420,8 +420,8 @@ static int honda_bosch_fwd_hook(int bus_num, int addr) {
     bus_fwd = 2;
   }
   if (bus_num == 2)  {
-    int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
-    int is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
+    bool is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
+    bool is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
     bool block_msg = is_lkas_msg || is_acc_msg;
     if (!block_msg) {
       bus_fwd = 0;

diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
@@ -45,7 +45,7 @@ void hyundai_common_init(uint16_t param) {
 #endif
 }
 
-void hyundai_common_cruise_state_check(const int cruise_engaged) {
+void hyundai_common_cruise_state_check(const bool cruise_engaged) {
   // some newer HKG models can re-enable after spamming cancel button,
   // so keep track of user button presses to deny engagement if no interaction
 
@@ -62,9 +62,8 @@ void hyundai_common_cruise_state_check(const int cruise_engaged) {
   }
 }
 
-void hyundai_common_cruise_buttons_check(const int cruise_button, const int main_button) {
-  if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
-      (main_button != 0)) {
+void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) {
+  if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) {
     hyundai_last_button_interaction = 0U;
   } else {
     hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -313,9 +313,11 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
 static safety_config toyota_init(uint16_t param) {
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
-  toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
+  toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
   enable_gas_interceptor = GET_FLAG(param, TOYOTA_PARAM_GAS_INTERCEPTOR);
+  toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
 
+  // Gas interceptor should not be used if openpilot is not controlling longitudinal
   if (toyota_stock_longitudinal) {
     enable_gas_interceptor = false;
   }
@@ -335,10 +337,10 @@ static int toyota_fwd_hook(int bus_num, int addr) {
   if (bus_num == 2) {
     // block stock lkas messages and stock acc messages (if OP is doing ACC)
     // in TSS2, 0x191 is LTA which we need to block to avoid controls collision
-    int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
+    bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
     // in TSS2 the camera does ACC as well, so filter 0x343
-    int is_acc_msg = (addr == 0x343);
-    int block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
+    bool is_acc_msg = (addr == 0x343);
+    bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
     if (!block_msg) {
       bus_fwd = 0;
     }

diff --git a/board/safety_declarations.h b/board/safety_declarations.h
@@ -264,6 +264,7 @@ struct sample_t angle_meas;         // last 6 steer angles/curvatures
 // This flag allows AEB to be commanded from openpilot.
 #define ALT_EXP_ALLOW_AEB 16
 
+// DP: Always Lane Keep Assist (always on lat)
 #define ALT_EXP_ALKA 32
 
 int alternative_experience = 0;