Toyota: using a more generalized CRUISE_ACTIVE bit that works on all …

…cars
lche49 · Nov 4, 2018 · 8291971 · 8291971
1 parent 6f157aa
commit 8291971
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -49,8 +49,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == 0x1D2) {
-    // 4 bits: 55-52
-    int cruise_engaged = to_push->RDHR & 0xF00000;
+    // 5th bit is CRUISE_ACTIVE
+    int cruise_engaged = to_push->RDLR & 0x20;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {

diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -129,15 +129,15 @@ def test_manually_enable_controls_allowed(self):
   def test_enable_control_allowed_from_cruise(self):
     to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDHR = 0xF00000
+    to_push[0].RDLR = 0x20
 
     self.safety.toyota_rx_hook(to_push)
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_disable_control_allowed_from_cruise(self):
     to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDHR = 0
+    to_push[0].RDLR = 0
 
     self.safety.set_controls_allowed(1)
     self.safety.toyota_rx_hook(to_push)
@@ -373,15 +373,15 @@ def test_angle_cmd_rate_when_enabled(self):
         self.assertTrue(self.safety.get_controls_allowed())
 
         # now inject too high rates
-        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) * 
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) *
                                                                                   (max_delta_up + 1), 1)))
         self.assertFalse(self.safety.get_controls_allowed())
         self.safety.set_controls_allowed(1)
         self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) * max_delta_up, 1)))
         self.assertTrue(self.safety.get_controls_allowed())
         self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a, 1)))
         self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) * 
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) *
                                                                                   (max_delta_down + 1), 1)))
         self.assertFalse(self.safety.get_controls_allowed())