Safety Hyundai: bug fixes
@@ -30,7 +30,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
if (addr == 897) {
- int torque_driver_new = ((to_push->RDHR >> 11) & 0x7ff) - 2048;
+ int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
// update array of samples
update_sample(&hyundai_torque_driver, torque_driver_new);
}
@@ -77,8 +77,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// LKA STEER: safety check
if (addr == 832) {
- int rdlr = to_send->RDLR;
- int desired_torque = ((rdlr >> 16) & 0x7ff) - 1024;
+ int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
uint32_t ts = TIM2->CNT;
int violation = 0;
