one big secoc/not-secoc block

commaai · Oct 2, 2024 · 25e1fbc · 25e1fbc
1 parent 4c43d25
commit 25e1fbc
Showing 1 changed file with 27 additions and 26 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -98,21 +98,33 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if (!toyota_secoc && (addr == 0x1D2)) {
-      bool cruise_engaged = GET_BIT(to_push, 5U);
-      pcm_cruise_check(cruise_engaged);
-    }
-    if (toyota_secoc && (addr == 0x176)) {
-      bool cruise_engaged = GET_BIT(to_push, 5U);
-      pcm_cruise_check(cruise_engaged);
-    }
-
-    // exit controls on rising edge of gas press
-    if (!toyota_secoc && (addr == 0x1D2)) {
-      gas_pressed = !GET_BIT(to_push, 4U); // GAS_PEDAL.GAS_RELEASED
-    }
-    if (toyota_secoc && (addr == 0x116)) {
-      gas_pressed = GET_BYTE(to_push, 1) != 0U; // GAS_PEDAL.GAS_PEDAL_USER
+    // exit controls on rising edge of gas press, if not alternative experience
+    // exit controls on rising edge of brake press
+    if (toyota_secoc) {
+      if (addr == 0x176) {
+        bool cruise_engaged = GET_BIT(to_push, 5U);
+        pcm_cruise_check(cruise_engaged);
+      }
+      if (addr == 0x116) {
+        gas_pressed = GET_BYTE(to_push, 1) != 0U; // GAS_PEDAL.GAS_PEDAL_USER
+      }
+      if (addr == 0x101) {
+        brake_pressed = GET_BIT(to_push, 3U);
+      }
+    } else {
+      if (addr == 0x1D2) {
+        bool cruise_engaged = GET_BIT(to_push, 5U);
+        pcm_cruise_check(cruise_engaged);
+      }
+      if (addr == 0x1D2) {
+        gas_pressed = !GET_BIT(to_push, 4U); // GAS_PEDAL.GAS_RELEASED
+      }
+      if (!toyota_alt_brake && (addr == 0x226)) {
+        brake_pressed = GET_BIT(to_push, 37U);
+      }
+      if (toyota_alt_brake && (addr == 0x224)) {
+        brake_pressed = GET_BIT(to_push, 5U);
+      }
     }
 
     // sample speed
@@ -129,17 +141,6 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
       UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 / 3.6);
     }
 
-    // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224, secoc on 0x101
-    if (!toyota_alt_brake && !toyota_secoc && (addr == 0x226)) {
-      brake_pressed = GET_BIT(to_push, 37U);
-    }
-    if (toyota_alt_brake && !toyota_secoc && (addr == 0x224)) {
-      brake_pressed = GET_BIT(to_push, 5U);
-    }
-    if (!toyota_alt_brake && toyota_secoc && (addr == 0x101)) {
-      brake_pressed = GET_BIT(to_push, 3U);
-    }
-
     bool stock_ecu_detected = addr == 0x2E4;  // STEERING_LKA
     if (!toyota_stock_longitudinal && (addr == 0x343)) {
       stock_ecu_detected = true;  // ACC_CONTROL