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commaai · Oct 3, 2024 · 67cacfa · 67cacfa
1 parent e7a95d8
commit 67cacfa
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Showing 2 changed files with 13 additions and 9 deletions.
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -83,12 +83,12 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) {
   // TODO: use the same message for both
   // update vehicle moving
   if ((chrysler_platform != CHRYSLER_PACIFICA) && (bus == 0) && (addr == chrysler_addrs->ESP_8)) {
-    vehicle_moving = ((GET_BYTE(to_push, 4) << 8) + GET_BYTE(to_push, 5)) != 0U;
+    vehicle_moving = (GET_BYTE(to_push, 4) != 0) || (GET_BYTE(to_push, 5) != 0U);
   }
   if ((chrysler_platform == CHRYSLER_PACIFICA) && (bus == 0) && (addr == 514)) {
-    int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
-    int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
-    vehicle_moving = (speed_l != 0) || (speed_r != 0);
+    bool speed_l = ((GET_BYTE(to_push, 0) << 4) != 0) || ((GET_BYTE(to_push, 1) >> 4) != 0);
+    bool speed_r = ((GET_BYTE(to_push, 2) << 4) != 0) || ((GET_BYTE(to_push, 3) >> 4) != 0);
+    vehicle_moving = speed_l || speed_r;
   }
 
   // exit controls on rising edge of gas press

diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
@@ -84,7 +84,6 @@ def _speed_msg(self, speed):
     values = {"SPEED_LEFT": speed, "SPEED_RIGHT": speed}
     return self.packer.make_can_msg_panda("SPEED_1", 0, values)
 
-  # test correctness of lshift and rshift operators for setting vehicle_moving
   def test_rx_hook_vehicle_moving(self):
     self.assertFalse(self.safety.get_vehicle_moving())
 
@@ -118,20 +117,25 @@ def setUpClass(cls):
     if cls.__name__ == "TestChryslerRamSafetyBase":
       raise unittest.SkipTest
 
-  # test correctness of lshift and rshift operators for setting vehicle_moving
   def test_rx_hook_vehicle_moving(self):
     self.assertFalse(self.safety.get_vehicle_moving())
 
-    self.assertTrue(self._rx(self._speed_msg(1)))
-    self.assertTrue(self.safety.get_vehicle_moving())
-
+    # test 4th bytes = 0, 5th bytes = 0
     self.assertTrue(self._rx(self._speed_msg(0)))
     self.assertFalse(self.safety.get_vehicle_moving())
 
+    # test 4th bytes = 0, 5th bytes = 128
+    self.assertTrue(self._rx(self._speed_msg(1)))
+    self.assertTrue(self.safety.get_vehicle_moving())
+
     # test 4th bytes = 1, 5th bytes = 0
     self.assertTrue(self._rx(self._speed_msg(2)))
     self.assertTrue(self.safety.get_vehicle_moving())
 
+    # test 4th bytes = 1, 5th bytes = 128
+    self.assertTrue(self._rx(self._speed_msg(3)))
+    self.assertTrue(self.safety.get_vehicle_moving())
+
 class TestChryslerRamDTSafety(TestChryslerRamSafetyBase):
   TX_MSGS = [[0xB1, 2], [0xA6, 0], [0xFA, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0xA6,)}