better

commaai · Oct 18, 2024 · 89f3825 · 89f3825
1 parent e9030e3
commit 89f3825
Showing 1 changed file with 29 additions and 29 deletions.
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -240,47 +240,47 @@ static safety_config chrysler_init(uint16_t param) {
  {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
  };
 
- safety_config ret;
+#ifdef ALLOW_DEBUG
+ // CAN messages for the 5th gen RAM HD platform
+ static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
+ .EPS_2 = 0x220, // EPS driver input torque
+ .ESP_1 = 0x140, // Brake pedal and vehicle speed
+ .ESP_8 = 0x11C, // Brake pedal and vehicle speed
+ .ECM_5 = 0x22F, // Throttle position sensor
+ .DAS_3 = 0x1F4, // ACC engagement states from DASM
+ .DAS_6 = 0x275, // LKAS HUD and auto headlight control from DASM
+ .LKAS_COMMAND = 0x276, // LKAS controls from DASM
+ .CRUISE_BUTTONS = 0x23A, // Cruise control buttons
+ };
 
- bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
+ static RxCheck chrysler_ram_hd_rx_checks[] = {
+ {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
+ {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+ {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+ {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+ {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+ };
+
+ static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
+ {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
+ {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
+ {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
+ };
 
-#ifdef ALLOW_DEBUG
  const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
  bool enable_ram_hd = GET_FLAG(param, CHRYSLER_PARAM_RAM_HD);
 #endif
 
+ safety_config ret;
+
+ bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
+
  if (enable_ram_dt) {
  chrysler_platform = CHRYSLER_RAM_DT;
  chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS;
  ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
 #ifdef ALLOW_DEBUG
  } else if (enable_ram_hd) {
- // CAN messages for the 5th gen RAM HD platform
- static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
- .EPS_2 = 0x220, // EPS driver input torque
- .ESP_1 = 0x140, // Brake pedal and vehicle speed
- .ESP_8 = 0x11C, // Brake pedal and vehicle speed
- .ECM_5 = 0x22F, // Throttle position sensor
- .DAS_3 = 0x1F4, // ACC engagement states from DASM
- .DAS_6 = 0x275, // LKAS HUD and auto headlight control from DASM
- .LKAS_COMMAND = 0x276, // LKAS controls from DASM
- .CRUISE_BUTTONS = 0x23A, // Cruise control buttons
- };
-
- static RxCheck chrysler_ram_hd_rx_checks[] = {
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
- };
-
- static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
- {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
- {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
- {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
- };
-
  chrysler_platform = CHRYSLER_RAM_HD;
  chrysler_addrs = &CHRYSLER_RAM_HD_ADDRS;
  ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS);