enabled DEBUG_SAFETY

MoreTore · Nov 19, 2023 · f5bcccc · f5bcccc
1 parent ecdeb00
commit f5bcccc
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Showing 3 changed files with 16 additions and 1 deletion.
diff --git a/board/config.h b/board/config.h
@@ -9,7 +9,7 @@
 //#define DEBUG_FAULTS
 //#define DEBUG_COMMS
 //#define DEBUG_FAN
-//#define DEBUG_SAFETY
+#define DEBUG_SAFETY
 
 #define CAN_INIT_TIMEOUT_MS 500U
 #define DEEPSLEEP_WAKEUP_DELAY 3U

diff --git a/board/safety.h b/board/safety.h
@@ -206,6 +206,7 @@ bool is_msg_valid(AddrCheckStruct addr_list[], int index) {
     if (!addr_list[index].valid_checksum || !addr_list[index].valid_quality_flag || (addr_list[index].wrong_counters >= MAX_WRONG_COUNTERS)) {
       valid = false;
       controls_allowed = false;
+      safety_print("is_msg_valid: False");
     }
   }
   return valid;
@@ -260,18 +261,21 @@ void generic_rx_checks(bool stock_ecu_detected) {
   // exit controls on rising edge of gas press
   if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
     controls_allowed = false;
+    safety_print("generic_rx_checks L264: False");
   }
   gas_pressed_prev = gas_pressed;
 
   // exit controls on rising edge of brake press
   if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
     controls_allowed = false;
+    safety_print("generic_rx_checks L271: False");
   }
   brake_pressed_prev = brake_pressed;
 
   // exit controls on rising edge of regen paddle
   if (regen_braking && (!regen_braking_prev || vehicle_moving)) {
     controls_allowed = false;
+    safety_print("generic_rx_checks L278: False");
   }
   regen_braking_prev = regen_braking;
 
@@ -710,6 +714,8 @@ void pcm_cruise_check(bool cruise_engaged) {
   }
   if (cruise_engaged && !cruise_engaged_prev) {
     controls_allowed = true;
+    safety_print("controls_allowed: True");
   }
   cruise_engaged_prev = cruise_engaged;
+
 }
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
@@ -90,11 +90,13 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == MAZDA_CRZ_CTRL && !radar_intercept && !use_crz_events) {
       bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
+      safety_print("L93 safety_mazda.h");
       pcm_cruise_check(cruise_engaged);
     }
 
     if (addr == MAZDA_CRZ_EVENTS && use_crz_events && radar_intercept) {
       bool cruise_engaged = GET_BYTE(to_push, 2) & 0x1U;
+      safety_print("L99 safety_mazda.h");
       pcm_cruise_check(cruise_engaged);
     }
 
@@ -122,6 +124,7 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == MAZDA_CRZ_CTRL) {
       bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
+      safety_print("L127 safety_mazda.h");
       pcm_cruise_check(cruise_engaged);
     }
   }
@@ -198,6 +201,12 @@ static const addr_checks* mazda_init(uint16_t param) {
   return &mazda_rx_checks;
   radar_intercept = GET_FLAG(param, MAZDA_RADAR_INTERCEPT_MODE);
   use_crz_events = GET_FLAG(param, MAZDA_RI_USE_CRZ_EVENTS);
+  if (radar_intercept){
+    safety_print("radar_intercept");
+  }
+  if (use_crz_events){
+    safety_print("use_crz_events");
+  }
 }
 
 const safety_hooks mazda_hooks = {