Honda safety: fixed incorrect brake decoding. Due to the specific limit of 255, this change does not affect the safety behavior

Author: rbiasini

board/safety/safety_honda.h

@@ -103,7 +103,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // BRAKE: safety check
   if (addr == 0x1FA) {
-    int brake = (GET_BYTE(to_send, 0) << 2) + (GET_BYTE(to_send, 1) & 0x3);
+    int brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
     if (!current_controls_allowed || !long_controls_allowed) {
       if (brake != 0) {
         tx = 0;

tests/safety/test_honda.py

@@ -64,7 +64,7 @@ def _gas_msg(self, gas):
   def _send_brake_msg(self, brake):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 0x1FA << 21
-    to_send[0].RDLR = ((brake & 0x3) << 8) | ((brake & 0x3FF) >> 2)
+    to_send[0].RDLR = ((brake & 0x3) << 14) | ((brake & 0x3FF) >> 2)
 
     return to_send