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Abstract set_unsafe_mode function to Panda (#2431) 

* Abstract set_unsafe_mode function to panda.cc

* whoops

* use uint16_t
albatross
Shane Smiskol 2020-10-28 15:21:07 -05:00 committed by GitHub
parent f571b7c751
commit 5eea86cbf4
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3 changed files with 7 additions and 0 deletions
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2
selfdrive/boardd/boardd.cc
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@ -107,6 +107,8 @@ void safety_setter_thread() {
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
panda->set_unsafe_mode(0); // see safety_declarations.h for allowed values
auto safety_param = car_params.getSafetyParam();
LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);

4
selfdrive/boardd/panda.cc
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@ -188,6 +188,10 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int sa
usb_write(0xdc, (uint16_t)safety_model, safety_param);
}
void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
usb_write(0xdf, unsafe_mode, 0);
}
cereal::HealthData::HwType Panda::get_hw_type() {
unsigned char hw_query[1] = {0};

1
selfdrive/boardd/panda.h
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@ -63,6 +63,7 @@ class Panda {
// Panda functionality
cereal::HealthData::HwType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
void set_unsafe_mode(uint16_t unsafe_mode);
void set_rtc(struct tm sys_time);
struct tm get_rtc();
void set_fan_speed(uint16_t fan_speed);