2017-07-14 22:17:32 -06:00
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void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
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int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send, int hardwired);
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int safety_tx_lin_hook(int lin_num, uint8_t *data, int len, int hardwired);
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typedef void (*safety_hook_init)();
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typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
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typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send, int hardwired);
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typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len, int hardwired);
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typedef struct {
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safety_hook_init init;
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rx_hook rx;
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tx_hook tx;
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tx_lin_hook tx_lin;
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} safety_hooks;
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// Include the actual safety policies.
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2017-07-17 11:20:08 -06:00
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#include "safety/safety_defaults.h"
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#include "safety/safety_honda.h"
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2017-07-14 22:17:32 -06:00
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const safety_hooks *current_hooks = &nooutput_hooks;
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void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
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current_hooks->rx(to_push);
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}
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int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send, int hardwired){
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return current_hooks->tx(to_send, hardwired);
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}
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int safety_tx_lin_hook(int lin_num, uint8_t *data, int len, int hardwired){
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return current_hooks->tx_lin(lin_num, data, len, hardwired);
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}
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typedef struct {
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uint16_t id;
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const safety_hooks *hooks;
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} safety_hook_config;
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const safety_hook_config safety_hook_registry[] = {
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{0x0000, &nooutput_hooks},
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{0x0001, &honda_hooks},
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{0x1337, &alloutput_hooks},
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};
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#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
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int set_safety_mode(uint16_t mode){
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2017-07-17 11:27:34 -06:00
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for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
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if (safety_hook_registry[i].id == mode) {
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2017-07-14 22:17:32 -06:00
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current_hooks = safety_hook_registry[i].hooks;
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current_hooks->init();
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return 0;
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}
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}
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return -1;
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}
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2017-07-17 11:20:08 -06:00
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