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refactor safety hook

master
George Hotz 2017-04-28 09:56:01 -07:00
parent 39522310e1
commit 08d12a7380
2 changed files with 42 additions and 38 deletions
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5
board/honda_safety.h
View File

@ -50,7 +50,7 @@ void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
}
void safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// BRAKE: safety check
if ((to_send->RIR>>21) == 0x1FA) {
if (controls_allowed) {
@ -78,6 +78,7 @@ void safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
}
// block all other messages?
// 1 allows the message through
return 1;
}

75
board/main.c
View File

@ -314,7 +314,7 @@ inline int putc(uart_ring *q, char elem) {
#include "spi.h"
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
void safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
#include "honda_safety.h"
// ***************************** CAN *****************************
@ -338,8 +338,6 @@ void process_can(CAN_TypeDef *CAN, can_ring *can_q, int can_number) {
CAN_FIFOMailBox_TypeDef to_send;
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
if (pop(can_q, &to_send)) {
safety_tx_hook(&to_send);
// only send if we have received a packet
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
@ -493,45 +491,50 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len) {
int i;
for (dpkt = 0; dpkt < len; dpkt += 0x10) {
uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
int flags = (tf[1] >> 4) & 0xF;
//puth(flags); puts("\n");
CAN_TypeDef *CAN;
can_ring *can_q;
int can_number;
if (flags == can_numbering[0]) {
CAN = CAN1;
can_q = &can_tx1_q;
} else if (flags == can_numbering[1]) {
CAN = CAN2;
can_q = &can_tx2_q;
#ifdef CAN3
} else if (flags == can_numbering[2]) {
CAN = CAN3;
can_q = &can_tx3_q;
#endif
} else if (flags == 8 || flags == 9) {
// fake LIN as CAN
uart_ring *lin_ring = (flags == 8) ? &lin1_ring : &lin2_ring;
for (i = 0; i < (tf[1] & 0xF); i++) {
putc(lin_ring, ((uint8_t*)&tf[2])[i]);
}
continue;
} else {
// no crash
continue;
}
// add CAN packet to send queue
// make a copy
CAN_FIFOMailBox_TypeDef to_push;
to_push.RDHR = tf[3];
to_push.RDLR = tf[2];
to_push.RDTR = tf[1] & 0xF;
to_push.RDTR = tf[1];
to_push.RIR = tf[0];
push(can_q, &to_push);
// flags = can_number
process_can(CAN, can_q, flags);
int flags = (to_push.RDTR >> 4) & 0xF;
if (safety_tx_hook(&to_push)) {
CAN_TypeDef *CAN;
can_ring *can_q;
int can_number;
if (flags == can_numbering[0]) {
CAN = CAN1;
can_q = &can_tx1_q;
} else if (flags == can_numbering[1]) {
CAN = CAN2;
can_q = &can_tx2_q;
#ifdef CAN3
} else if (flags == can_numbering[2]) {
CAN = CAN3;
can_q = &can_tx3_q;
#endif
} else if (flags == 8 || flags == 9) {
// fake LIN as CAN
uart_ring *lin_ring = (flags == 8) ? &lin1_ring : &lin2_ring;
for (i = 0; i < min(8, to_push.RDTR & 0xF); i++) {
putc(lin_ring, ((uint8_t*)&to_push.RDLR)[i]);
}
continue;
} else {
// no crash
continue;
}
// add CAN packet to send queue
// bus number isn't passed through
to_push.RDTR &= 0xF;
push(can_q, &to_push);
// flags = can_number
process_can(CAN, can_q, flags);
}
}
}