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chrysler: forward bus 0 to bus 2 (#177) 

* chrysler: forward bus 0 to bus 2
This keeps the stock LKAS camera active so that we can copy data from its messages.

* Only forward if giraffe switches are 1 0.
Forward LKAS_HEARTBIT messages from stock camera to bus 0.
master
Drew Hintz 2019-04-04 10:05:00 -07:00 committed by rbiasini
parent 4276c380e6
commit 1049502644
1 changed files with 20 additions and 3 deletions
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23
board/safety/safety_chrysler.h
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@ -5,7 +5,7 @@ const int CHRYSLER_MAX_RATE_UP = 3;
const int CHRYSLER_MAX_RATE_DOWN = 3;
const int CHRYSLER_MAX_TORQUE_ERROR = 80; // max torque cmd in excess of torque motor
int chrysler_camera_detected = 0;
int chrysler_camera_detected = 0; // is giraffe switch 2 high?
int chrysler_rt_torque_last = 0;
int chrysler_desired_torque_last = 0;
int chrysler_cruise_engaged_last = 0;
@ -125,12 +125,29 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return true;
}
static void chrysler_init(int16_t param) {
chrysler_camera_detected = 0;
}
static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int32_t addr = to_fwd->RIR >> 21;
// forward CAN 0 -> 2 so stock LKAS camera sees messages
if (bus_num == 0 && !chrysler_camera_detected) {
return 2;
}
// forward LKAS_HEARTBIT message from stock camera
if (bus_num == 2 && !chrysler_camera_detected && addr == 0x2d9) {
return 0;
}
return -1; // do not forward
}
const safety_hooks chrysler_hooks = {
.init = nooutput_init,
.init = chrysler_init,
.rx = chrysler_rx_hook,
.tx = chrysler_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.fwd = chrysler_fwd_hook,
};