enable unsafe mode, toggle for use by forks that so choose
parent
de89fcdc4f
commit
4556e7494c
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@ -469,6 +469,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
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can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
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}
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break;
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// **** 0xdf: set unsafe mode
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case 0xdf:
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unsafe_mode = setup->b.wValue.w;
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break;
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// **** 0xe0: uart read
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case 0xe0:
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ur = get_ring_by_number(setup->b.wValue.w);
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@ -88,6 +88,12 @@ int gas_interceptor_prev = 0;
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bool gas_pressed_prev = false;
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bool brake_pressed_prev = false;
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// This can be set with a USB command
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// It enables features we consider to be unsafe, but understand others may have different opinions
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// One example of such a feature is gas disengage
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// It is always off on mainline comma.ai openpilot
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bool unsafe_mode = false;
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// time since safety mode has been changed
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uint32_t safety_mode_cnt = 0U;
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// allow 1s of transition timeout after relay changes state before assessing malfunctioning
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