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Failure of set_safety_mode falls back to SILENT. Failure to set silent results in hanging

master
Riccardo 2019-11-20 13:36:29 -08:00
parent 597436d32a
commit a54b86c4ba
1 changed files with 41 additions and 35 deletions
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76
board/main.c
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@ -117,43 +117,49 @@ void EXTI3_IRQHandler(void) {
void set_safety_mode(uint16_t mode, int16_t param) {
int err = set_safety_hooks(mode, param);
if (err == -1) {
puts("Error: safety set mode failed\n");
while (true) {} // ERROR: we can't continue if safety mode isn't succesfully set
} else {
switch (mode) {
case SAFETY_SILENT:
set_intercept_relay(false);
if(board_has_obd()){
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_SILENT;
break;
case SAFETY_NOOUTPUT:
set_intercept_relay(false);
if(board_has_obd()){
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_LIVE;
break;
case SAFETY_ELM327:
set_intercept_relay(false);
heartbeat_counter = 0U;
if(board_has_obd()){
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
}
can_silent = ALL_CAN_LIVE;
break;
default:
set_intercept_relay(true);
heartbeat_counter = 0U;
if(board_has_obd()){
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_LIVE;
break;
puts("Error: safety set mode failed. Falling back to SILENT\n");
mode = SAFETY_SILENT;
err = set_safety_hooks(mode, 0);
if (err == -1) {
puts("Error: Failed setting SILENT mode. Hanging\n");
while (true) {
// TERMINAL ERROR: we can't continue if SILENT safety mode isn't succesfully set
}
can_init_all();
}
}
switch (mode) {
case SAFETY_SILENT:
set_intercept_relay(false);
if (board_has_obd()) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_SILENT;
break;
case SAFETY_NOOUTPUT:
set_intercept_relay(false);
if (board_has_obd()) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_LIVE;
break;
case SAFETY_ELM327:
set_intercept_relay(false);
heartbeat_counter = 0U;
if (board_has_obd()) {
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
}
can_silent = ALL_CAN_LIVE;
break;
default:
set_intercept_relay(true);
heartbeat_counter = 0U;
if (board_has_obd()) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
can_silent = ALL_CAN_LIVE;
break;
}
can_init_all();
}
// ***************************** USB port *****************************