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Made setting of NOOUTPUT on no heartbeat more efficient (#287) 

* Made setting of NOOUTPUT on no heartbeat more efficient

* Stupid mistake

* Fixed hardcoded safety mode
master
robbederks 2019-10-04 13:30:00 -07:00 committed by GitHub
parent 9486836886
commit a95c44a717
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 24 additions and 20 deletions
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4
board/main.c
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@ -622,7 +622,9 @@ void TIM3_IRQHandler(void) {
#ifdef EON
if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
set_safety_mode(SAFETY_NOOUTPUT, 0U);
if(current_safety_mode != SAFETY_NOOUTPUT){
set_safety_mode(SAFETY_NOOUTPUT, 0U);
}
}
#endif

40
board/safety.h
View File

@ -16,6 +16,26 @@
#include "safety/safety_mazda.h"
#include "safety/safety_elm327.h"
// from cereal.car.CarParams.SafetyModel
#define SAFETY_NOOUTPUT 0U
#define SAFETY_HONDA 1U
#define SAFETY_TOYOTA 2U
#define SAFETY_ELM327 3U
#define SAFETY_GM 4U
#define SAFETY_HONDA_BOSCH 5U
#define SAFETY_FORD 6U
#define SAFETY_CADILLAC 7U
#define SAFETY_HYUNDAI 8U
#define SAFETY_CHRYSLER 9U
#define SAFETY_TESLA 10U
#define SAFETY_SUBARU 11U
#define SAFETY_GM_PASSIVE 12U
#define SAFETY_MAZDA 13U
#define SAFETY_TOYOTA_IPAS 16U
#define SAFETY_ALLOUTPUT 17U
#define SAFETY_GM_ASCM 18U
uint16_t current_safety_mode = SAFETY_NOOUTPUT;
const safety_hooks *current_hooks = &nooutput_hooks;
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
@ -45,25 +65,6 @@ typedef struct {
const safety_hooks *hooks;
} safety_hook_config;
// from cereal.car.CarParams.SafetyModel
#define SAFETY_NOOUTPUT 0U
#define SAFETY_HONDA 1U
#define SAFETY_TOYOTA 2U
#define SAFETY_ELM327 3U
#define SAFETY_GM 4U
#define SAFETY_HONDA_BOSCH 5U
#define SAFETY_FORD 6U
#define SAFETY_CADILLAC 7U
#define SAFETY_HYUNDAI 8U
#define SAFETY_CHRYSLER 9U
#define SAFETY_TESLA 10U
#define SAFETY_SUBARU 11U
#define SAFETY_GM_PASSIVE 12U
#define SAFETY_MAZDA 13U
#define SAFETY_TOYOTA_IPAS 16U
#define SAFETY_ALLOUTPUT 17U
#define SAFETY_GM_ASCM 18U
const safety_hook_config safety_hook_registry[] = {
{SAFETY_NOOUTPUT, &nooutput_hooks},
{SAFETY_HONDA, &honda_hooks},
@ -90,6 +91,7 @@ int safety_set_mode(uint16_t mode, int16_t param) {
for (int i = 0; i < hook_config_count; i++) {
if (safety_hook_registry[i].id == mode) {
current_hooks = safety_hook_registry[i].hooks;
current_safety_mode = safety_hook_registry[i].id;
set_status = 0; // set
break;
}