Subaru: Forwarding (#152)

Bus 0 to 1
Bus 1 to 0 exept LKAS

board/safety.h

@@ -63,6 +63,7 @@ int controls_allowed = 0;
 #include "safety/safety_cadillac.h"
 #include "safety/safety_hyundai.h"
 #include "safety/safety_chrysler.h"
+#include "safety/safety_subaru.h"
 #include "safety/safety_elm327.h"
 
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -104,6 +105,7 @@ typedef struct {
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
 #define SAFETY_CHRYSLER 9
+#define SAFETY_SUBARU 10
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -119,6 +121,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
+  {SAFETY_SUBARU, &subaru_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},

board/safety/safety_subaru.h

@@ -0,0 +1,49 @@
+void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
+
+// FIXME
+// *** all output safety mode ***
+
+static void subaru_init(int16_t param) {
+  controls_allowed = 1;
+}
+
+static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  return true;
+}
+
+static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  
+  // shifts bits 29 > 11
+  int32_t addr = to_fwd->RIR >> 21;
+
+  // forward CAN 0 > 1
+  if (bus_num == 0) {
+    return 1; // ES CAN
+  }
+  // forward CAN 1 > 0, except ES_LKAS
+  else if (bus_num == 1) {
+    
+    // outback 2015
+    if (addr == 0x164) {
+      return -1;
+    }
+    // global platform
+    if (addr == 0x122) {
+      return -1;
+    }
+
+    return 0; // Main CAN
+  }
+
+  // fallback to do not forward
+  return -1;
+}
+
+const safety_hooks subaru_hooks = {
+  .init = subaru_init,
+  .rx = subaru_rx_hook,
+  .tx = subaru_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = subaru_fwd_hook,
+};