44 lines
1.4 KiB
C
44 lines
1.4 KiB
C
// BUS 0 is on the LKAS module (ASCM) side
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// BUS 2 is on the actuator (EPS) side
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static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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int bus_fwd = -1;
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if (bus_num == 0) {
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int addr = GET_ADDR(to_fwd);
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bus_fwd = 2;
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// do not propagate lkas messages from ascm to actuators, unless supercruise is on
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// block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
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// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
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//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
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if ((addr == 0x152) || (addr == 0x154)) {
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bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0; // bit 36
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if (!supercruise_on) {
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bus_fwd = -1;
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}
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}
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if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
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// on the chassis bus, the OBDII port is on the module side, so we need to read
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// the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
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// the actuator as 0x152 and 0x154
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uint32_t fwd_addr = addr + 1;
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to_fwd->RIR = (fwd_addr << 21) | (to_fwd->RIR & 0x1fffff);
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}
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}
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if (bus_num == 2) {
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bus_fwd = 0;
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}
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return bus_fwd;
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}
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const safety_hooks gm_ascm_hooks = {
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.init = nooutput_init,
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.rx = default_rx_hook,
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.tx = alloutput_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.fwd = gm_ascm_fwd_hook,
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};
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