104 lines
2.8 KiB
C
104 lines
2.8 KiB
C
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
|
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
|
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
|
|
int safety_ignition_hook();
|
|
|
|
typedef void (*safety_hook_init)(int16_t param);
|
|
typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
|
|
typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
|
|
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
|
|
typedef int (*ign_hook)();
|
|
typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
|
|
|
|
typedef struct {
|
|
safety_hook_init init;
|
|
ign_hook ignition;
|
|
rx_hook rx;
|
|
tx_hook tx;
|
|
tx_lin_hook tx_lin;
|
|
fwd_hook fwd;
|
|
} safety_hooks;
|
|
|
|
// This can be set by the safety hooks.
|
|
int controls_allowed = 0;
|
|
|
|
// Include the actual safety policies.
|
|
#include "safety/safety_defaults.h"
|
|
#include "safety/safety_honda.h"
|
|
#include "safety/safety_toyota.h"
|
|
#ifdef PANDA
|
|
#include "safety/safety_toyota_ipas.h"
|
|
#endif
|
|
#include "safety/safety_gm.h"
|
|
#include "safety/safety_ford.h"
|
|
#include "safety/safety_elm327.h"
|
|
|
|
const safety_hooks *current_hooks = &nooutput_hooks;
|
|
|
|
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
|
|
current_hooks->rx(to_push);
|
|
}
|
|
|
|
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
|
return current_hooks->tx(to_send);
|
|
}
|
|
|
|
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
|
|
return current_hooks->tx_lin(lin_num, data, len);
|
|
}
|
|
|
|
// -1 = Disabled (Use GPIO to determine ignition)
|
|
// 0 = Off (not started)
|
|
// 1 = On (started)
|
|
int safety_ignition_hook() {
|
|
return current_hooks->ignition();
|
|
}
|
|
int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
|
return current_hooks->fwd(bus_num, to_fwd);
|
|
}
|
|
|
|
typedef struct {
|
|
uint16_t id;
|
|
const safety_hooks *hooks;
|
|
} safety_hook_config;
|
|
|
|
#define SAFETY_NOOUTPUT 0
|
|
#define SAFETY_HONDA 1
|
|
#define SAFETY_TOYOTA 2
|
|
#define SAFETY_GM 3
|
|
#define SAFETY_HONDA_BOSCH 4
|
|
#define SAFETY_FORD 5
|
|
#define SAFETY_TOYOTA_IPAS 0x1335
|
|
#define SAFETY_TOYOTA_NOLIMITS 0x1336
|
|
#define SAFETY_ALLOUTPUT 0x1337
|
|
#define SAFETY_ELM327 0xE327
|
|
|
|
const safety_hook_config safety_hook_registry[] = {
|
|
{SAFETY_NOOUTPUT, &nooutput_hooks},
|
|
{SAFETY_HONDA, &honda_hooks},
|
|
{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
|
|
{SAFETY_TOYOTA, &toyota_hooks},
|
|
{SAFETY_GM, &gm_hooks},
|
|
{SAFETY_FORD, &ford_hooks},
|
|
{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
|
|
#ifdef PANDA
|
|
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
|
|
#endif
|
|
{SAFETY_ALLOUTPUT, &alloutput_hooks},
|
|
{SAFETY_ELM327, &elm327_hooks},
|
|
};
|
|
|
|
#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
|
|
|
|
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;
|
|
if (current_hooks->init) current_hooks->init(param);
|
|
return 0;
|
|
}
|
|
}
|
|
return -1;
|
|
}
|
|
|