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51 lines
1.3 KiB
51 lines
1.3 KiB
#pragma once
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#include "opendbc/safety/safety_declarations.h"
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// GCOV_EXCL_START
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// Unreachable by design (doesn't define any rx msgs)
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void default_rx_hook(const CANPacket_t *msg) {
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UNUSED(msg);
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}
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// GCOV_EXCL_STOP
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// *** no output safety mode ***
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static safety_config nooutput_init(uint16_t param) {
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UNUSED(param);
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return (safety_config){NULL, 0, NULL, 0, true}; // NOLINT(readability/braces)
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}
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// GCOV_EXCL_START
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// Unreachable by design (doesn't define any tx msgs)
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static bool nooutput_tx_hook(const CANPacket_t *msg) {
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UNUSED(msg);
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return false;
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}
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// GCOV_EXCL_STOP
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const safety_hooks nooutput_hooks = {
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.init = nooutput_init,
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.rx = default_rx_hook,
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.tx = nooutput_tx_hook,
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};
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// *** all output safety mode ***
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static safety_config alloutput_init(uint16_t param) {
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// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
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const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
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controls_allowed = true;
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bool alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
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return (safety_config){NULL, 0, NULL, 0, !alloutput_passthrough}; // NOLINT(readability/braces)
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}
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static bool alloutput_tx_hook(const CANPacket_t *msg) {
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UNUSED(msg);
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return true;
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}
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const safety_hooks alloutput_hooks = {
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.init = alloutput_init,
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.rx = default_rx_hook,
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.tx = alloutput_tx_hook,
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};
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