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40 lines
1.1 KiB
40 lines
1.1 KiB
#pragma once
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#include "opendbc/safety/safety_declarations.h"
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#include "opendbc/safety/modes/defaults.h"
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static bool elm327_tx_hook(const CANPacket_t *msg) {
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const unsigned int GM_CAMERA_DIAG_ADDR = 0x24BU;
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bool tx = true;
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int len = GET_LEN(msg);
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// All ISO 15765-4 messages must be 8 bytes long
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if (len != 8) {
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tx = false;
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}
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// Check valid 29 bit send addresses for ISO 15765-4
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// Check valid 11 bit send addresses for ISO 15765-4
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if ((msg->addr != 0x18DB33F1U) && ((msg->addr & 0x1FFF00FFU) != 0x18DA00F1U) &&
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((msg->addr & 0x1FFFFF00U) != 0x600U) && ((msg->addr & 0x1FFFFF00U) != 0x700U) &&
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(msg->addr != GM_CAMERA_DIAG_ADDR)) {
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tx = false;
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}
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// GM camera uses non-standard diagnostic address, this has no control message address collisions
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if ((msg->addr == GM_CAMERA_DIAG_ADDR) && (len == 8)) {
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// Only allow known frame types for ISO 15765-2
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if ((msg->data[0] & 0xF0U) > 0x30U) {
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tx = false;
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}
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}
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return tx;
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}
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// If safety_param == 0, bus 1 is multiplexed to the OBD-II port
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const safety_hooks elm327_hooks = {
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.init = nooutput_init,
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.rx = default_rx_hook,
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.tx = elm327_tx_hook,
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};
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