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64 lines
2.2 KiB
64 lines
2.2 KiB
// sample struct that keeps 3 samples in memory
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struct sample_t {
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int values[6];
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int min;
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int max;
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} sample_t_default = {{0}, 0, 0};
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// safety code requires floats
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struct lookup_t {
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float x[3];
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float y[3];
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};
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typedef struct {
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int addr;
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int bus;
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} AddrBus;
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void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
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int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
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int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
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uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
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int to_signed(int d, int bits);
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void update_sample(struct sample_t *sample, int sample_new);
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bool max_limit_check(int val, const int MAX, const int MIN);
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bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
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const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
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bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
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const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
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const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
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bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
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float interpolate(struct lookup_t xy, float x);
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bool addr_allowed(int addr, int bus, const AddrBus addr_list[], int len);
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typedef void (*safety_hook_init)(int16_t param);
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typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
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typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
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typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
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typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
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typedef struct {
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safety_hook_init init;
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rx_hook rx;
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tx_hook tx;
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tx_lin_hook tx_lin;
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fwd_hook fwd;
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} safety_hooks;
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// This can be set by the safety hooks
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bool controls_allowed = false;
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bool relay_malfunction = false;
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bool gas_interceptor_detected = false;
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int gas_interceptor_prev = 0;
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// This is set by USB command 0xdf
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bool long_controls_allowed = true;
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// time since safety mode has been changed
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uint32_t safety_mode_cnt = 0U;
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// allow 1s of transition timeout after relay changes state before assessing malfunctioning
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const uint32_t RELAY_TRNS_TIMEOUT = 1U;
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// avg between 2 tracks
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#define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)
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