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37 lines
1.1 KiB
37 lines
1.1 KiB
7 years ago
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int hyundai_giraffe_switch_1 = 0; // is giraffe switch 1 high?
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static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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int bus = (to_push->RDTR >> 4) & 0xF;
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// 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock
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if ((to_push->RIR>>21) == 832 && (bus == 0)) {
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hyundai_giraffe_switch_1 = 1;
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}
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}
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static void hyundai_init(int16_t param) {
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controls_allowed = 0;
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hyundai_giraffe_switch_1 = 0;
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}
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static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// forward camera to car and viceversa, excpet for lkas11 and mdps12
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if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
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int addr = to_fwd->RIR>>21;
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bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0);
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return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
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}
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return -1;
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}
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const safety_hooks hyundai_hooks = {
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.init = hyundai_init,
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.rx = hyundai_rx_hook,
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.tx = nooutput_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.ignition = default_ign_hook,
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.fwd = hyundai_fwd_hook,
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};
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