From 2b9b7182d817b6e09be8c3006b24e15ee26b51d2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 28 Oct 2020 15:21:07 -0500
Subject: [PATCH] Abstract set_unsafe_mode function to Panda (#2431)

* Abstract set_unsafe_mode function to panda.cc

* whoops

* use uint16_t
old-commit-hash: 5eea86cbf4da41b43f1d79c76689d49f8ffbde51
---
 selfdrive/boardd/boardd.cc | 2 ++
 selfdrive/boardd/panda.cc  | 4 ++++
 selfdrive/boardd/panda.h   | 1 +
 3 files changed, 7 insertions(+)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 7fa6d7ae3c..d851f7a449 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -107,6 +107,8 @@ void safety_setter_thread() {
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
 
+  panda->set_unsafe_mode(0);  // see safety_declarations.h for allowed values
+
   auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);
 
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index ef9b498779..c209cc4f8d 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -188,6 +188,10 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int sa
   usb_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 
+void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
+  usb_write(0xdf, unsafe_mode, 0);
+}
+
 cereal::HealthData::HwType Panda::get_hw_type() {
   unsigned char hw_query[1] = {0};
 
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index c3e2dc981e..119c123b1f 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -63,6 +63,7 @@ class Panda {
   // Panda functionality
   cereal::HealthData::HwType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
+  void set_unsafe_mode(uint16_t unsafe_mode);
   void set_rtc(struct tm sys_time);
   struct tm get_rtc();
   void set_fan_speed(uint16_t fan_speed);