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103 lines
2.8 KiB
103 lines
2.8 KiB
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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int safety_ignition_hook();
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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 (*ign_hook)();
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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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ign_hook ignition;
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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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int controls_allowed = 0;
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// Include the actual safety policies.
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#include "safety/safety_defaults.h"
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#include "safety/safety_honda.h"
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#include "safety/safety_toyota.h"
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#ifdef PANDA
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#include "safety/safety_toyota_ipas.h"
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#endif
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#include "safety/safety_gm.h"
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#include "safety/safety_ford.h"
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#include "safety/safety_elm327.h"
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const safety_hooks *current_hooks = &nooutput_hooks;
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void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
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current_hooks->rx(to_push);
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}
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int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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return current_hooks->tx(to_send);
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}
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int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
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return current_hooks->tx_lin(lin_num, data, len);
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}
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// -1 = Disabled (Use GPIO to determine ignition)
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// 0 = Off (not started)
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// 1 = On (started)
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int safety_ignition_hook() {
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return current_hooks->ignition();
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}
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int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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return current_hooks->fwd(bus_num, to_fwd);
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}
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typedef struct {
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uint16_t id;
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const safety_hooks *hooks;
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} safety_hook_config;
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#define SAFETY_NOOUTPUT 0
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#define SAFETY_HONDA 1
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#define SAFETY_TOYOTA 2
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#define SAFETY_GM 3
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#define SAFETY_HONDA_BOSCH 4
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#define SAFETY_FORD 5
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#define SAFETY_TOYOTA_IPAS 0x1335
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#define SAFETY_TOYOTA_NOLIMITS 0x1336
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#define SAFETY_ALLOUTPUT 0x1337
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#define SAFETY_ELM327 0xE327
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const safety_hook_config safety_hook_registry[] = {
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{SAFETY_NOOUTPUT, &nooutput_hooks},
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{SAFETY_HONDA, &honda_hooks},
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{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
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{SAFETY_TOYOTA, &toyota_hooks},
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{SAFETY_GM, &gm_hooks},
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{SAFETY_FORD, &ford_hooks},
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{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
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#ifdef PANDA
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{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
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#endif
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{SAFETY_ALLOUTPUT, &alloutput_hooks},
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{SAFETY_ELM327, &elm327_hooks},
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};
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#define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
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int safety_set_mode(uint16_t mode, int16_t param) {
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for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
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if (safety_hook_registry[i].id == mode) {
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current_hooks = safety_hook_registry[i].hooks;
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if (current_hooks->init) current_hooks->init(param);
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return 0;
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}
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}
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return -1;
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}
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