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49 lines
954 B
49 lines
954 B
void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
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// FIXME
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// *** all output safety mode ***
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static void subaru_init(int16_t param) {
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controls_allowed = 1;
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}
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static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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return true;
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}
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static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// shifts bits 29 > 11
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int32_t addr = to_fwd->RIR >> 21;
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// forward CAN 0 > 1
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if (bus_num == 0) {
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return 1; // ES CAN
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}
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// forward CAN 1 > 0, except ES_LKAS
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else if (bus_num == 1) {
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// outback 2015
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if (addr == 0x164) {
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return -1;
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}
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// global platform
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if (addr == 0x122) {
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return -1;
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}
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return 0; // Main CAN
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}
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// fallback to do not forward
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return -1;
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}
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const safety_hooks subaru_hooks = {
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.init = subaru_init,
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.rx = subaru_rx_hook,
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.tx = subaru_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 = subaru_fwd_hook,
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}; |