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51 lines
1.6 KiB
51 lines
1.6 KiB
#pragma once
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#include "opendbc/safety/safety_declarations.h"
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static void body_rx_hook(const CANPacket_t *to_push) {
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// body is never at standstill
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vehicle_moving = true;
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if (GET_ADDR(to_push) == 0x201U) {
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controls_allowed = true;
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}
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}
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static bool body_tx_hook(const CANPacket_t *to_send) {
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bool tx = true;
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int addr = GET_ADDR(to_send);
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int len = GET_LEN(to_send);
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if (!controls_allowed && (addr != 0x1)) {
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tx = false;
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}
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// Allow going into CAN flashing mode for base & knee even if controls are not allowed
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bool flash_msg = ((addr == 0x250) || (addr == 0x350)) && (len == 8);
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if (!controls_allowed && (GET_BYTES(to_send, 0, 4) == 0xdeadfaceU) && (GET_BYTES(to_send, 4, 4) == 0x0ab00b1eU) && flash_msg) {
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tx = true;
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}
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return tx;
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}
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static safety_config body_init(uint16_t param) {
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static RxCheck body_rx_checks[] = {
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{.msg = {{0x201, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
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};
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static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, .check_relay = false}, {0x250, 0, 6, .check_relay = false}, {0x251, 0, 5, .check_relay = false}, // body
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{0x350, 0, 8, .check_relay = false}, {0x350, 0, 6, .check_relay = false}, {0x351, 0, 5, .check_relay = false}, // knee
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{0x1, 0, 8, .check_relay = false}}; // CAN flasher
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UNUSED(param);
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safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
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ret.disable_forwarding = true;
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return ret;
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}
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const safety_hooks body_hooks = {
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.init = body_init,
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.rx = body_rx_hook,
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.tx = body_tx_hook,
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};
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