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60 lines
1.3 KiB
60 lines
1.3 KiB
void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
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int default_ign_hook() {
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return -1; // use GPIO to determine ignition
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}
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// *** no output safety mode ***
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static void nooutput_init(int16_t param) {
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controls_allowed = 0;
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}
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static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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return false;
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}
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static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
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return false;
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}
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static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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return -1;
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}
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const safety_hooks nooutput_hooks = {
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.init = nooutput_init,
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.rx = default_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 = nooutput_fwd_hook,
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};
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// *** all output safety mode ***
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static void alloutput_init(int16_t param) {
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controls_allowed = 1;
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}
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static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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return true;
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}
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static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
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return true;
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}
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static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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return -1;
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}
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const safety_hooks alloutput_hooks = {
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.init = alloutput_init,
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.rx = default_rx_hook,
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.tx = alloutput_tx_hook,
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.tx_lin = alloutput_tx_lin_hook,
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.ignition = default_ign_hook,
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.fwd = alloutput_fwd_hook,
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};
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