mirror of https://github.com/commaai/panda.git
71 lines
1.6 KiB
C
71 lines
1.6 KiB
C
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void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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// state machine to enter and exit controls
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// 0x1A6 for the ILX, 0x296 for the Civic Touring
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if ((to_push->RIR>>21) == 0x1A6 || (to_push->RIR>>21) == 0x296) {
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int buttons = (to_push->RDLR & 0xE0) >> 5;
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if (buttons == 4 || buttons == 3) {
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controls_allowed = 1;
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} else if (buttons == 2) {
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controls_allowed = 0;
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}
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}
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// exit controls on brake press
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if ((to_push->RIR>>21) == 0x17C) {
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// bit 50
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if (to_push->RDHR & 0x200000) {
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controls_allowed = 0;
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}
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}
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// exit controls on gas press if interceptor
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if ((to_push->RIR>>21) == 0x201) {
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gas_interceptor_detected = 1;
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int gas = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
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if (gas > 328) {
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controls_allowed = 0;
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}
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}
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// exit controls on gas press if no interceptor
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if (!gas_interceptor_detected) {
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if ((to_push->RIR>>21) == 0x17C) {
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if (to_push->RDLR & 0xFF) {
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controls_allowed = 0;
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}
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}
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}
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}
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void safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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// BRAKE: safety check
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if ((to_send->RIR>>21) == 0x1FA) {
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if (controls_allowed) {
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to_send->RDLR &= 0xFFFFFF3F;
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} else {
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to_send->RDLR &= 0xFFFF0000;
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}
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}
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// STEER: safety check
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if ((to_send->RIR>>21) == 0xE4) {
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if (controls_allowed) {
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to_send->RDLR &= 0xFFFFFFFF;
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} else {
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to_send->RDLR &= 0xFFFF0000;
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}
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}
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// GAS: safety check
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if ((to_send->RIR>>21) == 0x200) {
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if (controls_allowed) {
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to_send->RDLR &= 0xFFFFFFFF;
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} else {
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to_send->RDLR &= 0xFFFF0000;
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}
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}
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// block all other messages?
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}
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