commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

safety_param: change to unsigned (#910) 

* make safety_param unsigned

* final one

* uint32_t

* change flags as well

* Revert "change flags as well"

This reverts commit ed8897dd86.

* unsigned

* update health packet version

update health packet version

* update struct H->I

* bump health version

* actually used
This commit is contained in:
Shane Smiskol 2022-04-20 23:25:03 -07:00 committed by GitHub
parent a1d97f9a0b
commit 7dd9493eb1
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
20 changed files with 31 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
board/health.h
View File

@ -1,5 +1,5 @@
// When changing this struct, python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 5
#define HEALTH_PACKET_VERSION 6
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@ -16,7 +16,7 @@ struct __attribute__((packed)) health_t {
uint8_t car_harness_status_pkt;
uint8_t usb_power_mode_pkt;
uint8_t safety_mode_pkt;
int16_t safety_param_pkt;
uint32_t safety_param_pkt;
uint8_t fault_status_pkt;
uint8_t power_save_enabled_pkt;
uint8_t heartbeat_lost_pkt;

8
board/main.c
View File

@ -69,13 +69,13 @@ void debug_ring_callback(uart_ring *ring) {
// ****************************** safety mode ******************************
// this is the only way to leave silent mode
void set_safety_mode(uint16_t mode, int16_t param) {
void set_safety_mode(uint16_t mode, uint32_t param) {
uint16_t mode_copy = mode;
int err = set_safety_hooks(mode_copy, param);
if (err == -1) {
puts("Error: safety set mode failed. Falling back to SILENT\n");
mode_copy = SAFETY_SILENT;
err = set_safety_hooks(mode_copy, 0);
err = set_safety_hooks(mode_copy, 0U);
if (err == -1) {
puts("Error: Failed setting SILENT mode. Hanging\n");
while (true) {
@ -105,7 +105,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
heartbeat_counter = 0U;
heartbeat_lost = false;
if (current_board->has_obd) {
if (param == 0) {
if (param == 0U) {
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
} else {
current_board->set_can_mode(CAN_MODE_NORMAL);
@ -367,7 +367,7 @@ int main(void) {
microsecond_timer_init();
// init to SILENT and can silent
set_safety_mode(SAFETY_SILENT, 0);
set_safety_mode(SAFETY_SILENT, 0U);
// enable CAN TXs
current_board->enable_can_transceivers(true);

4
board/safety.h
View File

@ -45,7 +45,7 @@
#define SAFETY_BODY 27U
uint16_t current_safety_mode = SAFETY_SILENT;
int16_t current_safety_param = 0;
uint32_t current_safety_param = 0;
const safety_hooks *current_hooks = &nooutput_hooks;
const addr_checks *current_rx_checks = &default_rx_checks;
@ -262,7 +262,7 @@ const safety_hook_config safety_hook_registry[] = {
#endif
};
int set_safety_hooks(uint16_t mode, int16_t param) {
int set_safety_hooks(uint16_t mode, uint32_t param) {
// reset state set by safety mode
safety_mode_cnt = 0U;
relay_malfunction = false;

2
board/safety/safety_body.h
View File

@ -31,7 +31,7 @@ static int body_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
return tx;
}
static const addr_checks* body_init(int16_t param) {
static const addr_checks* body_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();

2
board/safety/safety_chrysler.h
View File

@ -196,7 +196,7 @@ static int chrysler_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
return bus_fwd;
}
static const addr_checks* chrysler_init(int16_t param) {
static const addr_checks* chrysler_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();

5
board/safety/safety_defaults.h
View File

@ -10,7 +10,7 @@ int default_rx_hook(CANPacket_t *to_push) {
// *** no output safety mode ***
static const addr_checks* nooutput_init(int16_t param) {
static const addr_checks* nooutput_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();
@ -50,8 +50,7 @@ const safety_hooks nooutput_hooks = {
const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
bool alloutput_passthrough = false;
static const addr_checks* alloutput_init(int16_t param) {
UNUSED(param);
static const addr_checks* alloutput_init(uint32_t param) {
alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
controls_allowed = true;
relay_malfunction_reset();

2
board/safety/safety_gm.h
View File

@ -219,7 +219,7 @@ static int gm_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
return tx;
}
static const addr_checks* gm_init(int16_t param) {
static const addr_checks* gm_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();

5
board/safety/safety_honda.h
View File

@ -362,8 +362,7 @@ static int honda_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
return tx;
}
static const addr_checks* honda_nidec_init(int16_t param) {
UNUSED(param);
static const addr_checks* honda_nidec_init(uint32_t param) {
controls_allowed = false;
relay_malfunction_reset();
gas_interceptor_detected = 0;
@ -379,7 +378,7 @@ static const addr_checks* honda_nidec_init(int16_t param) {
return &honda_rx_checks;
}
static const addr_checks* honda_bosch_init(int16_t param) {
static const addr_checks* honda_bosch_init(uint32_t param) {
controls_allowed = false;
relay_malfunction_reset();
honda_hw = HONDA_BOSCH;

4
board/safety/safety_hyundai.h
View File

@ -364,7 +364,7 @@ static int hyundai_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
return bus_fwd;
}
static const addr_checks* hyundai_init(int16_t param) {
static const addr_checks* hyundai_init(uint32_t param) {
controls_allowed = false;
relay_malfunction_reset();
@ -384,7 +384,7 @@ static const addr_checks* hyundai_init(int16_t param) {
return &hyundai_rx_checks;
}
static const addr_checks* hyundai_legacy_init(int16_t param) {
static const addr_checks* hyundai_legacy_init(uint32_t param) {
controls_allowed = false;
relay_malfunction_reset();

2
board/safety/safety_mazda.h
View File

@ -173,7 +173,7 @@ static int mazda_fwd_hook(int bus, CANPacket_t *to_fwd) {
return bus_fwd;
}
static const addr_checks* mazda_init(int16_t param) {
static const addr_checks* mazda_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();

2
board/safety/safety_nissan.h
View File

@ -189,7 +189,7 @@ static int nissan_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
return bus_fwd;
}
static const addr_checks* nissan_init(int16_t param) {
static const addr_checks* nissan_init(uint32_t param) {
controls_allowed = 0;
nissan_alt_eps = param ? 1 : 0;
relay_malfunction_reset();

4
board/safety/safety_subaru.h
View File

@ -313,7 +313,7 @@ static int subaru_legacy_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
return bus_fwd;
}
static const addr_checks* subaru_init(int16_t param) {
static const addr_checks* subaru_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();
@ -328,7 +328,7 @@ const safety_hooks subaru_hooks = {
.fwd = subaru_fwd_hook,
};
static const addr_checks* subaru_legacy_init(int16_t param) {
static const addr_checks* subaru_legacy_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();

2
board/safety/safety_tesla.h
View File

@ -244,7 +244,7 @@ static int tesla_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
return bus_fwd;
}
static const addr_checks* tesla_init(int16_t param) {
static const addr_checks* tesla_init(uint32_t param) {
tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
controls_allowed = 0;

2
board/safety/safety_toyota.h
View File

@ -246,7 +246,7 @@ static int toyota_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
return tx;
}
static const addr_checks* toyota_init(int16_t param) {
static const addr_checks* toyota_init(uint32_t param) {
controls_allowed = 0;
relay_malfunction_reset();
gas_interceptor_detected = 0;

2
board/safety/safety_volkswagen_mqb.h
View File

@ -76,7 +76,7 @@ static uint8_t volkswagen_mqb_compute_crc(CANPacket_t *to_push) {
return crc ^ 0xFFU;
}
static const addr_checks* volkswagen_mqb_init(int16_t param) {
static const addr_checks* volkswagen_mqb_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;

2
board/safety/safety_volkswagen_pq.h
View File

@ -49,7 +49,7 @@ static uint8_t volkswagen_pq_compute_checksum(CANPacket_t *to_push) {
return checksum;
}
static const addr_checks* volkswagen_pq_init(int16_t param) {
static const addr_checks* volkswagen_pq_init(uint32_t param) {
UNUSED(param);
controls_allowed = false;

2
board/safety_declarations.h
View File

@ -84,7 +84,7 @@ void generic_rx_checks(bool stock_ecu_detected);
void relay_malfunction_set(void);
void relay_malfunction_reset(void);
typedef const addr_checks* (*safety_hook_init)(int16_t param);
typedef const addr_checks* (*safety_hook_init)(uint32_t param);
typedef int (*rx_hook)(CANPacket_t *to_push);
typedef int (*tx_hook)(CANPacket_t *to_send, bool longitudinal_allowed);
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);

4
board/usb_comms.h
View File

@ -4,7 +4,7 @@
extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
// Prototypes
void set_safety_mode(uint16_t mode, int16_t param);
void set_safety_mode(uint16_t mode, uint32_t param);
bool is_car_safety_mode(uint16_t mode);
int get_health_pkt(void *dat) {
@ -273,7 +273,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
// **** 0xdc: set safety mode
case 0xdc:
set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
set_safety_mode(setup->b.wValue.w, (uint32_t) setup->b.wIndex.w);
break;
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:

4
python/__init__.py
View File

@ -170,8 +170,8 @@ class Panda(object):
HW_TYPE_RED_PANDA = b'\x07'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 5
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIf")
HEALTH_PACKET_VERSION = 6
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBIBBBHIf")
F2_DEVICES = (HW_TYPE_PEDAL, )
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)

2
tests/safety/libpandasafety_py.py
View File

@ -57,7 +57,7 @@ void set_timer(uint32_t t);
int safety_rx_hook(CANPacket_t *to_send);
int safety_tx_hook(CANPacket_t *to_push);
int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd);
int set_safety_hooks(uint16_t mode, int16_t param);
int set_safety_hooks(uint16_t mode, uint32_t param);
void safety_tick_current_rx_checks();
bool addr_checks_valid();