From 93863197dd3228649e286074f79a0174821a8a81 Mon Sep 17 00:00:00 2001
From: Igor Biletskyy <briskspirit@users.noreply.github.com>
Date: Thu, 31 Mar 2022 12:02:19 -0700
Subject: [PATCH] add safety mode for body (#901)

* safety mode for body

* move to 27

* dmm...

* misra..

* add faw to safety list

* missing safety modes in python lib

* dmm

* change address to 250

* add 0x1 addr for can flasehr

* whitespace
---
 board/safety.h             |  4 ++++
 board/safety/safety_body.h | 25 +++++++++++++++++++++++++
 python/__init__.py         |  4 ++++
 3 files changed, 33 insertions(+)
 create mode 100644 board/safety/safety_body.h

diff --git a/board/safety.h b/board/safety.h
index 9b0b38762..768de4e24 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -15,6 +15,7 @@
 #include "safety/safety_volkswagen_mqb.h"
 #include "safety/safety_volkswagen_pq.h"
 #include "safety/safety_elm327.h"
+#include "safety/safety_body.h"
 
 // from cereal.car.CarParams.SafetyModel
 #define SAFETY_SILENT 0U
@@ -40,6 +41,8 @@
 #define SAFETY_HYUNDAI_LEGACY 23U
 #define SAFETY_HYUNDAI_COMMUNITY 24U
 #define SAFETY_STELLANTIS 25U
+#define SAFETY_FAW 26U
+#define SAFETY_BODY 27U
 
 uint16_t current_safety_mode = SAFETY_SILENT;
 int16_t current_safety_param = 0;
@@ -251,6 +254,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_NOOUTPUT, &nooutput_hooks},
   {SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
+  {SAFETY_BODY, &body_hooks},
 #ifdef ALLOW_DEBUG
   {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
diff --git a/board/safety/safety_body.h b/board/safety/safety_body.h
new file mode 100644
index 000000000..6a1d057e9
--- /dev/null
+++ b/board/safety/safety_body.h
@@ -0,0 +1,25 @@
+static int body_tx_hook(CANPacket_t *to_send) {
+
+  int tx = 0;
+  int addr = GET_ADDR(to_send);
+
+  // CAN flasher
+  if (addr == 0x1) {
+    tx = 1;
+  }
+
+  if (addr == 0x250) {
+    tx = 1;
+  }
+
+  // 1 allows the message through
+  return tx;
+}
+
+const safety_hooks body_hooks = {
+  .init = nooutput_init,
+  .rx = default_rx_hook,
+  .tx = body_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = default_fwd_hook,
+};
diff --git a/python/__init__.py b/python/__init__.py
index 14e76515b..fb1d24a8a 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -138,6 +138,10 @@ class Panda(object):
   SAFETY_VOLKSWAGEN_PQ = 21
   SAFETY_SUBARU_LEGACY = 22
   SAFETY_HYUNDAI_LEGACY = 23
+  SAFETY_HYUNDAI_COMMUNITY = 24
+  SAFETY_STELLANTIS = 25
+  SAFETY_FAW = 26
+  SAFETY_BODY = 27
 
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1