69 lines
1.4 KiB
C
69 lines
1.4 KiB
C
void default_rx_hook(const CANPacket_t *to_push) {
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UNUSED(to_push);
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}
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// *** no output safety mode ***
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static safety_config nooutput_init(uint16_t param) {
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UNUSED(param);
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return (safety_config){NULL, 0, NULL, 0};
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}
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static bool nooutput_tx_hook(const CANPacket_t *to_send) {
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UNUSED(to_send);
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return false;
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}
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static int default_fwd_hook(int bus_num, int addr) {
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UNUSED(bus_num);
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UNUSED(addr);
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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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.fwd = default_fwd_hook,
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};
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// *** all output safety mode ***
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// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
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const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
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bool alloutput_passthrough = false;
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static safety_config alloutput_init(uint16_t param) {
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controls_allowed = true;
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alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
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return (safety_config){NULL, 0, NULL, 0};
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}
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static bool alloutput_tx_hook(const CANPacket_t *to_send) {
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UNUSED(to_send);
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return true;
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}
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static int alloutput_fwd_hook(int bus_num, int addr) {
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int bus_fwd = -1;
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UNUSED(addr);
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if (alloutput_passthrough) {
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if (bus_num == 0) {
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bus_fwd = 2;
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}
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if (bus_num == 2) {
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bus_fwd = 0;
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}
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}
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return bus_fwd;
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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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.fwd = alloutput_fwd_hook,
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};
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