openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/safety/safety_defaults.h

@@ -0,0 +1,68 @@
+void default_rx_hook(CANPacket_t *to_push) {
+  UNUSED(to_push);
+}
+
+// *** no output safety mode ***
+
+static safety_config nooutput_init(uint16_t param) {
+  UNUSED(param);
+  return (safety_config){NULL, 0, NULL, 0};
+}
+
+static bool nooutput_tx_hook(CANPacket_t *to_send) {
+  UNUSED(to_send);
+  return false;
+}
+
+static int default_fwd_hook(int bus_num, int addr) {
+  UNUSED(bus_num);
+  UNUSED(addr);
+  return -1;
+}
+
+const safety_hooks nooutput_hooks = {
+  .init = nooutput_init,
+  .rx = default_rx_hook,
+  .tx = nooutput_tx_hook,
+  .fwd = default_fwd_hook,
+};
+
+// *** all output safety mode ***
+
+// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
+const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
+bool alloutput_passthrough = false;
+
+static safety_config alloutput_init(uint16_t param) {
+  controls_allowed = true;
+  alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
+  return (safety_config){NULL, 0, NULL, 0};
+}
+
+static bool alloutput_tx_hook(CANPacket_t *to_send) {
+  UNUSED(to_send);
+  return true;
+}
+
+static int alloutput_fwd_hook(int bus_num, int addr) {
+  int bus_fwd = -1;
+  UNUSED(addr);
+
+  if (alloutput_passthrough) {
+    if (bus_num == 0) {
+      bus_fwd = 2;
+    }
+    if (bus_num == 2) {
+      bus_fwd = 0;
+    }
+  }
+
+  return bus_fwd;
+}
+
+const safety_hooks alloutput_hooks = {
+  .init = alloutput_init,
+  .rx = default_rx_hook,
+  .tx = alloutput_tx_hook,
+  .fwd = alloutput_fwd_hook,
+};