IQ.Pilot Release Commit @ 0798119

iqdbc_repo/iqdbc/safety/modes/body.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include "iqdbc/safety/declarations.h"
+
+static void body_rx_hook(const CANPacket_t *msg) {
+  if (msg->addr == 0x201U) {
+    controls_allowed = true;
+  }
+}
+
+static bool body_tx_hook(const CANPacket_t *msg) {
+  bool tx = true;
+
+  if (!controls_allowed && (msg->addr != 0x1U)) {
+    tx = false;
+  }
+
+  // Allow going into CAN flashing mode even if controls are not allowed
+  bool flash_msg = (msg->addr == 0x250U) && (GET_LEN(msg) == 8U);
+  if (!controls_allowed && (GET_BYTES(msg, 0, 4) == 0xdeadfaceU) && (GET_BYTES(msg, 4, 4) == 0x0ab00b1eU) && flash_msg) {
+    tx = true;
+  }
+
+  return tx;
+}
+
+static safety_config body_init(uint16_t param) {
+  static RxCheck body_rx_checks[] = {
+    {.msg = {{0x201, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+  };
+
+  static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, .check_relay = false}, {0x250, 0, 6, .check_relay = false}, {0x251, 0, 5, .check_relay = false},  // body
+                                        {0x1, 0, 8, .check_relay = false}};  // CAN flasher
+
+  SAFETY_UNUSED(param);
+  safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
+  ret.disable_forwarding = true;
+  return ret;
+}
+
+const safety_hooks body_hooks = {
+  .init = body_init,
+  .rx = body_rx_hook,
+  .tx = body_tx_hook,
+};