IQ.Pilot Release Commit @ 0798119

iqdbc_repo/iqdbc/safety/modes/elm327.h

@@ -0,0 +1,40 @@
+#pragma once
+
+#include "iqdbc/safety/declarations.h"
+#include "iqdbc/safety/modes/defaults.h"
+
+static bool elm327_tx_hook(const CANPacket_t *msg) {
+  const unsigned int GM_CAMERA_DIAG_ADDR = 0x24BU;
+
+  bool tx = true;
+  int len = GET_LEN(msg);
+
+  // All ISO 15765-4 messages must be 8 bytes long
+  if (len != 8) {
+    tx = false;
+  }
+
+  // Check valid 29 bit send addresses for ISO 15765-4
+  // Check valid 11 bit send addresses for ISO 15765-4
+  if ((msg->addr != 0x18DB33F1U) && ((msg->addr & 0x1FFF00FFU) != 0x18DA00F1U) &&
+      ((msg->addr & 0x1FFFFF00U) != 0x600U) && ((msg->addr & 0x1FFFFF00U) != 0x700U) &&
+      (msg->addr != GM_CAMERA_DIAG_ADDR)) {
+    tx = false;
+  }
+
+  // GM camera uses non-standard diagnostic address, this has no control message address collisions
+  if ((msg->addr == GM_CAMERA_DIAG_ADDR) && (len == 8)) {
+    // Only allow known frame types for ISO 15765-2
+    if ((msg->data[0] & 0xF0U) > 0x30U) {
+      tx = false;
+    }
+  }
+  return tx;
+}
+
+// If safety_param == 0, bus 1 is multiplexed to the OBD-II port
+const safety_hooks elm327_hooks = {
+  .init = nooutput_init,
+  .rx = default_rx_hook,
+  .tx = elm327_tx_hook,
+};