IQ.Pilot Release Commit @ 5bc9cd3

iqdbc_repo/iqdbc/safety/modes/defaults.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include "iqdbc/safety/declarations.h"
+
+// GCOV_EXCL_START
+// Unreachable by design (doesn't define any rx msgs)
+void default_rx_hook(const CANPacket_t *msg) {
+  SAFETY_UNUSED(msg);
+}
+// GCOV_EXCL_STOP
+
+// *** no output safety mode ***
+
+static safety_config nooutput_init(uint16_t param) {
+  SAFETY_UNUSED(param);
+  return (safety_config){NULL, 0, NULL, 0, true}; // NOLINT(readability/braces)
+}
+
+// GCOV_EXCL_START
+// Unreachable by design (doesn't define any tx msgs)
+static bool nooutput_tx_hook(const CANPacket_t *msg) {
+  SAFETY_UNUSED(msg);
+  return false;
+}
+// GCOV_EXCL_STOP
+
+const safety_hooks nooutput_hooks = {
+  .init = nooutput_init,
+  .rx = default_rx_hook,
+  .tx = nooutput_tx_hook,
+};
+
+// *** all output safety mode ***
+static safety_config alloutput_init(uint16_t param) {
+  // 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;
+  controls_allowed = true;
+  bool alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
+  return (safety_config){NULL, 0, NULL, 0, !alloutput_passthrough}; // NOLINT(readability/braces)
+}
+
+static bool alloutput_tx_hook(const CANPacket_t *msg) {
+  SAFETY_UNUSED(msg);
+  return true;
+}
+
+const safety_hooks alloutput_hooks = {
+  .init = alloutput_init,
+  .rx = default_rx_hook,
+  .tx = alloutput_tx_hook,
+};