add safety param support

commaai · Jan 26, 2018 · 4410a59 · 4410a59
1 parent 65fb2b2
commit 4410a59
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Showing 6 changed files with 11 additions and 11 deletions.
diff --git a/board/main.c b/board/main.c
@@ -274,7 +274,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       // and it's blocked over WiFi
       // Allow ELM security mode to be set over wifi.
       if (hardwired || setup->b.wValue.w == SAFETY_NOOUTPUT || setup->b.wValue.w == SAFETY_ELM327) {
-        safety_set_mode(setup->b.wValue.w);
+        safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
         switch (setup->b.wValue.w) {
           case SAFETY_NOOUTPUT:
             can_silent = ALL_CAN_SILENT;
@@ -530,7 +530,7 @@ int main() {
   usb_init();
 
   // default to silent mode to prevent issues with Ford
-  safety_set_mode(SAFETY_NOOUTPUT);
+  safety_set_mode(SAFETY_NOOUTPUT, 0);
   can_silent = ALL_CAN_SILENT;
   can_init_all();
 

diff --git a/board/safety.h b/board/safety.h
@@ -2,7 +2,7 @@ void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 
-typedef void (*safety_hook_init)();
+typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
@@ -60,11 +60,11 @@ const safety_hook_config safety_hook_registry[] = {
 
 #define HOOK_CONFIG_COUNT (sizeof(safety_hook_registry)/sizeof(safety_hook_config))
 
-int safety_set_mode(uint16_t mode) {
+int safety_set_mode(uint16_t mode, int16_t param) {
   for (int i = 0; i < HOOK_CONFIG_COUNT; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
-      if (current_hooks->init) current_hooks->init();
+      if (current_hooks->init) current_hooks->init(param);
       return 0;
     }
   }

diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
@@ -2,7 +2,7 @@ void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
 
 // *** no output safety mode ***
 
-static void nooutput_init() {
+static void nooutput_init(int16_t param) {
   controls_allowed = 0;
 }
 
@@ -23,7 +23,7 @@ const safety_hooks nooutput_hooks = {
 
 // *** all output safety mode ***
 
-static void alloutput_init() {
+static void alloutput_init(int16_t param) {
   controls_allowed = 1;
 }
 

diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
@@ -27,7 +27,7 @@ static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static void elm327_init() {
+static void elm327_init(int16_t param) {
   controls_allowed = 1;
 }
 

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -115,7 +115,7 @@ static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static void honda_init() {
+static void honda_init(int16_t param) {
   controls_allowed = 0;
 }
 

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -154,7 +154,7 @@ static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static void toyota_init() {
+static void toyota_init(int16_t param) {
   controls_allowed = 0;
   actuation_limits = 1;
 }
@@ -166,7 +166,7 @@ const safety_hooks toyota_hooks = {
   .tx_lin = toyota_tx_lin_hook,
 };
 
-static void toyota_nolimits_init() {
+static void toyota_nolimits_init(int16_t param) {
   controls_allowed = 0;
   actuation_limits = 0;
 }