skip tx_hook if a message is forwarded (#379)

commaai · Nov 14, 2019 · 4d1edc0 · 4d1edc0
1 parent df2ff04
commit 4d1edc0
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/board/drivers/can.h b/board/drivers/can.h
@@ -27,7 +27,7 @@ void can_set_forwarding(int from, int to);
 
 void can_init(uint8_t can_number);
 void can_init_all(void);
-void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
 bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 
 // Ignition detected from CAN meessages
@@ -394,7 +394,7 @@ void can_rx(uint8_t can_number) {
       to_send.RDTR = to_push.RDTR;
       to_send.RDLR = to_push.RDLR;
       to_send.RDHR = to_push.RDHR;
-      can_send(&to_send, bus_fwd_num);
+      can_send(&to_send, bus_fwd_num, true);
     }
 
     safety_rx_hook(&to_push);
@@ -420,8 +420,8 @@ void CAN3_TX_IRQHandler(void) { process_can(2); }
 void CAN3_RX0_IRQHandler(void) { can_rx(2); }
 void CAN3_SCE_IRQHandler(void) { can_sce(CAN3); }
 
-void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push) != 0) {
+void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
+  if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
     if (bus_number < BUS_MAX) {
       // add CAN packet to send queue
       // bus number isn't passed through

diff --git a/board/main.c b/board/main.c
@@ -233,7 +233,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
     to_push.RIR = d32[dpkt];
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
-    can_send(&to_push, bus_number);
+    can_send(&to_push, bus_number, false);
   }
 }