Merge pull request #110 from Jamezz/volt

Add safety hook for ignition state for car platforms that don't support GPIO pin

board/main.c

@@ -104,7 +104,14 @@ int get_health_pkt(void *dat) {
 
 #ifdef PANDA
   health->current = adc_get(ADCCHAN_CURRENT);
-  health->started = (GPIOA->IDR & (1 << 1)) == 0;
+  int safety_ignition = safety_ignition_hook();
+  if (safety_ignition < 0) {
+    //Use the GPIO pin to determine ignition
+    health->started = (GPIOA->IDR & (1 << 1)) == 0;
+  } else {
+    //Current safety hooks want to determine ignition (ex: GM)
+    health-> started = safety_ignition;
+  }
 #else
   health->current = 0;
   health->started = (GPIOC->IDR & (1 << 13)) != 0;

board/safety.h

@@ -1,15 +1,18 @@
 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);
+int safety_ignition_hook();
 
 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);
+typedef int (*ign_hook)();
 typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
 
 typedef struct {
   safety_hook_init init;
+  ign_hook ignition;
   rx_hook rx;
   tx_hook tx;
   tx_lin_hook tx_lin;
@@ -43,6 +46,12 @@ int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
   return current_hooks->tx_lin(lin_num, data, len);
 }
 
+// -1 = Disabled (Use GPIO to determine ignition)
+// 0 = Off (not started)
+// 1 = On (started)
+int safety_ignition_hook() {
+  return current_hooks->ignition();
+}
 int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }

board/safety/safety_defaults.h

@@ -14,6 +14,9 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return false;
 }
 
+static int nooutput_ign_hook() {
+  return -1;
+}
 static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
@@ -23,6 +26,7 @@ const safety_hooks nooutput_hooks = {
   .rx = default_rx_hook,
   .tx = nooutput_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
+  .ignition = nooutput_ign_hook,
   .fwd = nooutput_fwd_hook,
 };
 
@@ -40,6 +44,10 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
+static int alloutput_ign_hook() {
+  return -1;
+}
+
 static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
@@ -49,6 +57,7 @@ const safety_hooks alloutput_hooks = {
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
   .tx_lin = alloutput_tx_lin_hook,
+  .ignition = alloutput_ign_hook,
   .fwd = alloutput_fwd_hook,
 };
 

board/safety/safety_elm327.h

@@ -31,6 +31,10 @@ static void elm327_init(int16_t param) {
   controls_allowed = 1;
 }
 
+static int elm327_ign_hook() {
+  return -1;
+}
+
 static int elm327_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
@@ -40,5 +44,6 @@ const safety_hooks elm327_hooks = {
   .rx = elm327_rx_hook,
   .tx = elm327_tx_hook,
   .tx_lin = elm327_tx_lin_hook,
+  .ignition = elm327_ign_hook,
   .fwd = elm327_fwd_hook,
 };

board/safety/safety_gm.h

@@ -16,8 +16,9 @@ int gm_speed = 0;
 // silence everything if stock ECUs are still online
 int gm_ascm_detected = 0;
 
-static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+int gm_ignition_started = 0;
 
+static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   uint32_t addr;
   if (to_push->RIR & 4) {
     // Extended
@@ -29,6 +30,12 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     addr = to_push->RIR >> 21;
   }
 
+  if (addr == 0x135) {
+    //Gear selector (used for determining ignition)
+    int gear = to_push->RDLR & 0x7;
+    gm_ignition_started = gear > 0; //Park = 0. If out of park, we're "on."
+  }
+
   // sample speed, really only care if car is moving or not
   // rear left wheel speed
   if (addr == 842) {
@@ -170,6 +177,11 @@ static int gm_tx_lin_hook(int lin_num, uint8_t *data, int len) {
 
 static void gm_init(int16_t param) {
   controls_allowed = 0;
+  gm_ignition_started = 0;
+}
+
+static int gm_ign_hook() {
+  return gm_ignition_started;
 }
 
 static int gm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -181,6 +193,7 @@ const safety_hooks gm_hooks = {
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
   .tx_lin = gm_tx_lin_hook,
+  .ignition = gm_ign_hook,
   .fwd = gm_fwd_hook,
 };
 

board/safety/safety_honda.h

@@ -134,11 +134,16 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
+static int honda_ign_hook() {
+  return -1;
+}
+
 const safety_hooks honda_hooks = {
   .init = honda_init,
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
   .tx_lin = honda_tx_lin_hook,
+  .ignition = honda_ign_hook,
   .fwd = honda_fwd_hook,
 };
 
@@ -160,5 +165,6 @@ const safety_hooks honda_bosch_hooks = {
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
   .tx_lin = honda_tx_lin_hook,
+  .ignition = honda_ign_hook,
   .fwd = honda_bosch_fwd_hook,
 };

board/safety/safety_toyota.h

@@ -179,6 +179,10 @@ static void toyota_init(int16_t param) {
   dbc_eps_torque_factor = param;
 }
 
+static int toyota_ign_hook() {
+  return -1;
+}
+
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
@@ -188,6 +192,7 @@ const safety_hooks toyota_hooks = {
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
   .tx_lin = toyota_tx_lin_hook,
+  .ignition = toyota_ign_hook,
   .fwd = toyota_fwd_hook,
 };
 
@@ -202,5 +207,6 @@ const safety_hooks toyota_nolimits_hooks = {
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
   .tx_lin = toyota_tx_lin_hook,
+  .ignition = toyota_ign_hook,
   .fwd = toyota_fwd_hook,
 };