enable unsafe mode, toggle for use by forks that so choose

rafcabezas · Mar 31, 2020 · 4556e74 · 4556e74
1 parent de89fcd
commit 4556e74
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diff --git a/board/main.c b/board/main.c
@@ -469,6 +469,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
         can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
       }
       break;
+    // **** 0xdf: set unsafe mode
+    case 0xdf:
+      unsafe_mode = setup->b.wValue.w;
+      break;
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);

diff --git a/board/safety_declarations.h b/board/safety_declarations.h
@@ -88,6 +88,12 @@ int gas_interceptor_prev = 0;
 bool gas_pressed_prev = false;
 bool brake_pressed_prev = false;
 
+// This can be set with a USB command
+// It enables features we consider to be unsafe, but understand others may have different opinions
+// One example of such a feature is gas disengage
+// It is always off on mainline comma.ai openpilot
+bool unsafe_mode = false;
+
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;
 // allow 1s of transition timeout after relay changes state before assessing malfunctioning