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chrysler: forward bus 0 to bus 2 (#177)
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* chrysler: forward bus 0 to bus 2
This keeps the stock LKAS camera active so that we can copy data from its messages.

* Only forward if giraffe switches are 1 0.
Forward LKAS_HEARTBIT messages from stock camera to bus 0.
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adhintz authored and legonigel committed Apr 12, 2019
1 parent 62d4219 commit 236705f
Showing 1 changed file with 20 additions and 3 deletions.
23 changes: 20 additions & 3 deletions board/safety/safety_chrysler.h
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ const int CHRYSLER_MAX_RATE_UP = 3;
const int CHRYSLER_MAX_RATE_DOWN = 3;
const int CHRYSLER_MAX_TORQUE_ERROR = 80; // max torque cmd in excess of torque motor

int chrysler_camera_detected = 0;
int chrysler_camera_detected = 0; // is giraffe switch 2 high?
int chrysler_rt_torque_last = 0;
int chrysler_desired_torque_last = 0;
int chrysler_cruise_engaged_last = 0;
Expand Down Expand Up @@ -125,12 +125,29 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return true;
}

static void chrysler_init(int16_t param) {
chrysler_camera_detected = 0;
}

static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int32_t addr = to_fwd->RIR >> 21;
// forward CAN 0 -> 2 so stock LKAS camera sees messages
if (bus_num == 0 && !chrysler_camera_detected) {
return 2;
}
// forward LKAS_HEARTBIT message from stock camera
if (bus_num == 2 && !chrysler_camera_detected && addr == 0x2d9) {
return 0;
}
return -1; // do not forward
}


const safety_hooks chrysler_hooks = {
.init = nooutput_init,
.init = chrysler_init,
.rx = chrysler_rx_hook,
.tx = chrysler_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.fwd = chrysler_fwd_hook,
};

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