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Ford CAN FD: enable safety in release #1896

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Merged
merged 1 commit into from
Mar 3, 2025
Merged

Ford CAN FD: enable safety in release #1896

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12 changes: 5 additions & 7 deletions opendbc/safety/safety/safety_ford.h
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Original file line number Diff line number Diff line change
Expand Up @@ -398,26 +398,24 @@ static safety_config ford_init(uint16_t param) {
{FORD_LateralMotionControl, 0, 8},
};

UNUSED(param);
const uint16_t FORD_PARAM_CANFD = 2;
ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);

ford_longitudinal = false;

#ifdef ALLOW_DEBUG
const uint16_t FORD_PARAM_LONGITUDINAL = 1;
const uint16_t FORD_PARAM_CANFD = 2;
ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
#endif

// Longitudinal is the default for CAN, and optional for CAN FD w/ ALLOW_DEBUG
ford_longitudinal = !ford_canfd || ford_longitudinal;

safety_config ret;
// FIXME: cppcheck thinks that ford_canfd is always false. This is not true
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
// cppcheck-suppress knownConditionTrueFalse
if (ford_canfd) {
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
} else {
// cppcheck-suppress knownConditionTrueFalse
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
}
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