Made setting of NOOUTPUT on no heartbeat more efficient (#287)

* Made setting of NOOUTPUT on no heartbeat more efficient

* Stupid mistake

* Fixed hardcoded safety mode

Author: robbederks

board/main.c

@@ -622,7 +622,9 @@ void TIM3_IRQHandler(void) {
     #ifdef EON
     if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
       puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
-      set_safety_mode(SAFETY_NOOUTPUT, 0U);
+      if(current_safety_mode != SAFETY_NOOUTPUT){
+        set_safety_mode(SAFETY_NOOUTPUT, 0U);
+      }
     }
     #endif
 

board/safety.h

@@ -16,6 +16,26 @@
 #include "safety/safety_mazda.h"
 #include "safety/safety_elm327.h"
 
+// from cereal.car.CarParams.SafetyModel
+#define SAFETY_NOOUTPUT 0U
+#define SAFETY_HONDA 1U
+#define SAFETY_TOYOTA 2U
+#define SAFETY_ELM327 3U
+#define SAFETY_GM 4U
+#define SAFETY_HONDA_BOSCH 5U
+#define SAFETY_FORD 6U
+#define SAFETY_CADILLAC 7U
+#define SAFETY_HYUNDAI 8U
+#define SAFETY_CHRYSLER 9U
+#define SAFETY_TESLA 10U
+#define SAFETY_SUBARU 11U
+#define SAFETY_GM_PASSIVE 12U
+#define SAFETY_MAZDA 13U
+#define SAFETY_TOYOTA_IPAS 16U
+#define SAFETY_ALLOUTPUT 17U
+#define SAFETY_GM_ASCM 18U
+
+uint16_t current_safety_mode = SAFETY_NOOUTPUT;
 const safety_hooks *current_hooks = &nooutput_hooks;
 
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push){
@@ -45,25 +65,6 @@ typedef struct {
   const safety_hooks *hooks;
 } safety_hook_config;
 
-// from cereal.car.CarParams.SafetyModel
-#define SAFETY_NOOUTPUT 0U
-#define SAFETY_HONDA 1U
-#define SAFETY_TOYOTA 2U
-#define SAFETY_ELM327 3U
-#define SAFETY_GM 4U
-#define SAFETY_HONDA_BOSCH 5U
-#define SAFETY_FORD 6U
-#define SAFETY_CADILLAC 7U
-#define SAFETY_HYUNDAI 8U
-#define SAFETY_CHRYSLER 9U
-#define SAFETY_TESLA 10U
-#define SAFETY_SUBARU 11U
-#define SAFETY_GM_PASSIVE 12U
-#define SAFETY_MAZDA 13U
-#define SAFETY_TOYOTA_IPAS 16U
-#define SAFETY_ALLOUTPUT 17U
-#define SAFETY_GM_ASCM 18U
-
 const safety_hook_config safety_hook_registry[] = {
   {SAFETY_NOOUTPUT, &nooutput_hooks},
   {SAFETY_HONDA, &honda_hooks},
@@ -90,6 +91,7 @@ int safety_set_mode(uint16_t mode, int16_t param) {
   for (int i = 0; i < hook_config_count; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
+      current_safety_mode = safety_hook_registry[i].id;
       set_status = 0;    // set
       break;
     }