Safety features
Ophion implements multiple safety functions to enhance operational security.
/safetyopts parameter
This bitwise parameter enables or disables various safety features.
| Bit | Description |
|---|---|
| 0 | Disable disarm on device start. |
| 1 | Disarm forever if cmd is NaN. |
Disarming block
A built-in safety system that, by default, requires cmd to be 0 before the device can be armed. The device remains in a disarmed state if cmd is not 0.
Disarm reason
Several potential safety risk sources can trigger the device's disarm state. Here's a comprehensive list of these sources:
- Positive values: The device can recover from the disarm state
- Negative values: The device remains disarmed until reboot
/disarm_reason value | Description |
|---|---|
| 0 | Device is armed |
| 1 | Default state after device boot (can be modified via safetyopts) |
| 2 | cmd is NaN |
| 10 | Level2 is invalid (only applies when sig_path is 3) |
| 18 | Permanent disarm due to NaN cmd (only when safetyopts & 2) |
| 21 | Driver or common block error state |
| 28 | Application command overridden by CAN API or run command |