text: void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
  
  // *** no output safety mode ***
  
  static void nooutput_init(int16_t param) {
    controls_allowed = 0;
  }
  
  static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
    return false;
  }
  
  static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
    return false;
  }
  
  const safety_hooks nooutput_hooks = {
    .init = nooutput_init,
    .rx = default_rx_hook,
    .tx = nooutput_tx_hook,
    .tx_lin = nooutput_tx_lin_hook,
  };
  
  // *** all output safety mode ***
  
  static void alloutput_init(int16_t param) {
    controls_allowed = 1;
  }
  
  static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
    return true;
  }
  
  static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
    return true;
  }
  
  const safety_hooks alloutput_hooks = {
    .init = alloutput_init,
    .rx = default_rx_hook,
    .tx = alloutput_tx_hook,
    .tx_lin = alloutput_tx_lin_hook,
  };
  
  