From 3064cefbbb86c3b101e25372cfb5617aab49128a Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sat, 5 Dec 2020 15:13:50 +1000
Subject: [PATCH] revert uno change

---
 panda/board/boards/uno.h   |  7 +------
 selfdrive/boardd/boardd.cc | 18 +++++-------------
 2 files changed, 6 insertions(+), 19 deletions(-)

diff --git a/panda/board/boards/uno.h b/panda/board/boards/uno.h
index cc9c4c0dc..91f65a246 100644
--- a/panda/board/boards/uno.h
+++ b/panda/board/boards/uno.h
@@ -56,12 +56,7 @@ void uno_set_gps_load_switch(bool enabled) {
 }
 
 void uno_set_bootkick(bool enabled){
-  if(enabled){
-    set_gpio_output(GPIOB, 14, false);
-  } else {
-    // We want the pin to be floating, not forced high!
-    set_gpio_mode(GPIOB, 14, MODE_INPUT);
-  }
+  set_gpio_output(GPIOB, 14, !enabled);
 }
 
 void uno_bootkick(void) {
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index fc3185bbf..7dfc9363d 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -476,7 +476,6 @@ void pigeon_thread() {
 
   // ubloxRaw = 8042
   PubMaster pm({"ubloxRaw"});
-  bool ignition_last = false;
 
 #ifdef QCOM2
   Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
@@ -484,31 +483,24 @@ void pigeon_thread() {
   Pigeon * pigeon = Pigeon::connect(panda);
 #endif
 
+  pigeon->init();
+
   // dp
   #ifdef DisableRelay
   panda->set_safety_model(cereal::CarParams::SafetyModel::TOYOTA);
   #endif
+
   while (!do_exit && panda->connected) {
     std::string recv = pigeon->receive();
     if (recv.length() > 0) {
       if (recv[0] == (char)0x00){
-        if (ignition) {
-          LOGW("received invalid ublox message while onroad, resetting panda GPS");
-          pigeon->init();
-        }
+        LOGW("received invalid ublox message, resetting panda GPS");
+        pigeon->init();
       } else {
         pigeon_publish_raw(pm, recv);
       }
     }
 
-    // init pigeon on rising ignition edge
-    // since it was turned off in low power mode
-    if(ignition && !ignition_last) {
-      pigeon->init();
-    }
-
-    ignition_last = ignition;
-
     // 10ms - 100 Hz
     usleep(10*1000);
   }