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Fix possible CAN ignition overlap due to incorrect counter tracking

Browse Source 
https://github.com/commaai/openpilot/pull/35019
This commit is contained in:
Rick Lan
2025-05-06 15:11:31 +08:00
parent 7ab310e401
commit f91dac60cd
1 changed files with 2 additions and 3 deletions
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5
panda/board/drivers/can_common.h
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@@ -166,9 +166,6 @@ void ignition_can_hook(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
// Check counter position on cars with overlap
static int prev_counter = -1;
// GM exception
if ((addr == 0x1F1) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
@@ -181,6 +178,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
// 0x152 overlaps with Subaru pre-global which has this bit as the high beam
int counter = GET_BYTE(to_push, 1) & 0xFU; // max is only 14
static int prev_counter = -1;
if ((counter == ((prev_counter + 1) % 15)) && (prev_counter != -1)) {
// VDM_OutputSignals->VDM_EpasPowerMode
ignition_can = ((GET_BYTE(to_push, 7) >> 4U) & 0x3U) == 1U; // VDM_EpasPowerMode_Drive_On=1
@@ -194,6 +192,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
// 0x221 overlaps with Rivian which has random data on byte 0
int counter = GET_BYTE(to_push, 6) >> 4;
static int prev_counter = -1;
if ((counter == ((prev_counter + 1) % 16)) && (prev_counter != -1)) {
// VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
int power_state = (GET_BYTE(to_push, 0) >> 5U) & 0x3U;