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149 Commits

Author SHA1 Message Date
Igor Biletskyy
285addeef2 Revert "boardd: new class USBDevice (#23015)" 
This reverts commit 4061f50da3.
 2021-12-16 17:11:45 -08:00
Dean Lee
4061f50da3 boardd: new class USBDevice (#23015) 
* USBDevice

* merge master

* rebase master

* add to fiels_common

* inline functions

* namespace

* init err

* remove nested if

* cleanup

* bump panda for branch

* change includes

* bump panda branch

* change name

* bump master panda

Co-authored-by: Igor Biletskyy <briskspirit@users.noreply.github.com>
Co-authored-by: Igor Biletskyy <bs@privacy.im>
 2021-12-16 16:53:48 -08:00
Adeeb Shihadeh
a793b949be boardd: add controls heartbeat (#23185) 
* boardd: add controls heartbeat

* bump panda

* bump again

* bump panda
 2021-12-15 17:58:16 -08:00
Dean Lee
4aa291c406 Use std::unique_ptr to manage memory (#23168) 
* use unique_ptr

* trigger ci

* move down loggerdstate
 2021-12-13 14:16:53 +01:00
Dean Lee
9decd3d8a2 util: move all functions into util namespace (#23203) 2021-12-12 14:42:23 -08:00
Dean Lee
35c0319f6c boardd: new function sync_time (#23033) 
* sync_time

* add direction

* Update selfdrive/boardd/boardd.cc

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* enum class

* rename

* caps

* lambda get_time_str

* Revert "lambda get_time_str"

This reverts commit 5eb6e19c5130b28963e9555f6c73835ac30d817d.

* static

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-11-29 11:19:38 +01:00
Dean Lee
ab9c7a11a9 boardd: const reference pandaStates to avoid copy (#23030) 2021-11-24 15:45:48 -08:00
Adeeb Shihadeh
d482b2d0a2 boardd: small cleanup (#23005) 2021-11-22 15:15:03 -08:00
Adeeb Shihadeh
a405fc5d43 boardd: add note about slow disconnected panda check 2021-11-21 00:32:05 -08:00
Adeeb Shihadeh
fb32381a88 boardd: set thread names 2021-11-21 00:20:33 -08:00
Adeeb Shihadeh
944fa5fa08 boardd: resolve TODO, still need that for USB errors 2021-11-20 19:06:47 -08:00
Dean Lee
0716635808 boardd: fix a panda may be connected by multiple panda instance (#22932) 
* fix bugs in main

* no auto
 2021-11-17 19:25:21 -08:00
Dean Lee
841fb93def boardd/can_recv_thread: improve caching for can_frame (#22944) 
* better cache

* use emplace to remove copy&realloc

* rebase master
 2021-11-17 17:54:14 -08:00
Dean Lee
10bca095c2 boardd/usb_connect: remove unused variable params (#22931) 2021-11-16 13:06:58 -08:00
Willem Melching
8e12b9ca76 boardd: fix segfault when SIGINT with no pandas (#22914) 
* boardd: fix segfault when SIGINT with no pandas

* remove if block

Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
 2021-11-15 14:10:08 +01:00
Dean Lee
7486a42935 boardd: pass std::vector pandas by reference (#22741) 2021-10-30 15:34:33 +02:00
Robbe Derks
585c16cd2a Multipanda support (#22402) 
* squash all PR commits for easy rebase

* merged all panda rx can into one message

* fix buffers in can_send

* more cleanup and minor fixes

* fix even more stuff

* fix non-allocated send buffer

* make connecting more robust

* fix bus offset

* fix controls_mismatch?

* simplify mismatch check

* C++ style struct

* fix connect loop

* update ref

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-29 13:04:26 +02:00
Robbe Derks
21c4bfc7be Pigeon (ublox) initialization fixes (#22712) 
* add timeout to wait_for_ack

* fix ignition edge detection race condition

* local_ignition -> ignition_local

* gate power_save on !pigeon_active

* millis_since_boot

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-28 11:23:19 +02:00
Adeeb Shihadeh
5b331fd6f5 don't set core affinity on PC (#22706) 2021-10-26 21:51:46 -07:00
Adeeb Shihadeh
84de248fa7 tici: affine loggerd to efficiency cores (#22581) 2021-10-18 13:21:24 -07:00
Robbe Derks
91987f38d4 Make pandaState and safetyMode a list (#22454) 
* wip: move to pandaStates

* bump cereal

* wip: SafetyMode struct

* move to safetyMode

* fix typo

* this can be None

* fix potential empty pandaStates list

* fix thermald

* fix controlsd

* rename safetyModes to safetyConfigs

* update process_replay

* fix test_models

* bump cereal
 2021-10-08 17:54:34 +02:00
Willem Melching
b9797259ed boardd: lower log level for ublox msg timing issues 2021-10-07 11:07:43 +02:00
Willem Melching
3e854b8351 safety_setter_thread: exit on ignition low (#22426) 2021-10-04 15:00:25 +02:00
Dean Lee
47f601e50a boardd: wait for safety_setter_thread to finish while quitting panda_state_thread (#21961) 
* rebase master

* merge master

* merge master

* remove space
 2021-10-04 14:38:35 +02:00
Willem Melching
f4e2537b12 Split pandaState into peripheralState and pandaState (#22385) 
* publish peripheralState from boardd

* refactor consumers

* rename thread

* peripheralState has panda type too

* add to process replay

* fix device build

* properly remove hardware unsupported alert

* latest peripheralState

* remove pandaState from thermal_monitor

* put that back

* add back harness check

* fix cloudlog

* needs pandaState

* Update selfdrive/thermald/tests/test_power_monitoring.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* dont conflate

* Update selfdrive/thermald/tests/test_power_monitoring.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* pigeon is peripheral

* cleanup

* less global

* comment

* move rtc to peripheral_control_thread

* better diff?

* whitespace

* get msg

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-10-04 11:30:11 +02:00
Willem Melching
abaa7b2d55 Don't send empty pandaState from panda_state_thread (#22393) 2021-10-01 09:05:33 +02:00
Dean Lee
e90eb79ceb boardd: new function get_time_str (#22158) 
* new function get_time_str

* apply review
 2021-09-13 10:32:12 -07:00
Jason Young
5a4d03da29 VW MQB: Fixes for network location detection (#22174) 
* VW MQB: Fixes for network location detection

* apply review suggestion

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* FP back to 100ms; VIN state poll at 50Hz

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-09-09 17:49:31 -07:00
Dean Lee
8008cf5547 boardd: remove global panda (#21962) 2021-08-31 07:25:53 -07:00
Dean Lee
3b0b20ba4b panda_state_thread: replace stoi with atoi (#21981) 2021-08-27 14:25:24 -07:00
Willem Melching
25de93d133 C3 AE improvements (#21698) 
* AE improvements

* boardd: also use gain to compute IR brightness

* use default rect for DM autoexposure

* more smooth

* whitespace

* camerad cpu usage

* hcg on is slightly better for noise

* hysteris around high conversion gain

* improve i2c timing

* use AB contexts

* HCG default off

* run at 10 hz

* stay in context A for now

* remove ae thread

* wait till next frame is started before sending i2c

* back at 20fps

* add comment and filter across 3 evs

* remove context switch code

* tuning

* recomened without HCG is 0.8x
 2021-08-05 16:34:36 +02:00
Willem Melching
d7ab611bb0 boardd: remove ir multiplier after AE revert 2021-07-23 10:26:00 +02:00
Willem Melching
49c618946c Increase IR filter time constant to 30 seconds (#21666) 2021-07-20 18:15:35 +02:00
Willem Melching
1c40b8092c fix dcam AE feedback loop with IR LEDs (#21651) 2021-07-19 12:41:32 +02:00
Igor
8e3d7a43c3 bump cereal 
* bump cereal

* TIM9 to TICK in boardd.cc
 2021-07-13 21:42:49 -07:00
Willem Melching
e7476943b6 Stay in ELM327 mode during controls init (#21386) 2021-06-24 13:12:03 +02:00
Willem Melching
2e3aa81ce5 revert changes to boardd safety mode setting 2021-06-22 18:44:55 +02:00
Willem Melching
a8fac002ae Honda Bosch longitudinal prerequisites (#21217) 
* untested changes

* set compute_gb

* community feature for good measure

* add code for rolling backwards

* init needs CarParams

* stay in elm mode until carParams is written

* fix tester present bus number

* fix can errors

* fix enableCruise flag

* print when radar disable is done

* move retry logic to controlsd

* move lookup table into carcontroller params

* cleanup brake error values

* make init return

* that should be 1

* floats

* back to no failure handling

* try simplify knockout

* bump panda

* Move flags to panda

* add warnings

* Revert "try simplify knockout"

This reverts commit 4f496245791ea6bd041d4412b96035c6b434b91c.

* add note about LoC.long_control_state

* update ref
 2021-06-22 16:28:11 +02:00
Dean Lee
e4e669bb0f add space after function name and if statement (#21225) 2021-06-11 10:17:52 +02:00
Dean Lee
c53cb5d570 Use C++ header files instead of C header files. (#21192) 
* use cstring instead of string.h

* use cstdio instead of stdio.h

* remove inttypes.h

* use cstdlib instead of stdlib.h

* use cstdint instead of stdint.h

* #include <cstddef>

* cstdlib

* use cmath

* remove stddef.h

* use cassert

* use csignal

* use ctime

* use cerror

* rebase master
 2021-06-08 13:46:22 -07:00
Adeeb Shihadeh
f04d6a9b3f log on startup when panda heartbeat is lost (#21151) 
* log when heartbeat lost

* bump panda

* bump panda

* add to pandaState

* move that
 2021-06-04 23:22:08 -07:00
ShaneSmiskol
36beaf0d68 Add CLEAR_ON_IGNITION_OFF param type (#21121) 2021-06-03 15:21:53 -07:00
robbederks
4a24d389c4 Add harness connection as requirement for powerdown (#21087) 
* add harness connection as requirement for powerdown

* fix unittests
 2021-05-31 13:32:26 +02:00
Willem Melching
ea5141d909 Store almanac on ublox poweroff (#20967) 
* Store almanac on ublox poweroff

* send current UTC time

* move message building to ublox_msg.h
 2021-05-20 11:43:03 +02:00
Dean Lee
0495426535 Cleanup includes (#20925) 
* remove #include <pthread.h>

* remove #include<stdbool.h> for cc files

* remove #include<iostream>
 2021-05-17 10:31:31 +02:00
Adeeb Shihadeh
e694f0b4d6 boardd: set can and pandaState valid flags (#20899) 
* boardd: set can and pandaState valid flags

* add event

* bump cereal

* consistency
 2021-05-14 21:26:02 -07:00
Dean Lee
7222d0f20d Cleanup selfdrive/ includes (#20822) 
* cleanup include path

* continue

* format includes

* fix testraw.cc

* remove include path from SConstruct

* regroup

* rebase master

* almost done

* apply review

* rename FileReader.xx to filereader.xx

* rename Unlogger.x->unlogger.x

* rename FrameReader.xx -> framereader.xx

* apply reviews

* ui.h

* continue

* fix framebuffer.cc build error:mv util.h up

* full path to msm_media_info

* fix qcom2 camerad

Co-authored-by: Comma Device <device@comma.ai>
 2021-05-08 22:15:17 -07:00
Willem Melching
ab319d4f54 Replace ifdef with hw abstraction layer (#20843) 
* Replace ifdefs with hardware abstraction layer (#20801)

* add type to class hadwareXXX

* replace ifdefs with hardware layer

* continue

* continue

* new function get_driver_view_transform

* full path to hw.h

* fix build error setup.cc

* apply review

* fix typo

* fix deprecated error:replace deprecated fromPath with new

* fix build error

* Fixes after ifdef clenaup (#20842)

* inheritance doesnt work with static

* fix debayer

* small cleanup

* Update selfdrive/camerad/cameras/camera_common.cc

* Update selfdrive/ui/qt/offroad/settings.cc

* Update selfdrive/common/modeldata.h

* flip conditions

* fix comment

Co-authored-by: Dean Lee <deanlee3@gmail.com>
 2021-05-06 14:39:05 +02:00
Willem Melching
3a95d3ccaa Revert "Replace ifdefs with hardware abstraction layer (#20801)" 
This reverts commit 757d2923d2.
 2021-05-06 12:29:30 +02:00
Dean Lee
757d2923d2 Replace ifdefs with hardware abstraction layer (#20801) 
* add type to class hadwareXXX

* replace ifdefs with hardware layer

* continue

* continue

* new function get_driver_view_transform

* full path to hw.h

* fix build error setup.cc

* apply review

* fix typo

* fix deprecated error:replace deprecated fromPath with new

* fix build error
 2021-05-06 11:41:46 +02:00