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Continuous harness detection (#1402)

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* read in mV and make threshold board-dependent

* refactor and add SBU voltages to health

* refactor relay driving

* more refactoring and readout lock

* avoid race condition

* fix misra

* continuous detection

* 1Hz is fine

* another race condition

* use harness detection to trigger bootkick

* update orientation detection test

* more in-depth harness tests

* fix ignition

* fix

* raise threshold
This commit is contained in:
Robbe Derks
2023-05-08 13:30:23 +02:00
committed by GitHub
parent 35609dfdce
commit 2c937656cf
18 changed files with 161 additions and 80 deletions
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10
python/__init__.py
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@@ -182,9 +182,9 @@ class Panda:
HW_TYPE_TRES = b'\x09'
CAN_PACKET_VERSION = 4
HEALTH_PACKET_VERSION = 13
HEALTH_PACKET_VERSION = 14
CAN_HEALTH_PACKET_VERSION = 4
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHB")
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHH")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBB")
F2_DEVICES = (HW_TYPE_PEDAL, )
@@ -200,6 +200,10 @@ class Panda:
HW_TYPE_TRES: 6600,
}
HARNESS_STATUS_NC = 0
HARNESS_STATUS_NORMAL = 1
HARNESS_STATUS_FLIPPED = 2
# first byte is for EPS scaling factor
FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
@@ -566,6 +570,8 @@ class Panda:
"safety_rx_checks_invalid": a[22],
"spi_checksum_error_count": a[23],
"fan_stall_count": a[24],
"sbu1_voltage_mV": a[25],
"sbu2_voltage_mV": a[26],
}
@ensure_can_health_packet_version