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Add unsafe mode to health packet (#829) 

* add unsafe_mode to health packet

this compiles

update health packet

fixes

ahh forgot to set it!

not actually needed

update indices

* fix struct

Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Shane Smiskol 2022-01-25 02:35:57 -08:00 committed by GitHub
parent 730155cbcd
commit 8ee7b62ea2
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 7 additions and 4 deletions
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4
board/usb_comms.h
View File

@ -3,7 +3,7 @@
extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 1
#define HEALTH_PACKET_VERSION 2
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@ -24,6 +24,7 @@ struct __attribute__((packed)) health_t {
uint8_t fault_status_pkt;
uint8_t power_save_enabled_pkt;
uint8_t heartbeat_lost_pkt;
int16_t unsafe_mode_pkt;
};
// Prototypes
@ -52,6 +53,7 @@ int get_health_pkt(void *dat) {
health->usb_power_mode_pkt = usb_power_mode;
health->safety_mode_pkt = (uint8_t)(current_safety_mode);
health->safety_param_pkt = current_safety_param;
health->unsafe_mode_pkt = unsafe_mode;
health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);

7
python/__init__.py
View File

@ -160,7 +160,7 @@ class Panda(object):
HW_TYPE_RED_PANDA = b'\x07'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 1
HEALTH_PACKET_VERSION = 2
F2_DEVICES = [HW_TYPE_PEDAL]
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
@ -353,8 +353,8 @@ class Panda(object):
@ensure_health_packet_version
def health(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 44)
a = struct.unpack("<IIIIIIIIBBBBBBBHBBB", dat)
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 46)
a = struct.unpack("<IIIIIIIIBBBBBBBHBBBH", dat)
return {
"uptime": a[0],
"voltage": a[1],
@ -375,6 +375,7 @@ class Panda(object):
"fault_status": a[16],
"power_save_enabled": a[17],
"heartbeat_lost": a[18],
"unsafe_mode": a[19],
}
# ******************* control *******************