commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

safety: fix race condition on controls allowed timeout

This commit is contained in:
Adeeb Shihadeh 2023-05-26 15:25:07 -07:00
parent 00c2689487
commit f22d3ec3de
2 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
board/main.c
View File

@ -209,16 +209,6 @@ void tick_handler(void) {
}
// exit controls allowed if unused by openpilot for a few seconds
if (controls_allowed && !heartbeat_engaged) {
heartbeat_engaged_mismatches += 1U;
if (heartbeat_engaged_mismatches >= 3U) {
controls_allowed = 0U;
}
} else {
heartbeat_engaged_mismatches = 0U;
}
if (!heartbeat_disabled) {
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {

14
board/safety.h
View File

@ -161,8 +161,9 @@ int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], cons
return index;
}
// 1Hz safety function called by main. Now just a check for lagging safety messages
// 1Hz safety function called by main
void safety_tick(const addr_checks *rx_checks) {
// check for lagging messages
bool rx_checks_invalid = false;
uint32_t ts = microsecond_timer_get();
if (rx_checks != NULL) {
@ -182,8 +183,17 @@ void safety_tick(const addr_checks *rx_checks) {
}
}
}
safety_rx_checks_invalid = rx_checks_invalid;
// exit controls allowed if unused by openpilot for a few seconds
if (controls_allowed && !heartbeat_engaged) {
heartbeat_engaged_mismatches += 1U;
if (heartbeat_engaged_mismatches >= 3U) {
controls_allowed = 0U;
}
} else {
heartbeat_engaged_mismatches = 0U;
}
}
void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {