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panda
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add pandaState.safetyRxChecksInvalid field (#1083) 

* add fault for invalid safety RX checks

* fix test build

* debug

* fix debug

* fix test

* just a bool in health
This commit is contained in:
Adeeb Shihadeh 2022-10-03 16:05:16 -07:00 committed by GitHub
parent 4248085d7c
commit e987e6c639
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 15 additions and 3 deletions
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3
board/health.h
View File

@ -1,6 +1,6 @@
// When changing these structs, python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 10
#define HEALTH_PACKET_VERSION 11
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
@ -25,6 +25,7 @@ struct __attribute__((packed)) health_t {
uint16_t alternative_experience_pkt;
float interrupt_load;
uint8_t fan_power;
uint8_t safety_rx_checks_invalid;
};
#define CAN_HEALTH_PACKET_VERSION 2

1
board/main_comms.h
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@ -29,6 +29,7 @@ int get_health_pkt(void *dat) {
health->alternative_experience_pkt = alternative_experience;
health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
health->safety_rx_checks_invalid = safety_rx_checks_invalid;
health->fault_status_pkt = fault_status;
health->faults_pkt = faults;

8
board/safety.h
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@ -164,6 +164,7 @@ int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], cons
// 1Hz safety function called by main. Now just a check for lagging safety messages
void safety_tick(const addr_checks *rx_checks) {
bool rx_checks_invalid = false;
uint32_t ts = microsecond_timer_get();
if (rx_checks != NULL) {
for (int i=0; i < rx_checks->len; i++) {
@ -176,8 +177,14 @@ void safety_tick(const addr_checks *rx_checks) {
if (lagging) {
controls_allowed = 0;
}
if (lagging || !is_msg_valid(rx_checks->check, i)) {
rx_checks_invalid = true;
}
}
}
safety_rx_checks_invalid = rx_checks_invalid;
}
void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
@ -339,6 +346,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
controls_allowed = false;
relay_malfunction_reset();
safety_rx_checks_invalid = false;
int set_status = -1; // not set
int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);

1
board/safety_declarations.h
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@ -146,6 +146,7 @@ float vehicle_speed = 0;
bool vehicle_moving = false;
bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
int cruise_button_prev = 0;
bool safety_rx_checks_invalid = false;
// for safety modes with torque steering control
int desired_torque_last = 0; // last desired steer torque

5
python/__init__.py
View File

@ -185,9 +185,9 @@ class Panda:
HW_TYPE_RED_PANDA_V2 = b'\x08'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 10
HEALTH_PACKET_VERSION = 11
CAN_HEALTH_PACKET_VERSION = 2
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfB")
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBB")
F2_DEVICES = (HW_TYPE_PEDAL, )
@ -470,6 +470,7 @@ class Panda:
"alternative_experience": a[19],
"interrupt_load": a[20],
"fan_power": a[21],
"safety_rx_checks_invalid": a[22],
}
@ensure_can_health_packet_version