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boardd: add controls heartbeat (#23185) 

* boardd: add controls heartbeat

* bump panda

* bump again

* bump panda
pull/23158/merge
Adeeb Shihadeh 2021-12-15 17:58:16 -08:00 committed by GitHub
parent 768cfdb92a
commit a793b949be
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 10 additions and 5 deletions
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2
panda

@ -1 +1 @@
Subproject commit 652367d2e82f21f996c2217857d20ea05567ad62
Subproject commit 6f95a096e6beb254786759003a38e6e5c4f2c10e

7
selfdrive/boardd/boardd.cc
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@ -411,6 +411,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
util::set_thread_name("boardd_panda_state");
Params params;
SubMaster sm({"controlsState"});
Panda *peripheral_panda = pandas[0];
bool ignition_last = false;
std::future<bool> safety_future;
@ -445,8 +447,11 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
ignition_last = ignition;
sm.update(0);
const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
for (const auto &panda : pandas) {
panda->send_heartbeat();
panda->send_heartbeat(engaged);
}
util::sleep_for(500);
}

4
selfdrive/boardd/panda.cc
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@ -340,8 +340,8 @@ void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode)
usb_write(0xe6, (uint16_t)power_mode, 0);
}
void Panda::send_heartbeat() {
usb_write(0xf3, 1, 0);
void Panda::send_heartbeat(bool engaged) {
usb_write(0xf3, engaged, 0);
}
void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {

2
selfdrive/boardd/panda.h
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@ -108,7 +108,7 @@ class Panda {
std::optional<std::string> get_serial();
void set_power_saving(bool power_saving);
void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode);
void send_heartbeat();
void send_heartbeat(bool engaged);
void set_can_speed_kbps(uint16_t bus, uint16_t speed);
void set_data_speed_kbps(uint16_t bus, uint16_t speed);
void can_send(capnp::List<cereal::CanData>::Reader can_data_list);