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IQ.Pilot Release Commit @ 2f37564

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IQ.Lvbs CI [bot]
2026-07-27 01:30:19 -05:00
parent 6a4096e52e
commit 15c14e1369
236 changed files with 2475 additions and 990 deletions
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43
panda/board/drivers/harness.h
View File

@@ -14,8 +14,10 @@ void set_intercept_relay(bool intercept, bool ignition_relay) {
harness.relay_driven = true;
}
// wait until we're not reading the analog voltages anymore
while (harness.sbu_adc_lock) {}
// The relay pins are separate from the SBU sense pins, so no need to wait for
// orientation sampling: it runs in thread context, sees relay_driven set, and
// discards its result. Spinning on sbu_adc_lock here would deadlock when called
// from interrupt context while thread-context sampling holds the lock.
if (harness.status == HARNESS_STATUS_NORMAL) {
set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !ignition_relay);
@@ -31,20 +33,25 @@ void set_intercept_relay(bool intercept, bool ignition_relay) {
}
bool harness_check_ignition(void) {
bool ret = false;
// The SBU pins are in analog mode while orientation sampling is in flight
// (thread context), so a digital read would return 0. Return the last good
// value instead of spinning: this is called from interrupt context, where
// waiting for preempted thread-context sampling to finish would deadlock.
bool ret = harness.ignition_line;
// wait until we're not reading the analog voltages anymore
while (harness.sbu_adc_lock) {}
switch(harness.status){
case HARNESS_STATUS_NORMAL:
ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
break;
case HARNESS_STATUS_FLIPPED:
ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
break;
default:
break;
if (!harness.sbu_adc_lock) {
switch(harness.status){
case HARNESS_STATUS_NORMAL:
ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
break;
case HARNESS_STATUS_FLIPPED:
ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
break;
default:
ret = false;
break;
}
harness.ignition_line = ret;
}
return ret;
}
@@ -81,6 +88,12 @@ static uint8_t harness_detect_orientation(void) {
set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
harness.sbu_adc_lock = false;
// This runs in thread context and can be preempted by an interrupt driving
// the relay mid-sample, which changes the SBU line voltages; discard
if (harness.relay_driven) {
ret = harness.status;
}
}
#endif

13
panda/board/drivers/harness_declarations.h
View File

@@ -4,12 +4,15 @@
#define HARNESS_STATUS_NORMAL 1U
#define HARNESS_STATUS_FLIPPED 2U
// orientation sampling runs in thread context and shares this state with
// interrupt handlers, so the fields are volatile
struct harness_t {
uint8_t status;
uint16_t sbu1_voltage_mV;
uint16_t sbu2_voltage_mV;
bool relay_driven;
bool sbu_adc_lock;
volatile uint8_t status;
volatile uint16_t sbu1_voltage_mV;
volatile uint16_t sbu2_voltage_mV;
volatile bool ignition_line;
volatile bool relay_driven;
volatile bool sbu_adc_lock;
};
extern struct harness_t harness;