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IQ.Pilot Release Commit @ c744c08

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IQ.Lvbs CI [bot]
2026-07-26 19:09:55 -05:00
parent 152206f935
commit 6edfe55a1e
192 changed files with 10991 additions and 11109 deletions
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25
panda/board/main.c
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@@ -117,22 +117,6 @@ static void __attribute__ ((noinline)) enable_fpu(void) {
#define HEARTBEAT_IGNITION_CNT_OFF 2U
// called at 8Hz
static volatile bool tick_sample_pending = false;
// All runtime ADC sampling runs here, in thread context. ADC conversions
// busy-wait for tens to hundreds of microseconds, and all interrupts share one
// NVIC priority: sampling in the 8Hz tick interrupt delayed the SPI slave's
// RX DMA re-arm long enough for the host to clock into an unarmed peripheral
// (checksum failures -> NACK retry storms -> multi-second CAN blackouts).
static void tick_sample_poll(void) {
if (tick_sample_pending) {
tick_sample_pending = false;
harness_tick();
voltage_mV = current_board->read_voltage_mV();
current_mA = current_board->read_current_mA();
}
}
static void tick_handler(void) {
static uint32_t siren_countdown = 0; // siren plays while countdown > 0
static uint32_t controls_allowed_countdown = 0;
@@ -147,7 +131,7 @@ static void tick_handler(void) {
// tick drivers at 8Hz
fan_tick();
tick_sample_pending = true; // ADC sampling deferred to thread context (see tick_sample_poll)
harness_tick();
simple_watchdog_kick();
sound_tick();
@@ -320,10 +304,6 @@ int main(void) {
current_board->set_can_mode(CAN_MODE_NORMAL);
harness_init();
// seed the ADC caches before interrupts are live
voltage_mV = current_board->read_voltage_mV();
current_mA = current_board->read_current_mA();
// panda has an FPU, let's use it!
enable_fpu();
@@ -367,7 +347,6 @@ int main(void) {
// LED should keep on blinking all the time
while (true) {
tick_sample_poll();
if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
#ifdef DEBUG_FAULTS
if (fault_status == FAULT_STATUS_NONE) {
@@ -378,7 +357,6 @@ int main(void) {
delay(fade >> 4);
led_set(LED_RED, false);
delay((MAX_LED_FADE - fade) >> 4);
tick_sample_poll();
}
for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) {
@@ -386,7 +364,6 @@ int main(void) {
delay(fade >> 4);
led_set(LED_RED, false);
delay((MAX_LED_FADE - fade) >> 4);
tick_sample_poll();
}
#ifdef DEBUG_FAULTS