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IQ.Pilot Release Commit @ 2b39aa6

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IQ.Lvbs CI [bot]
2026-07-29 00:19:10 -05:00
parent 8f052b6f93
commit c7908ad2e0
226 changed files with 11978 additions and 11349 deletions
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43
panda/board/drivers/harness.h
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@@ -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