IQ.Pilot Release Commit @ 0798119

2026-08-22 23:42:42 -05:00
commit b42569dbca
4529 changed files with 1132125 additions and 0 deletions
--- a/panda/board/drivers/harness.h
+++ b/panda/board/drivers/harness.h
@@ -0,0 +1,119 @@
+#include "harness_declarations.h"
+
+struct harness_t harness;
+
+// The ignition relay is only used for testing purposes
+void set_intercept_relay(bool intercept, bool ignition_relay) {
+  bool drive_relay = intercept;
+  if (harness.status == HARNESS_STATUS_NC) {
+    // no harness, no relay to drive
+    drive_relay = false;
+  }
+
+  if (drive_relay || ignition_relay) {
+    harness.relay_driven = true;
+  }
+
+  // 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);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !drive_relay);
+  } else {
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !drive_relay);
+    set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !ignition_relay);
+  }
+
+  if (!(drive_relay || ignition_relay)) {
+    harness.relay_driven = false;
+  }
+}
+
+bool harness_check_ignition(void) {
+  // 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;
+
+  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;
+}
+
+static uint8_t harness_detect_orientation(void) {
+  uint8_t ret = harness.status;
+
+  #ifndef BOOTSTUB
+  // We can't detect orientation if the relay is being driven
+  if (!harness.relay_driven) {
+    harness.sbu_adc_lock = true;
+    set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_ANALOG);
+    set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_ANALOG);
+
+    harness.sbu1_voltage_mV = adc_get_mV(&current_board->harness_config->adc_signal_SBU1);
+    harness.sbu2_voltage_mV = adc_get_mV(&current_board->harness_config->adc_signal_SBU2);
+    uint16_t detection_threshold = current_board->avdd_mV / 2U;
+
+    // Detect connection and orientation
+    if((harness.sbu1_voltage_mV < detection_threshold) || (harness.sbu2_voltage_mV < detection_threshold)){
+      if (harness.sbu1_voltage_mV < harness.sbu2_voltage_mV) {
+        // orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign))
+        ret = HARNESS_STATUS_FLIPPED;
+      } else {
+        // orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
+        // (SBU1->SBU2 is the normal orientation connection per USB-C cable spec)
+        ret = HARNESS_STATUS_NORMAL;
+      }
+    } else {
+      ret = HARNESS_STATUS_NC;
+    }
+
+    // Pins are not 5V tolerant in ADC mode
+    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
+
+  return ret;
+}
+
+void harness_tick(void) {
+  harness.status = harness_detect_orientation();
+}
+
+void harness_init(void) {
+  // init OBD_SBUx_RELAY
+  set_gpio_output_type(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, 1);
+  set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, 1);
+
+  // detect initial orientation
+  harness.status = harness_detect_orientation();
+
+  // keep buses connected by default
+  set_intercept_relay(false, false);
+}