IQ.Pilot Release Commit @ b6534c0

artifacts/package_sources/panda/board/drivers/harness_declarations.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#define HARNESS_STATUS_NC 0U
+#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 {
+  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;
+
+struct harness_configuration {
+  GPIO_TypeDef * const GPIO_SBU1;
+  GPIO_TypeDef * const GPIO_SBU2;
+  GPIO_TypeDef * const GPIO_relay_SBU1;
+  GPIO_TypeDef * const GPIO_relay_SBU2;
+  const uint8_t pin_SBU1;
+  const uint8_t pin_SBU2;
+  const uint8_t pin_relay_SBU1;
+  const uint8_t pin_relay_SBU2;
+  const adc_signal_t adc_signal_SBU1;
+  const adc_signal_t adc_signal_SBU2;
+};
+
+// The ignition relay is only used for testing purposes
+void set_intercept_relay(bool intercept, bool ignition_relay);
+bool harness_check_ignition(void);
+void harness_tick(void);
+void harness_init(void);