mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
68 lines
2.1 KiB
C
68 lines
2.1 KiB
C
#pragma once
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#include "board/drivers/drivers.h"
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bool bootkick_reset_triggered = false;
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void bootkick_tick(bool ignition, bool recent_heartbeat) {
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static uint8_t waiting_to_boot_countdown = 0;
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static uint8_t boot_reset_countdown = 0;
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static uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC;
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static bool bootkick_ign_prev = false;
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static BootState boot_state = BOOT_BOOTKICK;
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BootState boot_state_prev = boot_state;
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const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
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if ((ignition && !bootkick_ign_prev) || harness_inserted) {
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// bootkick on rising edge of ignition or harness insertion
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boot_state = BOOT_BOOTKICK;
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} else if (recent_heartbeat) {
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// disable bootkick once openpilot is up
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boot_state = BOOT_STANDBY;
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} else {
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}
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/*
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Ensure SOM boots in case it goes into QDL mode. Reset behavior:
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* shouldn't trigger on the first boot after power-on
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* only try reset once per bootkick, i.e. don't keep trying until booted
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* only try once per panda boot, since openpilot will reset panda on startup
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* once BOOT_RESET is triggered, it stays until countdown is finished
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*/
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if (!bootkick_reset_triggered && (boot_state == BOOT_BOOTKICK) && (boot_state_prev == BOOT_STANDBY)) {
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waiting_to_boot_countdown = 20U;
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}
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if (waiting_to_boot_countdown > 0U) {
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if (current_board->read_som_gpio() || (boot_state != BOOT_BOOTKICK)) {
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waiting_to_boot_countdown = 0U;
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} else {
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// try a reset
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if (waiting_to_boot_countdown == 1U) {
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boot_reset_countdown = 5U;
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}
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}
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}
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// handle reset state
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if (boot_reset_countdown > 0U) {
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boot_state = BOOT_RESET;
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bootkick_reset_triggered = true;
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} else {
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if (boot_state == BOOT_RESET) {
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boot_state = BOOT_BOOTKICK;
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}
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}
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// update state
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bootkick_ign_prev = ignition;
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bootkick_harness_status_prev = harness.status;
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if (waiting_to_boot_countdown > 0U) {
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waiting_to_boot_countdown--;
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}
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if (boot_reset_countdown > 0U) {
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boot_reset_countdown--;
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}
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current_board->set_bootkick(boot_state);
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}
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