mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-13 07:53:45 +08:00
firestar5683
48ee04b708
The inherited hardware cleanup removed TICI's SOM hwmon readings and used Panda health voltage for every device. Dom uses the input-power sensor on comma 3; the DOS ADC can otherwise appear as 0.3 V in peripheralState and Comma Connect status reports. Restore voltage/current sampling on a TICI-only background worker. Publish a single atomic sample pair without sysfs reads in the CAN loop, retain Panda fallback before a reading or when both readings are zero, and preserve actual low/zero values. Comma 3x/4 continue using Panda measurements. Test the actual publisher, HardwareComma, worker and Capnp serialization for TICI/TIZI/MICI, including blocked sensor I/O, fallback and unchanged faults. All three native cases and 13 existing power-monitoring tests pass; full AArch64 build and native Params347 validation pass. Include matching native outputs and canonical prebuilt receipt; preserve existing firmware exactly.