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Merge branch 'master' of https://github.com/sunnypilot/panda

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infiniteCable2
2026-06-05 17:41:24 +02:00
parent 890bacf11e d994e8e800
commit 259fb09704
2 changed files with 2 additions and 67 deletions
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66
board/drivers/can_common.h
View File

@@ -1,4 +1,5 @@
#include "board/drivers/drivers.h"
#include "opendbc/safety/ignition.h"
uint32_t safety_tx_blocked = 0;
uint32_t safety_rx_invalid = 0;
@@ -7,10 +8,6 @@ uint32_t rx_buffer_overflow = 0;
can_health_t can_health[PANDA_CAN_CNT] = {{0}, {0}, {0}};
// Ignition detected from CAN meessages
bool ignition_can = false;
uint32_t ignition_can_cnt = 0U;
bool can_silent = true;
bool can_loopback = false;
@@ -155,67 +152,6 @@ void can_set_forwarding(uint8_t from, uint8_t to) {
}
#endif
void ignition_can_hook(CANPacket_t *msg) {
if (msg->bus == 0U) {
int len = GET_LEN(msg);
// GM exception
if ((msg->addr == 0x1F1U) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
ignition_can = (msg->data[0] & 0x2U) != 0U;
ignition_can_cnt = 0U;
}
// Rivian R1S/T GEN1 exception
if ((msg->addr == 0x152U) && (len == 8)) {
// 0x152 overlaps with Subaru pre-global which has this bit as the high beam
int counter = msg->data[1] & 0xFU; // max is only 14
static int prev_counter_rivian = -1;
if ((counter == ((prev_counter_rivian + 1) % 15)) && (prev_counter_rivian != -1)) {
// VDM_OutputSignals->VDM_EpasPowerMode
ignition_can = ((msg->data[7] >> 4U) & 0x3U) == 1U; // VDM_EpasPowerMode_Drive_On=1
ignition_can_cnt = 0U;
}
prev_counter_rivian = counter;
}
// Tesla Model 3/Y exception
if ((msg->addr == 0x221U) && (len == 8)) {
// 0x221 overlaps with Rivian which has random data on byte 0
int counter = msg->data[6] >> 4;
static int prev_counter_tesla = -1;
if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
// VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
int power_state = (msg->data[0] >> 5U) & 0x3U;
ignition_can = power_state == 0x3; // VEHICLE_POWER_STATE_DRIVE=3
ignition_can_cnt = 0U;
}
prev_counter_tesla = counter;
}
// Mazda exception
if ((msg->addr == 0x9EU) && (len == 8)) {
ignition_can = (msg->data[0] >> 5) == 0x6U;
ignition_can_cnt = 0U;
}
// Volkswagen MEB exception
if ((msg->addr == 0x3C0) && (len == 4)) {
ignition_can = (msg->data[2] >> 1) & 1U;
ignition_can_cnt = 0U;
}
}
// TODO: this is too loose, Teslas have 0x222
// body v2 exception
// if (((msg->bus == 0U) || (msg->bus == 2U)) && (msg->addr == 0x222U)) {
// ignition_can = true;
// ignition_can_cnt = 0U;
// }
}
bool can_tx_check_min_slots_free(uint32_t min) {
return
(can_slots_empty(&can_tx1_q) >= min) &&

3
board/drivers/drivers.h
View File

@@ -41,7 +41,7 @@ extern uint32_t rx_buffer_overflow;
extern can_health_t can_health[PANDA_CAN_CNT];
// Ignition detected from CAN meessages
// Ignition detected from CAN messages
extern bool ignition_can;
extern uint32_t ignition_can_cnt;
@@ -74,7 +74,6 @@ void can_set_orientation(bool flipped);
#ifdef PANDA_JUNGLE
void can_set_forwarding(uint8_t from, uint8_t to);
#endif
void ignition_can_hook(CANPacket_t *to_push);
bool can_tx_check_min_slots_free(uint32_t min);
uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
void can_set_checksum(CANPacket_t *packet);