Power saving refactor (#389)

* Exit power saving also for CAN based ingition detection and replace interrup with simple state machine. a bit of delay it's fine * bug fixes and also CDP set on start * sorry misra * move comment * typo * remove ignition interrupts * Power saving state machine should be done by boardd, which also sets safety modes and usb power modes * typo * Added usb command for power save state setting * Added power save enabled packet * Added power_save_enabled to python lib too
commaai · Nov 21, 2019 · 1192d93 · 1192d93
1 parent d58d08f
commit 1192d93
Show file tree

Hide file tree

Showing 4 changed files with 26 additions and 79 deletions.
diff --git a/board/boards/white.h b/board/boards/white.h
@@ -302,13 +302,6 @@ void white_grey_common_init(void) {
   // Set normal CAN mode
   white_set_can_mode(CAN_MODE_NORMAL);
 
-  // Setup ignition interrupts
-  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
-  EXTI->IMR |= (1U << 1);
-  EXTI->RTSR |= (1U << 1);
-  EXTI->FTSR |= (1U << 1);
-  NVIC_EnableIRQ(EXTI1_IRQn);
-
   // Init usb power mode
   uint32_t voltage = adc_get_voltage();
   // Init in CDP mode only if panda is powered by 12V.

diff --git a/board/drivers/harness.h b/board/drivers/harness.h
@@ -8,7 +8,7 @@ uint8_t car_harness_status = 0U;
 
 struct harness_configuration {
   const bool has_harness;
-  GPIO_TypeDef *GPIO_SBU1;  
+  GPIO_TypeDef *GPIO_SBU1;
   GPIO_TypeDef *GPIO_SBU2;
   GPIO_TypeDef *GPIO_relay_normal;
   GPIO_TypeDef *GPIO_relay_flipped;
@@ -52,28 +52,6 @@ bool harness_check_ignition(void) {
   return ret;
 }
 
-// TODO: refactor to use harness config
-void harness_setup_ignition_interrupts(void){
-  if(car_harness_status == HARNESS_STATUS_NORMAL){
-    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI3_PC;
-    EXTI->IMR |= (1U << 3);
-    EXTI->RTSR |= (1U << 3);
-    EXTI->FTSR |= (1U << 3);
-    puts("setup interrupts: normal\n");
-  } else if(car_harness_status == HARNESS_STATUS_FLIPPED) {
-    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI0_PC;
-    EXTI->IMR |= (1U << 0);
-    EXTI->RTSR |= (1U << 0);
-    EXTI->FTSR |= (1U << 0);
-    NVIC_EnableIRQ(EXTI1_IRQn);
-    puts("setup interrupts: flipped\n");
-  } else {
-    puts("tried to setup ignition interrupts without harness connected\n");
-  }
-  NVIC_EnableIRQ(EXTI0_IRQn);
-  NVIC_EnableIRQ(EXTI3_IRQn);
-}
-
 uint8_t harness_detect_orientation(void) {
   uint8_t ret = HARNESS_STATUS_NC;
 
@@ -117,14 +95,11 @@ void harness_init(void) {
       set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
     } else {
       set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
-    }      
+    }
 
     // keep busses connected by default
     set_intercept_relay(false);
-
-    // setup ignition interrupts
-    harness_setup_ignition_interrupts();
   } else {
     puts("failed to detect car harness!\n");
   }
-}
+}
diff --git a/board/main.c b/board/main.c
@@ -72,45 +72,6 @@ void debug_ring_callback(uart_ring *ring) {
   }
 }
 
-// ***************************** started logic *****************************
-void started_interrupt_handler(uint8_t interrupt_line) {
-  volatile unsigned int pr = EXTI->PR & (1U << interrupt_line);
-  if ((pr & (1U << interrupt_line)) != 0U) {
-    #ifdef DEBUG
-      puts("got started interrupt\n");
-    #endif
-
-    // jenky debounce
-    delay(100000);
-
-    #ifdef EON
-      // set power savings mode here if on EON build
-      int power_save_state = check_started() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
-      set_power_save_state(power_save_state);
-      // set CDP usb power mode everytime that the car starts to make sure EON is charging
-      if (check_started()) {
-        current_board->set_usb_power_mode(USB_POWER_CDP);
-      }
-    #endif
-  }
-  EXTI->PR = (1U << interrupt_line);
-}
-
-// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
-void EXTI0_IRQHandler(void) {
-  started_interrupt_handler(0);
-}
-
-// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
-void EXTI1_IRQHandler(void) {
-  started_interrupt_handler(1);
-}
-
-// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
-void EXTI3_IRQHandler(void) {
-  started_interrupt_handler(3);
-}
-
 // ****************************** safety mode ******************************
 
 // this is the only way to leave silent mode
@@ -180,6 +141,7 @@ int get_health_pkt(void *dat) {
     uint8_t usb_power_mode_pkt;
     uint8_t safety_mode_pkt;
     uint8_t fault_status_pkt;
+    uint8_t power_save_enabled_pkt;
   } *health = dat;
 
   health->voltage_pkt = adc_get_voltage();
@@ -198,6 +160,7 @@ int get_health_pkt(void *dat) {
   health->usb_power_mode_pkt = usb_power_mode;
   health->safety_mode_pkt = (uint8_t)(current_safety_mode);
   health->fault_status_pkt = 0U;  // TODO: populate this field
+  health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
 
   return sizeof(*health);
 }
@@ -549,6 +512,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xe6:
       current_board->set_usb_power_mode(setup->b.wValue.w);
       break;
+    // **** 0xe7: set power save state
+    case 0xe7:
+      set_power_save_state(setup->b.wValue.w);
+      break;
     // **** 0xf0: do k-line wValue pulse on uart2 for Acura
     case 0xf0:
       if (setup->b.wValue.w == 1U) {
@@ -706,13 +673,24 @@ void TIM1_BRK_TIM9_IRQHandler(void) {
       heartbeat_counter += 1U;
     }
 
-    // check heartbeat counter if we are running EON code. If the heartbeat has been gone for a while, go to SILENT safety mode.
     #ifdef EON
+    // check heartbeat counter if we are running EON code.
+    // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
     if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
-      puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to SILENT mode.\n");
-      if(current_safety_mode != SAFETY_SILENT){
+      puts("EON hasn't sent a heartbeat for 0x");
+      puth(heartbeat_counter);
+      puts(" seconds. Safety is set to SILENT mode.\n");
+      if (current_safety_mode != SAFETY_SILENT) {
         set_safety_mode(SAFETY_SILENT, 0U);
       }
+      if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
+        set_power_save_state(POWER_SAVE_STATUS_ENABLED);
+      }
+    }
+
+    // enter CDP mode when car starts to ensure we are charging a turned off EON
+    if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
+      current_board->set_usb_power_mode(USB_POWER_CDP);
     }
     #endif
 

diff --git a/python/__init__.py b/python/__init__.py
@@ -347,7 +347,7 @@ def call_control_api(self, msg):
 
   def health(self):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 28)
-    a = struct.unpack("IIIIIBBBBBBBB", dat)
+    a = struct.unpack("IIIIIBBBBBBBBB", dat)
     return {
       "voltage": a[0],
       "current": a[1],
@@ -361,7 +361,8 @@ def health(self):
       "car_harness_status": a[9],
       "usb_power_mode": a[10],
       "safety_mode": a[11],
-      "fault_status": a[12]
+      "fault_status": a[12],
+      "power_save_enabled": a[13]
     }
 
   # ******************* control *******************