Squashed 'panda/' changes from 73a60d5..769ade0

769ade0 Harness orientation designation fixes (#435) eb5020b Add the ability to communicate with BSM (#433) git-subtree-dir: panda git-subtree-split: 769ade0
commaai · Feb 18, 2020 · d9db21b · d9db21b
1 parent 4ea182a
commit d9db21b
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Showing 5 changed files with 26 additions and 33 deletions.
diff --git a/board/boards/black.h b/board/boards/black.h
@@ -99,7 +99,7 @@ void black_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -198,7 +198,7 @@ void black_init(void) {
   black_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
@@ -210,12 +210,12 @@ const harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_normal = GPIOC,
-  .GPIO_relay_flipped = GPIOC,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
   .pin_SBU1 = 0,
   .pin_SBU2 = 3,
-  .pin_relay_normal = 10,
-  .pin_relay_flipped = 11,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
   .adc_channel_SBU1 = 10,
   .adc_channel_SBU2 = 13
 };

diff --git a/board/boards/uno.h b/board/boards/uno.h
@@ -113,7 +113,7 @@ void uno_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -230,7 +230,7 @@ void uno_init(void) {
   uno_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
@@ -252,12 +252,12 @@ const harness_configuration uno_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_normal = GPIOC,
-  .GPIO_relay_flipped = GPIOC,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
   .pin_SBU1 = 0,
   .pin_SBU2 = 3,
-  .pin_relay_normal = 10,
-  .pin_relay_flipped = 11,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
   .adc_channel_SBU1 = 10,
   .adc_channel_SBU2 = 13
 };

diff --git a/board/drivers/harness.h b/board/drivers/harness.h
@@ -10,12 +10,12 @@ struct harness_configuration {
   const bool has_harness;
   GPIO_TypeDef *GPIO_SBU1;
   GPIO_TypeDef *GPIO_SBU2;
-  GPIO_TypeDef *GPIO_relay_normal;
-  GPIO_TypeDef *GPIO_relay_flipped;
+  GPIO_TypeDef *GPIO_relay_SBU1;
+  GPIO_TypeDef *GPIO_relay_SBU2;
   uint8_t pin_SBU1;
   uint8_t pin_SBU2;
-  uint8_t pin_relay_normal;
-  uint8_t pin_relay_flipped;
+  uint8_t pin_relay_SBU1;
+  uint8_t pin_relay_SBU2;
   uint8_t adc_channel_SBU1;
   uint8_t adc_channel_SBU2;
 };
@@ -30,9 +30,9 @@ void set_intercept_relay(bool intercept) {
     }
 
     if(car_harness_status == HARNESS_STATUS_NORMAL){
-      set_gpio_output(current_board->harness_config->GPIO_relay_normal, current_board->harness_config->pin_relay_normal, !intercept);
+      set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !intercept);
     } else {
-      set_gpio_output(current_board->harness_config->GPIO_relay_flipped, current_board->harness_config->pin_relay_flipped, !intercept);
+      set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !intercept);
     }
   }
 }
@@ -41,10 +41,10 @@ bool harness_check_ignition(void) {
   bool ret = false;
   switch(car_harness_status){
     case HARNESS_STATUS_NORMAL:
-      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
       break;
     case HARNESS_STATUS_FLIPPED:
-      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
       break;
     default:
       break;
@@ -62,11 +62,11 @@ uint8_t harness_detect_orientation(void) {
   // Detect connection and orientation
   if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
     if (sbu1_voltage < sbu2_voltage) {
-      // orientation normal
-      ret = HARNESS_STATUS_NORMAL;
-    } else {
-      // orientation flipped
+      // orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign))
       ret = HARNESS_STATUS_FLIPPED;
+    } else {
+      // orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
+      ret = HARNESS_STATUS_NORMAL;
     }
   }
   #endif
@@ -90,13 +90,6 @@ void harness_init(void) {
     set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
     set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
 
-    // now we have orientation, set pin ignition detection
-    if(car_harness_status == HARNESS_STATUS_NORMAL){
-      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);
   } else {

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -21,7 +21,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and g
 const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0},  // DSU bus 0
                                   {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1},  // DSU bus 1
                                   {0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0},  // LKAS + ACC
-                                  {0x200, 0}};  // interceptor
+                                  {0x200, 0}, {0x750, 0}};  // interceptor + Blindspot monitor
 
 AddrCheckStruct toyota_rx_checks[] = {
   {.addr = {0x260}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U},

diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -21,7 +21,7 @@
 TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
            [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
            [0x2E4, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0],  # LKAS + ACC
-           [0x200, 0]];  # interceptor
+           [0x200, 0], [0x750, 0]];  # interceptor + blindspot monitor
 
 
 def twos_comp(val, bits):