Add uptime counter to the health packet (commaai#391)

* Added uptime counter to the health packet

* fix tests by setting power save on on EON build

VERSION

@@ -1 +1 @@
-v1.6.5
+v1.6.6

board/board_declarations.h

@@ -6,7 +6,7 @@ typedef void (*board_set_led)(uint8_t color, bool enabled);
 typedef void (*board_set_usb_power_mode)(uint8_t mode);
 typedef void (*board_set_esp_gps_mode)(uint8_t mode);
 typedef void (*board_set_can_mode)(uint8_t mode);
-typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
+typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
 typedef bool (*board_check_ignition)(void);
 typedef uint32_t (*board_read_current)(void);
 typedef void (*board_set_ir_power)(uint8_t percentage);

board/boards/black.h

@@ -123,8 +123,8 @@ void black_set_can_mode(uint8_t mode){
   }
 }
 
-void black_usb_power_mode_tick(uint64_t tcnt){
-  UNUSED(tcnt);
+void black_usb_power_mode_tick(uint32_t uptime){
+  UNUSED(uptime);
   // Not applicable
 }
 

board/boards/pedal.h

@@ -50,8 +50,8 @@ void pedal_set_can_mode(uint8_t mode){
   }
 }
 
-void pedal_usb_power_mode_tick(uint64_t tcnt){
-  UNUSED(tcnt);
+void pedal_usb_power_mode_tick(uint32_t uptime){
+  UNUSED(uptime);
   // Not applicable
 }
 

board/boards/uno.h

@@ -110,8 +110,8 @@ void uno_set_bootkick(bool enabled){
   set_gpio_output(GPIOB, 14, !enabled);
 }
 
-void uno_usb_power_mode_tick(uint64_t tcnt){
-  if(tcnt == 3U){
+void uno_usb_power_mode_tick(uint32_t uptime){
+  if(uptime == 3U){
     uno_set_bootkick(false);
   }
 }

board/boards/white.h

@@ -158,8 +158,8 @@ uint32_t white_read_current(void){
   return adc_get(ADCCHAN_CURRENT);
 }
 
-uint64_t marker = 0;
-void white_usb_power_mode_tick(uint64_t tcnt){
+uint32_t marker = 0;
+void white_usb_power_mode_tick(uint32_t uptime){
 
   // on EON or BOOTSTUB, no state machine
 #if !defined(BOOTSTUB) && !defined(EON)
@@ -173,55 +173,55 @@ void white_usb_power_mode_tick(uint64_t tcnt){
 
   switch (usb_power_mode) {
     case USB_POWER_CLIENT:
-      if ((tcnt - marker) >= CLICKS) {
+      if ((uptime - marker) >= CLICKS) {
         if (!is_enumerated) {
           puts("USBP: didn't enumerate, switching to CDP mode\n");
           // switch to CDP
           white_set_usb_power_mode(USB_POWER_CDP);
-          marker = tcnt;
+          marker = uptime;
         }
       }
       // keep resetting the timer if it's enumerated
       if (is_enumerated) {
-        marker = tcnt;
+        marker = uptime;
       }
       break;
     case USB_POWER_CDP:
       // been CLICKS clicks since we switched to CDP
-      if ((tcnt-marker) >= CLICKS) {
+      if ((uptime - marker) >= CLICKS) {
         // measure current draw, if positive and no enumeration, switch to DCP
         if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
           puts("USBP: no enumeration with current draw, switching to DCP mode\n");
           white_set_usb_power_mode(USB_POWER_DCP);
-          marker = tcnt;
+          marker = uptime;
         }
       }
       // keep resetting the timer if there's no current draw in CDP
       if (current >= CURRENT_THRESHOLD) {
-        marker = tcnt;
+        marker = uptime;
       }
       break;
     case USB_POWER_DCP:
       // been at least CLICKS clicks since we switched to DCP
-      if ((tcnt-marker) >= CLICKS) {
+      if ((uptime - marker) >= CLICKS) {
         // if no current draw, switch back to CDP
         if (current >= CURRENT_THRESHOLD) {
           puts("USBP: no current draw, switching back to CDP mode\n");
           white_set_usb_power_mode(USB_POWER_CDP);
-          marker = tcnt;
+          marker = uptime;
         }
       }
       // keep resetting the timer if there's current draw in DCP
       if (current < CURRENT_THRESHOLD) {
-        marker = tcnt;
+        marker = uptime;
       }
       break;
     default:
       puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
       break;
   }
 #else
-  UNUSED(tcnt);
+  UNUSED(uptime);
 #endif
 }
 

board/main.c

@@ -128,6 +128,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
 
 int get_health_pkt(void *dat) {
   struct __attribute__((packed)) {
+    uint32_t uptime_pkt;
     uint32_t voltage_pkt;
     uint32_t current_pkt;
     uint32_t can_send_errs_pkt;
@@ -144,6 +145,7 @@ int get_health_pkt(void *dat) {
     uint8_t power_save_enabled_pkt;
   } *health = dat;
 
+  health->uptime_pkt = uptime_cnt;
   health->voltage_pkt = adc_get_voltage();
   health->current_pkt = current_board->read_current();
 
@@ -630,8 +632,6 @@ void __attribute__ ((noinline)) enable_fpu(void) {
   SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
 }
 
-uint64_t tcnt = 0;
-
 // go into SILENT when the EON does not send a heartbeat for this amount of seconds.
 #define EON_HEARTBEAT_IGNITION_CNT_ON 5U
 #define EON_HEARTBEAT_IGNITION_CNT_OFF 2U
@@ -642,12 +642,12 @@ void TIM1_BRK_TIM9_IRQHandler(void) {
   if (TIM9->SR != 0) {
     can_live = pending_can_live;
 
-    current_board->usb_power_mode_tick(tcnt);
+    current_board->usb_power_mode_tick(uptime_cnt);
 
     //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
 
     // reset this every 16th pass
-    if ((tcnt & 0xFU) == 0U) {
+    if ((uptime_cnt & 0xFU) == 0U) {
       pending_can_live = 0;
     }
     #ifdef DEBUG
@@ -666,7 +666,7 @@ void TIM1_BRK_TIM9_IRQHandler(void) {
 
     // turn off the blue LED, turned on by CAN
     // unless we are in power saving mode
-    current_board->set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+    current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
 
     // increase heartbeat counter and cap it at the uint32 limit
     if (heartbeat_counter < __UINT32_MAX__) {
@@ -695,7 +695,7 @@ void TIM1_BRK_TIM9_IRQHandler(void) {
     #endif
 
     // on to the next one
-    tcnt += 1U;
+    uptime_cnt += 1U;
   }
   TIM9->SR = 0;
 }

board/main_declarations.h

@@ -11,4 +11,5 @@ void can_set_obd(uint8_t harness_orientation, bool obd);
 uint8_t hw_type = 0;
 const board *current_board;
 bool is_enumerated = 0;
-uint32_t heartbeat_counter = 0;
+uint32_t heartbeat_counter = 0;
+uint32_t uptime_cnt = 0;

python/__init__.py

@@ -347,22 +347,23 @@ def call_control_api(self, msg):
 
   def health(self):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 28)
-    a = struct.unpack("IIIIIBBBBBBBBB", dat)
+    a = struct.unpack("IIIIIIBBBBBBBBB", dat)
     return {
-      "voltage": a[0],
-      "current": a[1],
-      "can_send_errs": a[2],
-      "can_fwd_errs": a[3],
-      "gmlan_send_errs": a[4],
-      "ignition_line": a[5],
-      "ignition_can": a[6],
-      "controls_allowed": a[7],
-      "gas_interceptor_detected": a[8],
-      "car_harness_status": a[9],
-      "usb_power_mode": a[10],
-      "safety_mode": a[11],
-      "fault_status": a[12],
-      "power_save_enabled": a[13]
+      "uptime": a[0],
+      "voltage": a[1],
+      "current": a[2],
+      "can_send_errs": a[3],
+      "can_fwd_errs": a[4],
+      "gmlan_send_errs": a[5],
+      "ignition_line": a[6],
+      "ignition_can": a[7],
+      "controls_allowed": a[8],
+      "gas_interceptor_detected": a[9],
+      "car_harness_status": a[10],
+      "usb_power_mode": a[11],
+      "safety_mode": a[12],
+      "fault_status": a[13],
+      "power_save_enabled": a[14]
     }
 
   # ******************* control *******************
@@ -409,6 +410,9 @@ def get_secret(self):
   def set_usb_power(self, on):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, int(on), 0, b'')
 
+  def set_power_save(self, power_save_enabled=0):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
+
   def set_esp_power(self, on):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'')
 

tests/automated/helpers.py

@@ -232,6 +232,7 @@ def wrapper(panda_serials=None, **kwargs):
         panda.set_can_speed_kbps(bus, speed)
       clear_can_buffers(panda)
       _thread.start_new_thread(heartbeat_thread, (panda,))
+      panda.set_power_save(False)
 
     # Run test function
     ret = fn(*pandas, **kwargs)