Cadillac: changed ignition logic to be based on can presence

commaai · May 25, 2018 · e2c89d6 · e2c89d6
1 parent 528f901
commit e2c89d6
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Showing 3 changed files with 17 additions and 8 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -2,6 +2,7 @@ void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 int safety_ignition_hook();
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -104,3 +105,7 @@ int safety_set_mode(uint16_t mode, int16_t param) {
   return -1;
 }
 
+// compute the time elapsed (in microseconds) from 2 counter samples
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
+  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
+}
diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
@@ -1,20 +1,28 @@
-int cadillac_ignition_started = 0;
+const int CADILLAC_IGNITION_TIMEOUT = 1000000;
+int cadillac_can_seen = 0;
+uint32_t cadillac_ts_last = 0;
 
 static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus_number = (to_push->RDTR >> 4) & 0xFF;
   uint32_t addr = to_push->RIR >> 21;
 
   if (addr == 0x135 && bus_number == 0) {
-    cadillac_ignition_started = 1; //as soona s we receive can msgs, ingition is on
+    cadillac_can_seen = 1;
+    cadillac_ts_last = TIM2->CNT; // reset timer when gear msg is received
   }
 }
 
 static void cadillac_init(int16_t param) {
-  cadillac_ignition_started = 0;
+  cadillac_can_seen = 0;
 }
 
 static int cadillac_ign_hook() {
-  return cadillac_ignition_started;
+  uint32_t ts = TIM2->CNT;
+  uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_last);
+  if ((ts_elapsed > CADILLAC_IGNITION_TIMEOUT) || (!cadillac_can_seen)) {
+    return 0;
+  }
+  return 1;
 }
 
 // Placeholder file, actual safety is TODO.

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -34,10 +34,6 @@ int16_t rt_torque_last = 0;            // last desired torque for real time chec
 uint32_t ts_last = 0;
 int cruise_engaged_last = 0;           // cruise state
 
-uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
-  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
-}
-
 void update_sample(struct sample_t *sample, int sample_new) {
   for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
     sample->values[i] = sample->values[i-1];