ignition_can: set it to False after 2s of not seeing CAN msgs

commaai · Dec 4, 2019 · 1bcc351 · 1bcc351
1 parent 96137f1
commit 1bcc351
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/board/drivers/can.h b/board/drivers/can.h
@@ -32,6 +32,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 
 // Ignition detected from CAN meessages
 bool ignition_can = false;
+uint32_t ignition_can_cnt = 0U;
 
 // end API
 
@@ -323,11 +324,12 @@ void process_can(uint8_t can_number) {
 }
 
 void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
 
+  ignition_can_cnt = 0U;  // reset counter
+
   if (bus == 0) {
     // GM exception
     if ((addr == 0x1F1) && (len == 8)) {

diff --git a/board/main.c b/board/main.c
@@ -699,9 +699,15 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
     }
     #endif
 
+    // set ignition_can to false after 2s of no CAN seen
+    if (ignition_can_cnt > 2U) {
+      ignition_can = false;
+    };
+
     // on to the next one
     uptime_cnt += 1U;
     safety_mode_cnt += 1U;
+    ignition_can_cnt += 1U;
   }
   TIM9->SR = 0;
 }