fix panda for ibooster and typo in controlsd.py

SippieCup · Apr 8, 2020 · a0a5f49 · a0a5f49
1 parent 1cc4019
commit a0a5f49
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Showing 3 changed files with 10 additions and 4 deletions.
diff --git a/panda/board/safety/safety_tesla.h b/panda/board/safety/safety_tesla.h
@@ -983,8 +983,9 @@ static void do_EPB_epasControl(uint32_t RIR, uint32_t RDTR) {
   MLB = MLB + (cksm << 16);
   if (DAS_noEpasHarness == 0) {
     send_fake_message(RIR,RDTR,3,0x214,2,MLB,MHB);
-  } // send also on 0 for monitoring
-  send_fake_message(RIR,RDTR,3,0x214,0,MLB,MHB);
+  } else {
+    send_fake_message(RIR,RDTR,3,0x214,0,MLB,MHB);
+  }
   EPB_epasControl_idx++;
   EPB_epasControl_idx = EPB_epasControl_idx % 16;
 }
@@ -2007,6 +2008,11 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
       return ret_val;
     }
 
+    if (addr == 0x214) {
+      //inhibit ibooster epas kill signal
+      return -1;
+    }
+
     //forward everything else to CAN 2 unless claiming no harness
     return ret_val;
   }

diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
@@ -578,7 +578,7 @@ def update(self, enabled, CS, frame, actuators, \
     if send_fake_msg:
       if enable_steer_control and op_status == 3:
         op_status = 0x5
-      park_brake_request = int(CS.ahbEnabled)
+      park_brake_request = 0 #experimental; disabled for now
       if park_brake_request == 1:
         print("Park Brake Request received")
       adaptive_cruise = 1 if (not self.PCC.pcc_available and self.ACC.adaptive) or self.PCC.pcc_available else 0

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -553,7 +553,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       logAllAliveAndValidInfoToTinklad(sm=sm, tinklaClient=tinklaClient)
     if not sm['pathPlan'].mpcSolutionValid:
       events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if not sm['pathPlan'].sensorValid and os.getenf("NOSENSOR") is None:
+    if not sm['pathPlan'].sensorValid and os.getenv("NOSENSOR") is None:
       events.append(create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
     if not sm['pathPlan'].paramsValid:
       events.append(create_event('vehicleModelInvalid', [ET.WARNING]))