move CAN ignition detection to opendbc #2323
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Pull request overview
Moves CAN-based ignition detection out of panda firmware and into opendbc’s safety layer (per linked opendbc work), removing local ignition tracking from the CAN RX path.
Changes:
- Removes the
ignition_can_hook()call from the FDCAN RX handler. - Deletes
ignition_can/ignition_can_cntglobals and theignition_can_hook()implementation fromcan_common.h.
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| board/drivers/fdcan.h | Stops invoking local CAN-based ignition detection during RX processing. |
| board/drivers/can_common.h | Removes local ignition globals and hook implementation to defer ignition detection to opendbc. |
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| // Ignition detected from CAN meessages | ||
| // Ignition detected via CAN (logic now in opendbc safety layer) | ||
| bool ignition_can = false; |
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ignition_can / ignition_can_cnt are no longer defined in this compilation unit after removing them from can_common.h, but they are still referenced (e.g., board/main.c uses both, and board/main_comms.h reports ignition_can in the health packet). Unless these globals are now provided by the opendbc safety code at link time, this will result in undefined-symbol link failures. Please ensure there is exactly one definition (either in opendbc or a dedicated .c file in this repo) and that the remaining references include the correct declarations.
| bool ignition_can = false; | |
| bool can_loopback = false; | |
| bool ignition_can = false; | |
| uint32_t ignition_can_cnt = 0U; |
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- Add ignition_can_hook() function (exact copy from panda) - Use extern for ignition_can variables (defined in panda's can_common.h) - Add variable definitions in test harness for opendbc tests - Call ignition_can_hook from safety_rx_hook Part of commaai#1834 Requires: commaai/panda#2323
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| #define WORD_TO_BYTE_ARRAY(dst8, src32) \ | ||
| 0 [dst8] = ((src32) & 0xFFU); \ | ||
| 1 [dst8] = (((src32) >> 8U) & 0xFFU); \ | ||
| 2 [dst8] = (((src32) >> 16U) & 0xFFU); \ | ||
| 3 [dst8] = (((src32) >> 24U) & 0xFFU) | ||
| #define BYTE_ARRAY_TO_WORD(dst32, src8) \ | ||
| ((dst32) = \ | ||
| 0 [src8] | (1 [src8] << 8U) | (2 [src8] << 16U) | (3 [src8] << 24U)) |
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why was this touched?
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These kinds of PRs, with irrelevant changes and a poor description written by an LLM, are effectively spam. Read our docs before opening any more PRs on our repos: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md. |
2 participants
Part of commaai/opendbc#1834
Moves CAN-based ignition detection logic to opendbc's safety layer.
Changes
ignition_canandignition_can_cntvariables fromcan_common.hignition_can_hook()function fromcan_common.hignition_can_hook(&to_push)call fromfdcan.hWhy
The ignition detection logic belongs in opendbc since it's safety-related and vehicle-specific. Moving it there allows:
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