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safety: fix race condition on controls allowed timeout #1436

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safety: fix race condition on controls allowed timeout #1436

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10 changes: 0 additions & 10 deletions board/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -209,16 +209,6 @@ void tick_handler(void) {

}

// exit controls allowed if unused by openpilot for a few seconds
if (controls_allowed && !heartbeat_engaged) {
heartbeat_engaged_mismatches += 1U;
if (heartbeat_engaged_mismatches >= 3U) {
controls_allowed = 0U;
}
} else {
heartbeat_engaged_mismatches = 0U;
}

if (!heartbeat_disabled) {
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
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14 changes: 12 additions & 2 deletions board/safety.h
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Original file line number Diff line number Diff line change
Expand Up @@ -161,8 +161,9 @@ int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], cons
return index;
}

// 1Hz safety function called by main. Now just a check for lagging safety messages
// 1Hz safety function called by main
void safety_tick(const addr_checks *rx_checks) {
// check for lagging messages
bool rx_checks_invalid = false;
uint32_t ts = microsecond_timer_get();
if (rx_checks != NULL) {
Expand All @@ -182,8 +183,17 @@ void safety_tick(const addr_checks *rx_checks) {
}
}
}

safety_rx_checks_invalid = rx_checks_invalid;

// exit controls allowed if unused by openpilot for a few seconds
if (controls_allowed && !heartbeat_engaged) {
heartbeat_engaged_mismatches += 1U;
if (heartbeat_engaged_mismatches >= 3U) {
controls_allowed = 0U;
}
} else {
heartbeat_engaged_mismatches = 0U;
}
}

void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
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