From 098ef11824915a2324546027f40b61f5c2e7b370 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 5 Oct 2022 17:06:52 -0700 Subject: [PATCH] IsoTpParallelQuery: set separation time (#25978) * Specify separation time in openpilot * comment * Update selfdrive/car/isotp_parallel_query.py * Update selfdrive/car/isotp_parallel_query.py old-commit-hash: 8b41d817e401fcf577bc68dfc6654ee1e0c3cbb5 --- panda | 2 +- selfdrive/car/isotp_parallel_query.py | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 9bcd9b9a24..3334dc21f5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 9bcd9b9a24149b241992f26caf9920d427ee609d +Subproject commit 3334dc21f5c55007c5a754dfd8ee5d642be3e2bb diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 94c8d052b3..4b4bdcc0ca 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -68,7 +68,10 @@ class IsoTpParallelQuery: self.bus, sub_addr=sub_addr, debug=self.debug) max_len = 8 if sub_addr is None else 7 - return IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug) + # uses iso-tp frame separation time of 10 ms + # TODO: use single_frame_mode so ECUs can send as fast as they want, + # as well as reduces chances we process messages from previous queries + return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len) def get_data(self, timeout, total_timeout=60.): self._drain_rx()