Continuous harness detection (#28129)

* log sbu voltages * bump submodules
2 years ago · 6412340431
parent f7e024f2f2
commit 6412340431
3 changed files with 4 additions and 2 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit e5cd59ef0057256f4fab807f6bf8744634a2cd11
+Subproject commit feef4530affd31b3c1816eebb52e8a684d8c7329
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit cedb5fd1a6c0823703280b1941edfed9602a287d
+Subproject commit 2c937656cfb0710ae03d25ff86d167345cbbf26d
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -388,6 +388,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
    ps.setFanStallCount(health.fan_stall_count);
    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
+    ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
+    ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);

    std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};