indecisive

common/params.cc

@@ -112,6 +112,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
     {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingRequested", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},

selfdrive/boardd/boardd.cc

@@ -113,11 +113,11 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     return false;
   }
 
-  // set to ELM327 for fingerprinting
-  for (int i = 0; i < pandas.size(); i++) {
-    const uint16_t safety_param = (i > 0) ? 1U : 0U;
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
-  }
+//  // set to ELM327 for fingerprinting
+//  for (int i = 0; i < pandas.size(); i++) {
+//    const uint16_t safety_param = (i > 0) ? 1U : 0U;
+//    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+//  }
 
   // wait for FW query at OBD port to finish
   while (true) {
@@ -125,6 +125,16 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
       return false;
     }
 
+    // set to ELM327 for fingerprinting, multiplexing is controlled by a param
+    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingRequested");
+    if (obd_multiplexing_requested != p.getBool("ObdMultiplexingEnabled")) {
+      for (int i = 0; i < pandas.size(); i++) {
+        const uint16_t safety_param = (i > 0) ? (!obd_multiplexing_requested) : 0U;
+        pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+      }
+      p.putBool("ObdMultiplexingEnabled", obd_multiplexing_requested);
+    }
+
     if (p.getBool("FirmwareObdQueryDone")) {
       LOGW("finished FW query at OBD port");
       break;
@@ -132,12 +142,12 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     util::sleep_for(20);
   }
 
-  // set to ELM327 to finish fingerprinting and for potential ECU knockouts
-  for (Panda *panda : pandas) {
-    panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-  }
-
-  p.putBool("ObdMultiplexingDisabled", true);
+//  // set to ELM327 to finish fingerprinting and for potential ECU knockouts
+//  for (Panda *panda : pandas) {
+//    panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
+//  }
+//
+//  p.putBool("ObdMultiplexingDisabled", true);
 
   std::string params;
   LOGW("waiting for params to set safety model");