From e119df184a07b64cdeb8b87d9c1c55fa9bfea442 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Jan 2020 13:42:40 -0800 Subject: [PATCH] Disable IR leds when no ignition detected old-commit-hash: 3a65206c8d0400fb22239c806429842236afac2b --- selfdrive/boardd/boardd.cc | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 37ee22e700..f1d50ee183 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -685,13 +685,18 @@ void *hardware_control_thread(void *crap) { } else if (type == cereal::Event::FRONT_FRAME){ float cur_front_gain = event.getFrontFrame().getGainFrac(); uint16_t ir_pwr; - if (cur_front_gain <= CUTOFF_GAIN) { - ir_pwr = 100.0 * MIN_IR_POWER; - } else if (cur_front_gain > SATURATE_GAIN) { - ir_pwr = 100.0 * MAX_IR_POWER; - } else { - ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_front_gain - CUTOFF_GAIN) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_GAIN - CUTOFF_GAIN))); - } + + if (cur_front_gain <= CUTOFF_GAIN) { + ir_pwr = 100.0 * MIN_IR_POWER; + } else if (cur_front_gain > SATURATE_GAIN) { + ir_pwr = 100.0 * MAX_IR_POWER; + } else { + ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_front_gain - CUTOFF_GAIN) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_GAIN - CUTOFF_GAIN))); + } + + if (!ignition){ + ir_pwr = 0; + } if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0){ pthread_mutex_lock(&usb_lock);