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show stock ECU fault as CAN error #38491

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show stock ECU fault as CAN error #38491

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2 changes: 2 additions & 0 deletions openpilot/cereal/log.capnp
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Original file line number Diff line number Diff line change
Expand Up @@ -605,6 +605,8 @@ struct PandaState @0xa7649e2575e4591e {
interruptRateUart7 @24;
sirenMalfunction @25;
heartbeatLoopWatchdog @26;
interruptRateSoundDma @27;
stockEcuDetected @28;
# Update max fault type in boardd when adding faults
}

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2 changes: 1 addition & 1 deletion openpilot/selfdrive/pandad/pandad.cc
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Expand Up @@ -223,7 +223,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa

size_t j = 0;
for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
f <= size_t(cereal::PandaState::FaultType::STOCK_ECU_DETECTED); f++) {
if (fault_bits.test(f)) {
faults.set(j, cereal::PandaState::FaultType(f));
j++;
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2 changes: 2 additions & 0 deletions openpilot/selfdrive/selfdrived/selfdrived.py
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Expand Up @@ -333,6 +333,8 @@ def update_events(self, CS):

if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
self.events.add(EventName.relayMalfunction)
if log.PandaState.FaultType.stockEcuDetected in pandaState.faults:
self.events.add(EventName.canError)

# Handle HW and system malfunctions
# Order is very intentional here. Be careful when modifying this.
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2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 10 files
+6 −1 board/drivers/can_common.h
+5 −0 board/drivers/drivers.h
+6 −0 board/drivers/fdcan.h
+8 −0 board/drivers/harness.h
+144 −0 board/drivers/relay.h
+22 −3 board/main.c
+1 −0 board/sys/sys.h
+9 −0 tests/libpanda/libpanda_py.py
+13 −0 tests/libpanda/panda.c
+106 −0 tests/test_relay.py
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