From 1f97c2189b2e0c0e59c8a6737ad763aa2c65243d Mon Sep 17 00:00:00 2001
From: George Hotz <george@comma.ai>
Date: Tue, 21 May 2019 17:14:46 -0700
Subject: [PATCH] refactor pedal bootstub to use llcan

---
 board/bootstub.c    | 6 ------
 board/spi_flasher.h | 7 ++++---
 2 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/board/bootstub.c b/board/bootstub.c
index 366152e9..6fcb386d 100644
--- a/board/bootstub.c
+++ b/board/bootstub.c
@@ -27,12 +27,6 @@ void puth(unsigned int i) {}
 #include "drivers/usb.h"
 //#include "drivers/uart.h"
 
-#ifdef PEDAL
-#define CUSTOM_CAN_INTERRUPTS
-#include "safety.h"
-#include "drivers/can.h"
-#endif
-
 #include "crypto/rsa.h"
 #include "crypto/sha.h"
 
diff --git a/board/spi_flasher.h b/board/spi_flasher.h
index b0cb830d..97432204 100644
--- a/board/spi_flasher.h
+++ b/board/spi_flasher.h
@@ -134,6 +134,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
 
 #ifdef PEDAL
 
+#include "drivers/llcan.h"
 #define CAN CAN1
 
 #define CAN_BL_INPUT 0x1
@@ -241,7 +242,7 @@ void CAN1_RX0_IRQHandler() {
 }
 
 void CAN1_SCE_IRQHandler() {
-  can_sce(CAN);
+  llcan_clear_send(CAN);
 }
 
 #endif
@@ -266,8 +267,8 @@ void soft_flasher_start() {
   set_can_enable(CAN1, 1);
 
   // init can
-  can_silent = ALL_CAN_LIVE;
-  can_init(0);
+  llcan_set_speed(CAN1, 5000, false, false);
+  llcan_init(CAN1);
 #endif
 
   // A4,A5,A6,A7: setup SPI