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Control over FD flag of CAN messages (#2085)

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* Control over FD flag of CAN messages

* misra
This commit is contained in:
Willem Melching
2024-11-21 11:04:09 -08:00
committed by GitHub
parent 998a639360
commit 4a11d52e07
8 changed files with 35 additions and 17 deletions
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15
python/__init__.py
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@@ -31,7 +31,7 @@ def calculate_checksum(data):
res ^= b
return res
def pack_can_buffer(arr):
def pack_can_buffer(arr, fd=False):
snds = [b'']
for address, dat, bus in arr:
assert len(dat) in LEN_TO_DLC
@@ -41,7 +41,7 @@ def pack_can_buffer(arr):
data_len_code = LEN_TO_DLC[len(dat)]
header = bytearray(CANPACKET_HEAD_SIZE)
word_4b = address << 3 | extended << 2
header[0] = (data_len_code << 4) | (bus << 1)
header[0] = (data_len_code << 4) | (bus << 1) | int(fd)
header[1] = word_4b & 0xFF
header[2] = (word_4b >> 8) & 0xFF
header[3] = (word_4b >> 16) & 0xFF
@@ -807,6 +807,9 @@ class Panda:
def set_canfd_non_iso(self, bus, non_iso):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xfc, bus, int(non_iso), b'')
def set_canfd_auto(self, bus, auto):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe8, bus, int(auto), b'')
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')
@@ -828,15 +831,15 @@ class Panda:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')
@ensure_can_packet_version
def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
snds = pack_can_buffer(arr)
def can_send_many(self, arr, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
snds = pack_can_buffer(arr, fd=fd)
for tx in snds:
while len(tx) > 0:
bs = self._handle.bulkWrite(3, tx, timeout=timeout)
tx = tx[bs:]
def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, dat, bus]], timeout=timeout)
def can_send(self, addr, dat, bus, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, dat, bus]], fd=fd, timeout=timeout)
@ensure_can_packet_version
def can_recv(self):