Merge pull request #24 from commaai/redux/runtime_can_loopback

Can loopback now runtime configurable.

board/can.h

@@ -18,9 +18,9 @@ void can_init(uint8_t bus_number, int silent) {
     CAN_BTR_TS2_0 | (prescaler - 1);
 
   // silent loopback mode for debugging
-  #ifdef CAN_LOOPBACK_MODE
+  if (can_loopback) {
     CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-  #endif
+  }
 
   if (silent) {
     CAN->BTR |= CAN_BTR_SILM;

board/config.h

@@ -3,7 +3,6 @@
 
 //#define DEBUG
 //#define DEBUG_USB
-//#define CAN_LOOPBACK_MODE
 
 #ifdef STM32F4
   #define PANDA

board/main.c

@@ -44,7 +44,7 @@
 // debug safety check: is controls allowed?
 int controls_allowed = 0;
 int started = 0;
-int can_live = 0, pending_can_live = 0;
+int can_live = 0, pending_can_live = 0, can_loopback = 0;
 
 // optional features
 int gas_interceptor_detected = 0;
@@ -707,6 +707,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
       if (!ur) break;
       uart_set_baud(ur->uart, (int)setup->b.wIndex.w*300);
       break;
+    case 0xe5: // Set CAN loopback (for testing)
+      can_loopback = (setup->b.wValue.w > 0);
+      can_init(CAN1, 0);
+      can_init(CAN2, 0);
+      #ifdef CAN3
+        can_init(CAN3, 0);
+      #endif
+      break;
     case 0xf0: // k-line wValue pulse on uart2
       if (setup->b.wValue.w == 1) {
         GPIOC->ODR &= ~(1 << 10);

panda/__init__.py

@@ -157,6 +157,9 @@ class Panda(object):
   def set_gmlan(self, on, bus=2):
     self._handle.controlWrite(Panda.REQUEST_TYPE, 0xdb, on, bus, b'')
 
+  def set_can_loopback(self, enable):
+    self._handle.controlWrite(Panda.REQUEST_TYPE, 0xe5, bool(enable), 0, b'')
+
   def set_uart_baud(self, uart, rate):
     self._handle.controlWrite(Panda.REQUEST_TYPE, 0xe1, uart, rate, b'')