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cleanup CAN definitions (#1170)

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This commit is contained in:
Adeeb Shihadeh
2022-11-29 15:56:43 -08:00
committed by GitHub
parent 702e5281d8
commit 80dac4cd94
11 changed files with 70 additions and 51 deletions
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8
board/drivers/can_common.h
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@@ -66,6 +66,10 @@ can_buffer(tx3_q, 0x1A0)
// cppcheck-suppress misra-c2012-9.3
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
// helpers
#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU)
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
// ********************* interrupt safe queue *********************
bool can_pop(can_ring *q, CANPacket_t *elem) {
bool ret = 0;
@@ -169,7 +173,7 @@ bus_config_t bus_config[] = {
void can_init_all(void) {
bool ret = true;
for (uint8_t i=0U; i < CAN_CNT; i++) {
for (uint8_t i=0U; i < PANDA_CAN_CNT; i++) {
if (!current_board->has_canfd) {
bus_config[i].can_data_speed = 0U;
}
@@ -224,7 +228,7 @@ bool can_tx_check_min_slots_free(uint32_t min) {
void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
if (bus_number < BUS_CNT) {
if (bus_number < PANDA_BUS_CNT) {
// add CAN packet to send queue
if ((bus_number == 3U) && (bus_config[3].can_num_lookup == 0xFFU)) {
gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;