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misc CAN FD fixes (#856)

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Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2022-02-20 17:13:22 -08:00
committed by GitHub
parent 0e79ab33ab
commit 9d27011ec2
2 changed files with 8 additions and 8 deletions
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6
board/usb_comms.h
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@@ -440,10 +440,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
// **** 0xde: set CAN FD data bitrate
case 0xf9:
if (setup->b.wValue.w < CAN_CNT) {
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
// TODO: add sanity check, ideally check if value is correct (from array of correct values)
bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed);
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed);
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
UNUSED(ret);
}

10
python/__init__.py
View File

@@ -163,9 +163,9 @@ class Panda(object):
HEALTH_PACKET_VERSION = 3
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHI")
F2_DEVICES = [HW_TYPE_PEDAL]
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
H7_DEVICES = [HW_TYPE_RED_PANDA]
F2_DEVICES = (HW_TYPE_PEDAL, )
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
H7_DEVICES = (HW_TYPE_RED_PANDA, )
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
@@ -448,7 +448,7 @@ class Panda(object):
return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
def has_canfd(self):
return self._mcu_type in Panda.H7_DEVICES
return self.get_type() in Panda.H7_DEVICES
def is_internal(self):
return self.get_type() in [Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS]
@@ -511,7 +511,7 @@ class Panda(object):
def set_can_data_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
# CAN FD and BRS status
# CAN FD and BRS status
def get_canfd_status(self, bus):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
if dat: