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boardd: cleanup defs from panda (#26628)

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* more stuff

* bump pnada
This commit is contained in:
Adeeb Shihadeh
2022-11-29 16:05:46 -08:00
committed by GitHub
parent 8ad8d4e1c2
commit c3e3047080
4 changed files with 11 additions and 14 deletions
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2
panda

Submodule panda updated: e4c4253964...80dac4cd94

9
selfdrive/boardd/panda.cc
View File

@@ -6,7 +6,6 @@
#include <stdexcept>
#include "cereal/messaging/messaging.h"
#include "panda/board/dlc_to_len.h"
#include "common/swaglog.h"
#include "common/util.h"
@@ -255,8 +254,12 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &o
canData.busTime = 0;
canData.address = header.addr;
canData.src = header.bus + bus_offset;
if (header.rejected) { canData.src += CANPACKET_REJECTED; }
if (header.returned) { canData.src += CANPACKET_RETURNED; }
if (header.rejected) {
canData.src += CAN_REJECTED_BUS_OFFSET;
}
if (header.returned) {
canData.src += CAN_RETURNED_BUS_OFFSET;
}
const uint8_t data_len = dlc_to_len[header.data_len_code];
canData.dat.assign((char *)&recv_buf[pos + CANPACKET_HEAD_SIZE], data_len);

12
selfdrive/boardd/panda.h
View File

@@ -11,20 +11,16 @@
#include "cereal/gen/cpp/car.capnp.h"
#include "cereal/gen/cpp/log.capnp.h"
#include "panda/board/health.h"
#include "panda/board/can_definitions.h"
#include "selfdrive/boardd/panda_comms.h"
#define PANDA_CAN_CNT 3
#define PANDA_BUS_CNT 4
#define USB_TX_SOFT_LIMIT (0x100U)
#define USBPACKET_MAX_SIZE (0x40)
#define RECV_SIZE (0x4000U)
#define CANPACKET_HEAD_SIZE 5U
#define CANPACKET_MAX_SIZE 72U
#define CANPACKET_REJECTED (0xC0U)
#define CANPACKET_RETURNED (0x80U)
#define CAN_REJECTED_BUS_OFFSET 0xC0U
#define CAN_RETURNED_BUS_OFFSET 0x80U
struct __attribute__((packed)) can_header {
uint8_t reserved : 1;

2
selfdrive/boardd/tests/test_boardd_usbprotocol.cc
View File

@@ -6,8 +6,6 @@
#include "cereal/messaging/messaging.h"
#include "selfdrive/boardd/panda.h"
const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
int random_int(int min, int max) {
std::random_device dev;
std::mt19937 rng(dev());