mirror of https://github.com/commaai/panda.git
cleanup CAN definitions (#1170)
This commit is contained in:
Adeeb Shihadeh
GitHub
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702e5281d8
commit
80dac4cd94
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@ -1,10 +1,24 @@
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#include "dlc_to_len.h"
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#pragma once
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const uint8_t PANDA_CAN_CNT = 3U;
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const uint8_t PANDA_BUS_CNT = 4U;
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// bump this when changing the CAN packet
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#define CAN_PACKET_VERSION 2
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#define CANPACKET_HEAD_SIZE 5U
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#if !defined(STM32F4) && !defined(STM32F2)
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#define CANFD
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#define CANPACKET_DATA_SIZE_MAX 64U
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#else
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#define CANPACKET_DATA_SIZE_MAX 8U
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#endif
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typedef struct {
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unsigned char reserved : 1;
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unsigned char bus : 3;
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unsigned char data_len_code : 4;
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unsigned char data_len_code : 4; // lookup length with dlc_to_len
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unsigned char rejected : 1;
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unsigned char returned : 1;
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unsigned char extended : 1;
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@ -12,14 +26,8 @@ typedef struct {
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unsigned char data[CANPACKET_DATA_SIZE_MAX];
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} __attribute__((packed, aligned(4))) CANPacket_t;
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const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
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#define GET_BUS(msg) ((msg)->bus)
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#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
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#define GET_ADDR(msg) ((msg)->addr)
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// Flasher and pedal use raw mailbox access
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#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
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#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
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#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
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#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)
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#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
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@ -1 +0,0 @@
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unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
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@ -66,6 +66,10 @@ can_buffer(tx3_q, 0x1A0)
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// cppcheck-suppress misra-c2012-9.3
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can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
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// helpers
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#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)
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#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
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// ********************* interrupt safe queue *********************
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bool can_pop(can_ring *q, CANPacket_t *elem) {
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bool ret = 0;
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@ -169,7 +173,7 @@ bus_config_t bus_config[] = {
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void can_init_all(void) {
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bool ret = true;
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for (uint8_t i=0U; i < CAN_CNT; i++) {
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for (uint8_t i=0U; i < PANDA_CAN_CNT; i++) {
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if (!current_board->has_canfd) {
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bus_config[i].can_data_speed = 0U;
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}
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@ -224,7 +228,7 @@ bool can_tx_check_min_slots_free(uint32_t min) {
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void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
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if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
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if (bus_number < BUS_CNT) {
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if (bus_number < PANDA_BUS_CNT) {
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// add CAN packet to send queue
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if ((bus_number == 3U) && (bus_config[3].can_num_lookup == 0xFFU)) {
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gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
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@ -113,11 +113,11 @@ void comms_endpoint2_write(uint8_t *data, uint32_t len) {
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int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
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UNUSED(len);
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ControlPacket_t control_req;
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int resp_len = 0;
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switch (data[0]) {
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case 0:
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// control transfer
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// control transfer
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control_req.request = ((USB_Setup_TypeDef *)(data+4))->b.bRequest;
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control_req.param1 = ((USB_Setup_TypeDef *)(data+4))->b.wValue.w;
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control_req.param2 = ((USB_Setup_TypeDef *)(data+4))->b.wIndex.w;
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@ -392,7 +392,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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break;
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// **** 0xde: set can bitrate
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case 0xde:
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if ((req->param1 < BUS_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {
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if ((req->param1 < PANDA_BUS_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) {
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bus_config[req->param1].can_speed = req->param2;
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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@ -488,7 +488,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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if (req->param1 == 0xFFFFU) {
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puts("Clearing CAN Rx queue\n");
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can_clear(&can_rx_q);
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} else if (req->param1 < BUS_CNT) {
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} else if (req->param1 < PANDA_BUS_CNT) {
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puts("Clearing CAN Tx queue\n");
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can_clear(can_queues[req->param1]);
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} else {
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@ -541,7 +541,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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break;
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// **** 0xf9: set CAN FD data bitrate
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case 0xf9:
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if ((req->param1 < CAN_CNT) &&
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if ((req->param1 < PANDA_CAN_CNT) &&
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current_board->has_canfd &&
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is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) {
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bus_config[req->param1].can_data_speed = req->param2;
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@ -557,7 +557,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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break;
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// **** 0xfc: set CAN FD non-ISO mode
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case 0xfc:
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if ((req->param1 < CAN_CNT) && current_board->has_canfd) {
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if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) {
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bus_config[req->param1].canfd_non_iso = (req->param2 != 0U);
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bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1));
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UNUSED(ret);
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@ -12,15 +12,4 @@
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#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
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#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256U // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow
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// CAN definitions
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#define CANPACKET_HEAD_SIZE 5U
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#if !defined(STM32F4) && !defined(STM32F2)
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#define CANPACKET_DATA_SIZE_MAX 64U
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#else
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#define CANPACKET_DATA_SIZE_MAX 8U
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#endif
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#define CAN_CNT 3U
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#define BUS_CNT 4U
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#define CAN_INIT_TIMEOUT_MS 500U
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@ -1,4 +1,5 @@
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#include "safety_declarations.h"
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#include "can_definitions.h"
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// include the safety policies.
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#include "safety/safety_defaults.h"
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@ -18,10 +19,6 @@
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#include "safety/safety_elm327.h"
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#include "safety/safety_body.h"
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#ifdef STM32H7
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#define CANFD
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#endif
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// CAN-FD only safety modes
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#ifdef CANFD
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#include "safety/safety_hyundai_canfd.h"
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@ -1,3 +1,8 @@
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// Flasher and pedal use raw mailbox access
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#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
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#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
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#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
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// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3%
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#define CAN_QUANTA 16U
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#define CAN_SEQ1 12U
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@ -12,7 +12,7 @@
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#define CORE_FREQ 96U // in Mhz
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//APB1 - 48Mhz, APB2 - 96Mhz
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#define APB1_FREQ CORE_FREQ/2U
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#define APB1_FREQ CORE_FREQ/2U
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#define APB2_FREQ CORE_FREQ/1U
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#define BOOTLOADER_ADDRESS 0x1FFF0004U
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@ -31,22 +31,6 @@ def test_can_loopback(p):
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assert 0x1aa == sr[0][0] == lb[0][0]
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assert b"message" == sr[0][2] == lb[0][2]
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@test_all_pandas
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@panda_connect_and_init
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def test_safety_nooutput(p):
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p.set_safety_mode(Panda.SAFETY_SILENT)
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p.set_can_loopback(True)
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# send a message on bus 0
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p.can_send(0x1aa, b"message", 0)
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# confirm receive nothing
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time.sleep(0.05)
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r = p.can_recv()
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# bus 192 is messages blocked by TX safety hook on bus 0
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assert len([x for x in r if x[3] != 192]) == 0
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assert len([x for x in r if x[3] == 192]) == 1
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@test_all_pandas
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@panda_connect_and_init
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def test_reliability(p):
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@ -0,0 +1,33 @@
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import time
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from nose.tools import assert_equal
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from panda import Panda
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from .helpers import test_all_pandas, panda_connect_and_init
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@test_all_pandas
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@panda_connect_and_init
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def test_safety_nooutput(p):
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p.set_safety_mode(Panda.SAFETY_SILENT)
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p.set_can_loopback(True)
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# send a message on bus 0
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p.can_send(0x1aa, b"message", 0)
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# confirm receive nothing
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time.sleep(0.05)
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r = p.can_recv()
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# bus 192 is messages blocked by TX safety hook on bus 0
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assert len([x for x in r if x[3] != 192]) == 0
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assert len([x for x in r if x[3] == 192]) == 1
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@test_all_pandas
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@panda_connect_and_init
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def test_canfd_safety_modes(p):
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# works on all pandas
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p.set_safety_mode(Panda.SAFETY_TOYOTA)
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assert_equal(p.health()['safety_mode'], Panda.SAFETY_TOYOTA)
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# shouldn't be able to set a CAN-FD safety mode on non CAN-FD panda
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p.set_safety_mode(Panda.SAFETY_HYUNDAI_CANFD)
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expected_mode = Panda.SAFETY_HYUNDAI_CANFD if p.get_type() in Panda.H7_DEVICES else Panda.SAFETY_SILENT
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assert_equal(p.health()['safety_mode'], expected_mode)
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