35 lines
952 B
C
35 lines
952 B
C
#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 4
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#define CANPACKET_HEAD_SIZE 6U
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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; // 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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unsigned int addr : 29;
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unsigned char checksum;
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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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