296 lines
8.6 KiB
C
296 lines
8.6 KiB
C
typedef struct {
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volatile uint32_t w_ptr;
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volatile uint32_t r_ptr;
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uint32_t fifo_size;
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CANPacket_t *elems;
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} can_ring;
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typedef struct {
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uint8_t bus_lookup;
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uint8_t can_num_lookup;
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int8_t forwarding_bus;
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uint32_t can_speed;
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uint32_t can_data_speed;
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bool canfd_enabled;
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bool brs_enabled;
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bool canfd_non_iso;
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} bus_config_t;
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uint32_t safety_tx_blocked = 0;
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uint32_t safety_rx_invalid = 0;
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uint32_t tx_buffer_overflow = 0;
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uint32_t rx_buffer_overflow = 0;
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uint32_t gmlan_send_errs = 0;
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can_health_t can_health[] = {{0}, {0}, {0}};
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extern int can_live;
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extern int pending_can_live;
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// must reinit after changing these
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extern int can_loopback;
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extern int can_silent;
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// Ignition detected from CAN meessages
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bool ignition_can = false;
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uint32_t ignition_can_cnt = 0U;
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#define ALL_CAN_SILENT 0xFF
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#define ALL_CAN_LIVE 0
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int can_live = 0;
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int pending_can_live = 0;
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int can_loopback = 0;
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int can_silent = ALL_CAN_SILENT;
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// ******************* functions prototypes *********************
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bool can_init(uint8_t can_number);
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void process_can(uint8_t can_number);
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// ********************* instantiate queues *********************
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#define can_buffer(x, size) \
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CANPacket_t elems_##x[size]; \
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can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
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#define CAN_RX_BUFFER_SIZE 4096U
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#define CAN_TX_BUFFER_SIZE 416U
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#define GMLAN_TX_BUFFER_SIZE 416U
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#ifdef STM32H7
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// ITCM RAM and DTCM RAM are the fastest for Cortex-M7 core access
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__attribute__((section(".axisram"))) can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
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__attribute__((section(".itcmram"))) can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
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__attribute__((section(".itcmram"))) can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
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#else
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can_buffer(rx_q, CAN_RX_BUFFER_SIZE)
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can_buffer(tx1_q, CAN_TX_BUFFER_SIZE)
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can_buffer(tx2_q, CAN_TX_BUFFER_SIZE)
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#endif
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can_buffer(tx3_q, CAN_TX_BUFFER_SIZE)
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can_buffer(txgmlan_q, GMLAN_TX_BUFFER_SIZE)
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// FIXME:
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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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ENTER_CRITICAL();
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if (q->w_ptr != q->r_ptr) {
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*elem = q->elems[q->r_ptr];
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if ((q->r_ptr + 1U) == q->fifo_size) {
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q->r_ptr = 0;
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} else {
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q->r_ptr += 1U;
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}
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ret = 1;
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}
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EXIT_CRITICAL();
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return ret;
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}
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bool can_push(can_ring *q, const CANPacket_t *elem) {
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bool ret = false;
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uint32_t next_w_ptr;
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ENTER_CRITICAL();
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if ((q->w_ptr + 1U) == q->fifo_size) {
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next_w_ptr = 0;
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} else {
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next_w_ptr = q->w_ptr + 1U;
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}
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if (next_w_ptr != q->r_ptr) {
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q->elems[q->w_ptr] = *elem;
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q->w_ptr = next_w_ptr;
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ret = true;
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}
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EXIT_CRITICAL();
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if (!ret) {
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#ifdef DEBUG
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print("can_push to ");
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if (q == &can_rx_q) {
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print("can_rx_q");
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} else if (q == &can_tx1_q) {
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print("can_tx1_q");
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} else if (q == &can_tx2_q) {
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print("can_tx2_q");
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} else if (q == &can_tx3_q) {
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print("can_tx3_q");
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} else if (q == &can_txgmlan_q) {
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print("can_txgmlan_q");
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} else {
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print("unknown");
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}
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print(" failed!\n");
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#endif
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}
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return ret;
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}
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uint32_t can_slots_empty(const can_ring *q) {
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uint32_t ret = 0;
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ENTER_CRITICAL();
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if (q->w_ptr >= q->r_ptr) {
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ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
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} else {
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ret = q->r_ptr - q->w_ptr - 1U;
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}
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EXIT_CRITICAL();
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return ret;
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}
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void can_clear(can_ring *q) {
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ENTER_CRITICAL();
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q->w_ptr = 0;
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q->r_ptr = 0;
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EXIT_CRITICAL();
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// handle TX buffer full with zero ECUs awake on the bus
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refresh_can_tx_slots_available();
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}
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// assign CAN numbering
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// bus num: Can bus number on ODB connector. Sent to/from USB
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// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
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// cans: Look up MCU can interface from bus number
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// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
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// bus_lookup: Translates from 'can number' to 'bus number'.
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// can_num_lookup: Translates from 'bus number' to 'can number'.
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// forwarding bus: If >= 0, forward all messages from this bus to the specified bus.
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// Helpers
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// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
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bus_config_t bus_config[] = {
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{ .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
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{ .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
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{ .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
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{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
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};
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#define CANIF_FROM_CAN_NUM(num) (cans[num])
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#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
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#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
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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 < 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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can_clear(can_queues[i]);
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ret &= can_init(i);
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}
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UNUSED(ret);
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}
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void can_flip_buses(uint8_t bus1, uint8_t bus2){
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bus_config[bus1].bus_lookup = bus2;
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bus_config[bus2].bus_lookup = bus1;
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bus_config[bus1].can_num_lookup = bus2;
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bus_config[bus2].can_num_lookup = bus1;
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}
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void can_set_forwarding(uint8_t from, uint8_t to) {
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bus_config[from].forwarding_bus = to;
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}
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void ignition_can_hook(CANPacket_t *to_push) {
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int bus = GET_BUS(to_push);
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int addr = GET_ADDR(to_push);
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int len = GET_LEN(to_push);
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if (bus == 0) {
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// GM exception
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if ((addr == 0x1F1) && (len == 8)) {
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// SystemPowerMode (2=Run, 3=Crank Request)
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ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
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ignition_can_cnt = 0U;
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}
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// Tesla exception
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if ((addr == 0x348) && (len == 8)) {
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// GTW_status
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ignition_can = (GET_BYTE(to_push, 0) & 0x1U) != 0U;
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ignition_can_cnt = 0U;
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}
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// Mazda exception
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if ((addr == 0x9E) && (len == 8)) {
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ignition_can = (GET_BYTE(to_push, 0) >> 5) == 0x6U;
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ignition_can_cnt = 0U;
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}
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} else if (bus == 2) {
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// GM exception, SDGM cars have this message on bus 2
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if ((addr == 0x1F1) && (len == 8)) {
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// SystemPowerMode (2=Run, 3=Crank Request)
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ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
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ignition_can_cnt = 0U;
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}
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}
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}
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bool can_tx_check_min_slots_free(uint32_t min) {
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return
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(can_slots_empty(&can_tx1_q) >= min) &&
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(can_slots_empty(&can_tx2_q) >= min) &&
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(can_slots_empty(&can_tx3_q) >= min) &&
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(can_slots_empty(&can_txgmlan_q) >= min);
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}
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uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {
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uint8_t checksum = 0U;
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for (uint32_t i = 0U; i < len; i++) {
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checksum ^= dat[i];
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}
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return checksum;
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}
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void can_set_checksum(CANPacket_t *packet) {
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packet->checksum = 0U;
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packet->checksum = calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet));
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}
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bool can_check_checksum(CANPacket_t *packet) {
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return (calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet)) == 0U);
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}
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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 < 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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} else {
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tx_buffer_overflow += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
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process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
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}
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}
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} else {
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safety_tx_blocked += 1U;
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to_push->returned = 0U;
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to_push->rejected = 1U;
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// data changed
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can_set_checksum(to_push);
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rx_buffer_overflow += can_push(&can_rx_q, to_push) ? 0U : 1U;
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}
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}
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bool is_speed_valid(uint32_t speed, const uint32_t *speeds, uint8_t len) {
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bool ret = false;
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for (uint8_t i = 0U; i < len; i++) {
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if (speeds[i] == speed) {
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ret = true;
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}
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}
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return ret;
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}
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