89 lines
3.0 KiB
C
89 lines
3.0 KiB
C
#pragma once
|
|
|
|
typedef struct {
|
|
volatile uint32_t w_ptr;
|
|
volatile uint32_t r_ptr;
|
|
uint32_t fifo_size;
|
|
CANPacket_t *elems;
|
|
} can_ring;
|
|
|
|
typedef struct {
|
|
uint8_t bus_lookup;
|
|
uint8_t can_num_lookup;
|
|
int8_t forwarding_bus;
|
|
uint32_t can_speed;
|
|
uint32_t can_data_speed;
|
|
bool canfd_auto;
|
|
bool canfd_enabled;
|
|
bool brs_enabled;
|
|
bool canfd_non_iso;
|
|
} bus_config_t;
|
|
|
|
extern uint32_t safety_tx_blocked;
|
|
extern uint32_t safety_rx_invalid;
|
|
extern uint32_t tx_buffer_overflow;
|
|
extern uint32_t rx_buffer_overflow;
|
|
|
|
#define CAN_HEALTH_ARRAY_SIZE 3
|
|
extern can_health_t can_health[CAN_HEALTH_ARRAY_SIZE];
|
|
|
|
// Ignition detected from CAN meessages
|
|
extern bool ignition_can;
|
|
extern uint32_t ignition_can_cnt;
|
|
|
|
#define ALL_CAN_SILENT 0xFF
|
|
#define ALL_CAN_LIVE 0
|
|
|
|
extern int can_live;
|
|
extern int pending_can_live;
|
|
extern int can_silent;
|
|
extern bool can_loopback;
|
|
|
|
// ******************* functions prototypes *********************
|
|
bool can_init(uint8_t can_number);
|
|
void process_can(uint8_t can_number);
|
|
|
|
// ********************* instantiate queues *********************
|
|
#define CAN_QUEUES_ARRAY_SIZE 3
|
|
extern can_ring *can_queues[CAN_QUEUES_ARRAY_SIZE];
|
|
|
|
// helpers
|
|
#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)
|
|
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
|
|
|
|
// ********************* interrupt safe queue *********************
|
|
bool can_pop(can_ring *q, CANPacket_t *elem);
|
|
bool can_push(can_ring *q, const CANPacket_t *elem);
|
|
uint32_t can_slots_empty(const can_ring *q);
|
|
|
|
// assign CAN numbering
|
|
// bus num: CAN Bus numbers in panda, sent to/from USB
|
|
// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
|
|
// cans: Look up MCU can interface from bus number
|
|
// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
|
|
// bus_lookup: Translates from 'can number' to 'bus number'.
|
|
// can_num_lookup: Translates from 'bus number' to 'can number'.
|
|
// forwarding bus: If >= 0, forward all messages from this bus to the specified bus.
|
|
|
|
// Helpers
|
|
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
|
|
#define BUS_CONFIG_ARRAY_SIZE 4
|
|
extern bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE];
|
|
|
|
#define CANIF_FROM_CAN_NUM(num) (cans[num])
|
|
#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
|
|
#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
|
|
|
|
void can_init_all(void);
|
|
void can_set_orientation(bool flipped);
|
|
#ifdef PANDA_JUNGLE
|
|
void can_set_forwarding(uint8_t from, uint8_t to);
|
|
#endif
|
|
void ignition_can_hook(CANPacket_t *to_push);
|
|
bool can_tx_check_min_slots_free(uint32_t min);
|
|
uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
|
|
void can_set_checksum(CANPacket_t *packet);
|
|
bool can_check_checksum(CANPacket_t *packet);
|
|
void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
|
|
bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len);
|