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Control over FD flag of CAN messages #2085

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merged 2 commits into from
Nov 21, 2024
Merged

Control over FD flag of CAN messages #2085

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81abcfb
Control over FD flag of CAN messages
pd0wm Nov 21, 2024
015e529
misra
pd0wm Nov 21, 2024
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2 changes: 1 addition & 1 deletion board/can_declarations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
#endif

typedef struct {
unsigned char reserved : 1;
unsigned char fd : 1;
unsigned char bus : 3;
unsigned char data_len_code : 4; // lookup length with dlc_to_len
unsigned char rejected : 1;
Expand Down
3 changes: 3 additions & 0 deletions board/drivers/bxcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ void process_can(uint8_t can_number) {
if ((CANx->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
if ((CANx->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
CANPacket_t to_push;
to_push.fd = 0U;
to_push.returned = 1U;
to_push.rejected = 0U;
to_push.extended = (CANx->sTxMailBox[0].TIR >> 2) & 0x1U;
Expand Down Expand Up @@ -144,6 +145,7 @@ void can_rx(uint8_t can_number) {
// add to my fifo
CANPacket_t to_push;

to_push.fd = 0U;
to_push.returned = 0U;
to_push.rejected = 0U;
to_push.extended = (CANx->sFIFOMailBox[0].RIR >> 2) & 0x1U;
Expand All @@ -159,6 +161,7 @@ void can_rx(uint8_t can_number) {
if (bus_fwd_num != -1) {
CANPacket_t to_send;

to_send.fd = 0U;
to_send.returned = 0U;
to_send.rejected = 0U;
to_send.extended = to_push.extended; // TXRQ
Expand Down
10 changes: 5 additions & 5 deletions board/drivers/can_common.h
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Expand Up @@ -131,10 +131,10 @@ void can_clear(can_ring *q) {
// Helpers
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE] = {
{ .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 },
{ .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 },
{ .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 },
{ .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 },
{ .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
{ .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
{ .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_auto = false, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false },
};

void can_init_all(void) {
Expand Down Expand Up @@ -165,7 +165,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
if (bus == 0) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);

// GM exception
if ((addr == 0x1F1) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
Expand Down
1 change: 1 addition & 0 deletions board/drivers/can_common_declarations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ typedef struct {
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;
Expand Down
15 changes: 11 additions & 4 deletions board/drivers/fdcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,11 @@ void process_can(uint8_t can_number) {
fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));

fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
uint32_t canfd_enabled_header = bus_config[can_number].canfd_enabled ? (1UL << 21) : 0UL;

// If canfd_auto is set, outgoing packets will be automatically sent as CAN-FD if an incoming CAN-FD packet was seen
bool fd = bus_config[can_number].canfd_auto ? bus_config[can_number].canfd_enabled : (bool)(to_send.fd > 0U);
uint32_t canfd_enabled_header = fd ? (1UL << 21) : 0UL;

uint32_t brs_enabled_header = bus_config[can_number].brs_enabled ? (1UL << 20) : 0UL;
fifo->header[1] = (to_send.data_len_code << 16) | canfd_enabled_header | brs_enabled_header;

Expand All @@ -115,6 +119,7 @@ void process_can(uint8_t can_number) {
// Send back to USB
CANPacket_t to_push;

to_push.fd = fd;
to_push.returned = 1U;
to_push.rejected = 0U;
to_push.extended = to_send.extended;
Expand Down Expand Up @@ -168,16 +173,17 @@ void can_rx(uint8_t can_number) {
// getting address
fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));

bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);

to_push.fd = canfd_frame;
to_push.returned = 0U;
to_push.rejected = 0U;
to_push.extended = (fifo->header[0] >> 30) & 0x1U;
to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
to_push.bus = bus_number;
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);

bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);

uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
for (unsigned int i = 0; i < data_len_w; i++) {
Expand All @@ -193,6 +199,7 @@ void can_rx(uint8_t can_number) {
if (bus_fwd_num != -1) {
CANPacket_t to_send;

to_send.fd = to_push.fd;
to_send.returned = 0U;
to_send.rejected = 0U;
to_send.extended = to_push.extended;
Expand Down
4 changes: 4 additions & 0 deletions board/main_comms.h
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Original file line number Diff line number Diff line change
Expand Up @@ -317,6 +317,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
case 0xe7:
set_power_save_state(req->param1);
break;
// **** 0xe8: set can-fd auto swithing mode
case 0xe8:
bus_config[req->param1].canfd_auto = req->param2 > 0U;
break;
// **** 0xf1: Clear CAN ring buffer.
case 0xf1:
if (req->param1 == 0xFFFFU) {
Expand Down
15 changes: 9 additions & 6 deletions python/__init__.py
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Expand Up @@ -31,7 +31,7 @@ def calculate_checksum(data):
res ^= b
return res

def pack_can_buffer(arr):
def pack_can_buffer(arr, fd=False):
snds = [b'']
for address, dat, bus in arr:
assert len(dat) in LEN_TO_DLC
Expand All @@ -41,7 +41,7 @@ def pack_can_buffer(arr):
data_len_code = LEN_TO_DLC[len(dat)]
header = bytearray(CANPACKET_HEAD_SIZE)
word_4b = address << 3 | extended << 2
header[0] = (data_len_code << 4) | (bus << 1)
header[0] = (data_len_code << 4) | (bus << 1) | int(fd)
header[1] = word_4b & 0xFF
header[2] = (word_4b >> 8) & 0xFF
header[3] = (word_4b >> 16) & 0xFF
Expand Down Expand Up @@ -807,6 +807,9 @@ def set_can_data_speed_kbps(self, bus, speed):
def set_canfd_non_iso(self, bus, non_iso):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xfc, bus, int(non_iso), b'')

def set_canfd_auto(self, bus, auto):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe8, bus, int(auto), b'')

def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')

Expand All @@ -828,15 +831,15 @@ def can_reset_communications(self):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')

@ensure_can_packet_version
def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
snds = pack_can_buffer(arr)
def can_send_many(self, arr, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
snds = pack_can_buffer(arr, fd=fd)
for tx in snds:
while len(tx) > 0:
bs = self._handle.bulkWrite(3, tx, timeout=timeout)
tx = tx[bs:]

def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, dat, bus]], timeout=timeout)
def can_send(self, addr, dat, bus, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
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Forced both fd and timeout to be keyword arguments to ensure existing code that sets timeout doesn't break.

self.can_send_many([[addr, dat, bus]], fd=fd, timeout=timeout)

@ensure_can_packet_version
def can_recv(self):
Expand Down
2 changes: 1 addition & 1 deletion tests/libpanda/libpanda_py.py
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Expand Up @@ -12,7 +12,7 @@

ffi.cdef("""
typedef struct {
unsigned char reserved : 1;
unsigned char fd : 1;
unsigned char bus : 3;
unsigned char data_len_code : 4;
unsigned char rejected : 1;
Expand Down
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