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95 lines
2.7 KiB
95 lines
2.7 KiB
#pragma once
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#include <cstdint>
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#include <ctime>
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#include <functional>
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#include <list>
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#include <memory>
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#include <optional>
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#include <string>
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#include <vector>
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#include "cereal/gen/cpp/car.capnp.h"
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#include "cereal/gen/cpp/log.capnp.h"
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#include "panda/board/health.h"
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#include "panda/board/can_definitions.h"
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#include "selfdrive/boardd/panda_comms.h"
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#define USB_TX_SOFT_LIMIT (0x100U)
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#define USBPACKET_MAX_SIZE (0x40)
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#define RECV_SIZE (0x4000U)
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#define CAN_REJECTED_BUS_OFFSET 0xC0U
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#define CAN_RETURNED_BUS_OFFSET 0x80U
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struct __attribute__((packed)) can_header {
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uint8_t reserved : 1;
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uint8_t bus : 3;
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uint8_t data_len_code : 4;
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uint8_t rejected : 1;
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uint8_t returned : 1;
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uint8_t extended : 1;
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uint32_t addr : 29;
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uint8_t checksum : 8;
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};
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struct can_frame {
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long address;
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std::string dat;
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long busTime;
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long src;
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};
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class Panda {
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private:
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std::unique_ptr<PandaCommsHandle> handle;
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public:
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Panda(std::string serial="", uint32_t bus_offset=0);
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cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
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const uint32_t bus_offset;
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bool connected();
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bool comms_healthy();
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std::string hw_serial();
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// Static functions
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static std::vector<std::string> list(bool usb_only=false);
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// Panda functionality
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cereal::PandaState::PandaType get_hw_type();
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void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
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void set_alternative_experience(uint16_t alternative_experience);
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void set_fan_speed(uint16_t fan_speed);
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uint16_t get_fan_speed();
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void set_ir_pwr(uint16_t ir_pwr);
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std::optional<health_t> get_state();
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std::optional<can_health_t> get_can_state(uint16_t can_number);
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void set_loopback(bool loopback);
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std::optional<std::vector<uint8_t>> get_firmware_version();
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bool up_to_date();
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std::optional<std::string> get_serial();
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void set_power_saving(bool power_saving);
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void enable_deepsleep();
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void send_heartbeat(bool engaged);
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void set_can_speed_kbps(uint16_t bus, uint16_t speed);
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void set_data_speed_kbps(uint16_t bus, uint16_t speed);
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void set_canfd_non_iso(uint16_t bus, bool non_iso);
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void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
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bool can_receive(std::vector<can_frame>& out_vec);
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void can_reset_communications();
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protected:
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// for unit tests
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uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
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uint32_t receive_buffer_size = 0;
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Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
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void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
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std::function<void(uint8_t *, size_t)> write_func);
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bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
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uint8_t calculate_checksum(uint8_t *data, uint32_t len);
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};
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