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96 lines
2.7 KiB
96 lines
2.7 KiB
3 months ago
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#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 <atomic>
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#include <mutex>
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#include <libusb-1.0/libusb.h>
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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.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 TIMEOUT 0
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#define CAN_REJECTED_BUS_OFFSET 0xC0U
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#define CAN_RETURNED_BUS_OFFSET 0x80U
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#define PANDA_BUS_OFFSET 4
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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 src;
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};
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class Panda {
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public:
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Panda(std::string serial="", uint32_t bus_offset=0);
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~Panda();
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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 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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bool can_receive(std::vector<can_frame>& out_vec);
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void can_reset_communications();
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private:
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// USB connection members
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libusb_context *ctx = nullptr;
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libusb_device_handle *dev_handle = nullptr;
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std::string hw_serial_str;
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std::atomic<bool> connected_flag = true;
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std::atomic<bool> comms_healthy_flag = true;
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// CAN buffer members
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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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// Internal methods
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bool init_usb_connection(const std::string& serial);
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void cleanup_usb();
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void handle_usb_issue(int err, const char func[]);
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int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
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int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
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int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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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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