From a6f2f2d75115c6df3834f4cc51d3da15cfcdc5dd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 29 Nov 2022 16:05:46 -0800
Subject: [PATCH] boardd: cleanup defs from panda (#26628)

* more stuff

* bump pnada
old-commit-hash: c3e3047080cdcfd5fbe275534fdf6980903aebdf
---
 panda                                             |  2 +-
 selfdrive/boardd/panda.cc                         |  9 ++++++---
 selfdrive/boardd/panda.h                          | 12 ++++--------
 selfdrive/boardd/tests/test_boardd_usbprotocol.cc |  2 --
 4 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/panda b/panda
index e4c4253964..80dac4cd94 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e4c4253964a25ff980520b70ea9f50aede4a1db6
+Subproject commit 80dac4cd94de8711304b2695b4d348d2152a8e3e
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index b82de593c8..788cdf5cf1 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -6,7 +6,6 @@
 #include <stdexcept>
 
 #include "cereal/messaging/messaging.h"
-#include "panda/board/dlc_to_len.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
@@ -255,8 +254,12 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &o
     canData.busTime = 0;
     canData.address = header.addr;
     canData.src = header.bus + bus_offset;
-    if (header.rejected) { canData.src += CANPACKET_REJECTED; }
-    if (header.returned) { canData.src += CANPACKET_RETURNED; }
+    if (header.rejected) {
+      canData.src += CAN_REJECTED_BUS_OFFSET;
+    }
+    if (header.returned) {
+      canData.src += CAN_RETURNED_BUS_OFFSET;
+    }
 
     const uint8_t data_len = dlc_to_len[header.data_len_code];
     canData.dat.assign((char *)&recv_buf[pos + CANPACKET_HEAD_SIZE], data_len);
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index 5b3cbb9a3e..b20d8f0afa 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -11,20 +11,16 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
+#include "panda/board/can_definitions.h"
 #include "selfdrive/boardd/panda_comms.h"
 
-
-#define PANDA_CAN_CNT 3
-#define PANDA_BUS_CNT 4
-
 #define USB_TX_SOFT_LIMIT   (0x100U)
 #define USBPACKET_MAX_SIZE  (0x40)
 
 #define RECV_SIZE (0x4000U)
-#define CANPACKET_HEAD_SIZE 5U
-#define CANPACKET_MAX_SIZE  72U
-#define CANPACKET_REJECTED  (0xC0U)
-#define CANPACKET_RETURNED  (0x80U)
+
+#define CAN_REJECTED_BUS_OFFSET   0xC0U
+#define CAN_RETURNED_BUS_OFFSET 0x80U
 
 struct __attribute__((packed)) can_header {
   uint8_t reserved : 1;
diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
index 6a13cbd71f..c7d14fb0ef 100644
--- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
@@ -6,8 +6,6 @@
 #include "cereal/messaging/messaging.h"
 #include "selfdrive/boardd/panda.h"
 
-const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
-
 int random_int(int min, int max) {
   std::random_device dev;
   std::mt19937 rng(dev());