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70 lines
2.2 KiB
70 lines
2.2 KiB
#pragma once
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#include "board/can.h"
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typedef struct {
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volatile uint32_t w_ptr;
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volatile uint32_t r_ptr;
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uint32_t fifo_size;
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CANPacket_t *elems;
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} can_ring;
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typedef struct {
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uint8_t bus_lookup;
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uint8_t can_num_lookup;
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int8_t forwarding_bus;
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uint32_t can_speed;
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uint32_t can_data_speed;
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bool canfd_auto;
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bool canfd_enabled;
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bool brs_enabled;
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bool canfd_non_iso;
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} bus_config_t;
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extern uint32_t safety_tx_blocked;
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extern uint32_t safety_rx_invalid;
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extern uint32_t tx_buffer_overflow;
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extern uint32_t rx_buffer_overflow;
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extern can_health_t can_health[PANDA_CAN_CNT];
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// Ignition detected from CAN meessages
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extern bool ignition_can;
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extern uint32_t ignition_can_cnt;
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extern bool can_silent;
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extern bool can_loopback;
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// ******************* functions prototypes *********************
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bool can_init(uint8_t can_number);
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void process_can(uint8_t can_number);
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// ********************* instantiate queues *********************
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extern can_ring *can_queues[PANDA_CAN_CNT];
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// helpers
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#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)
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#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
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// ********************* interrupt safe queue *********************
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bool can_pop(can_ring *q, CANPacket_t *elem);
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bool can_push(can_ring *q, const CANPacket_t *elem);
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uint32_t can_slots_empty(const can_ring *q);
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extern bus_config_t bus_config[PANDA_CAN_CNT];
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#define CANIF_FROM_CAN_NUM(num) (cans[num])
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#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
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#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
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void can_init_all(void);
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void can_set_orientation(bool flipped);
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#ifdef PANDA_JUNGLE
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void can_set_forwarding(uint8_t from, uint8_t to);
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#endif
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void ignition_can_hook(CANPacket_t *to_push);
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bool can_tx_check_min_slots_free(uint32_t min);
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uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
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void can_set_checksum(CANPacket_t *packet);
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bool can_check_checksum(CANPacket_t *packet);
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void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
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bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len);
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