Release 260111

panda/board/drivers/can_common_declarations.h

@@ -0,0 +1,88 @@
+#pragma once
+
+typedef struct {
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
+  uint32_t fifo_size;
+  CANPacket_t *elems;
+} can_ring;
+
+typedef struct {
+  uint8_t bus_lookup;
+  uint8_t can_num_lookup;
+  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;
+} bus_config_t;
+
+extern uint32_t safety_tx_blocked;
+extern uint32_t safety_rx_invalid;
+extern uint32_t tx_buffer_overflow;
+extern uint32_t rx_buffer_overflow;
+
+#define CAN_HEALTH_ARRAY_SIZE 3
+extern can_health_t can_health[CAN_HEALTH_ARRAY_SIZE];
+
+// Ignition detected from CAN meessages
+extern bool ignition_can;
+extern uint32_t ignition_can_cnt;
+
+#define ALL_CAN_SILENT 0xFF
+#define ALL_CAN_LIVE 0
+
+extern int can_live;
+extern int pending_can_live;
+extern int can_silent;
+extern bool can_loopback;
+
+// ******************* functions prototypes *********************
+bool can_init(uint8_t can_number);
+void process_can(uint8_t can_number);
+
+// ********************* instantiate queues *********************
+#define CAN_QUEUES_ARRAY_SIZE 3
+extern can_ring *can_queues[CAN_QUEUES_ARRAY_SIZE];
+
+// helpers
+#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)
+#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
+
+// ********************* interrupt safe queue *********************
+bool can_pop(can_ring *q, CANPacket_t *elem);
+bool can_push(can_ring *q, const CANPacket_t *elem);
+uint32_t can_slots_empty(const can_ring *q);
+
+// assign CAN numbering
+// bus num: CAN Bus numbers in panda, sent to/from USB
+//    Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
+// cans: Look up MCU can interface from bus number
+// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
+// bus_lookup: Translates from 'can number' to 'bus number'.
+// can_num_lookup: Translates from 'bus number' to 'can number'.
+// forwarding bus: If >= 0, forward all messages from this bus to the specified bus.
+
+// Helpers
+// Panda:       Bus 0=CAN1   Bus 1=CAN2   Bus 2=CAN3
+#define BUS_CONFIG_ARRAY_SIZE 4
+extern bus_config_t bus_config[BUS_CONFIG_ARRAY_SIZE];
+
+#define CANIF_FROM_CAN_NUM(num) (cans[num])
+#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
+#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
+
+void can_init_all(void);
+void can_set_orientation(bool flipped);
+#ifdef PANDA_JUNGLE
+void can_set_forwarding(uint8_t from, uint8_t to);
+#endif
+void ignition_can_hook(CANPacket_t *to_push);
+bool can_tx_check_min_slots_free(uint32_t min);
+uint8_t calculate_checksum(const uint8_t *dat, uint32_t len);
+void can_set_checksum(CANPacket_t *packet);
+bool can_check_checksum(CANPacket_t *packet);
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook);
+bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len);