Release 260111

panda/board/drivers/fdcan_declarations.h

@@ -0,0 +1,28 @@
+#pragma once
+
+// IRQs: FDCAN1_IT0, FDCAN1_IT1
+//       FDCAN2_IT0, FDCAN2_IT1
+//       FDCAN3_IT0, FDCAN3_IT1
+
+#define CANFD
+
+typedef struct {
+  volatile uint32_t header[2];
+  volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
+} canfd_fifo;
+
+#define CANS_ARRAY_SIZE 3
+extern FDCAN_GlobalTypeDef *cans[CANS_ARRAY_SIZE];
+
+#define CAN_ACK_ERROR 3U
+
+void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number);
+void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg);
+
+// ***************************** CAN *****************************
+// FDFDCANx_IT1 IRQ Handler (TX)
+void process_can(uint8_t can_number);
+// FDFDCANx_IT0 IRQ Handler (RX and errors)
+// blink blue when we are receiving CAN messages
+void can_rx(uint8_t can_number);
+bool can_init(uint8_t can_number);